Revision 0:ca040e149431, committed 2020-06-29

Comitter:

sllez

Date:

Mon Jun 29 15:54:28 2020 +0000

Commit message:

final

Changed in this revision

diff -r 000000000000 -r ca040e149431 hoverserial.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hoverserial.cpp	Mon Jun 29 15:54:28 2020 +0000
@@ -0,0 +1,36 @@
+// CONFIGURATION on the hoverboard side in config.h:
+// • Option 1: Serial on Left Sensor cable (long wired cable)
+//   #define CONTROL_SERIAL_USART2
+//   #define FEEDBACK_SERIAL_USART2
+//   // #define DEBUG_SERIAL_USART2
+// • Option 2: Serial on Right Sensor cable (short wired cable) - recommended, so the ADCs on the other cable are still available
+//   #define CONTROL_SERIAL_USART3
+//   #define FEEDBACK_SERIAL_USART3
+//   // #define DEBUG_SERIAL_USART3
+// *******************************************************************
+
+// ########################## INCLUDES ##########################
+
+#include "mbed.h"
+#include "hoverserial.h"
+#include "BufferedSerial.h"
+
+HoverSerial::HoverSerial(PinName tx, PinName rx) :
+hoverserial(tx, rx)
+
+{
+    hoverserial.baud(38400);
+}
+
+void HoverSerial::sendData(int16_t uSteer, int16_t uSpeed) {
+    // Create command
+    Command.start    = (uint16_t)START_FRAME;
+    Command.steer    = (int16_t)uSteer;
+    Command.speed    = (int16_t)uSpeed;
+    Command.checksum = (uint16_t)(Command.start ^ Command.steer ^ Command.speed);
+    // Write to Serial
+    hoverserial.write((uint8_t *) &Command, sizeof(Command));
+}
+
+void HoverSerial::receiveData() {
+}
\ No newline at end of file

diff -r 000000000000 -r ca040e149431 hoverserial.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hoverserial.h	Mon Jun 29 15:54:28 2020 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+#include "BufferedSerial.h"
+
+#define HOVERSERIAL_BAUD    38400       // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
+#define START_FRAME         0xABCD      // [-] Start frme definition for reliable serial communication
+//#define DEBUG_RX                      // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
+
+class HoverSerial {
+    public:
+        // @parm    tx  communication tx pin
+        //          rx  communocation rx pin
+        HoverSerial(PinName tx, PinName rx);
+        
+        typedef struct {                        //Structure for sending data to hoverboard
+            uint16_t  start;
+            int16_t  steer;
+            int16_t  speed;
+            uint16_t checksum;
+        } SerialCommand;
+        SerialCommand Command;
+
+        typedef struct {                       //Structure for feedback from hoverboard
+            uint16_t start;
+            int16_t   cmd1;
+            int16_t   cmd2;
+            int16_t   speedR_meas;
+            int16_t   speedL_meas;
+            int16_t   batVoltage;
+            int16_t   boardTemp;
+            uint16_t cmdLed;
+            uint16_t checksum;
+        } SerialFeedback;
+        SerialFeedback Feedback;
+        SerialFeedback NewFeedback;
+        
+        void sendData(int16_t uSteer, int16_t uSpeed);
+        
+        void receiveData();
+        
+    private:
+        BufferedSerial hoverserial;
+};
\ No newline at end of file