hoverboard-firmware-hack-fo.../Inc/util.h

116 lines
3.5 KiB
C

/**
* This file is part of the hoverboard-firmware-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// Define to prevent recursive inclusion
#ifndef UTIL_H
#define UTIL_H
#include <stdint.h>
// Rx Structures USART
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
#ifdef CONTROL_IBUS
typedef struct{
uint8_t start;
uint8_t type;
uint8_t channels[IBUS_NUM_CHANNELS*2];
uint8_t checksuml;
uint8_t checksumh;
} SerialCommand;
#else
typedef struct{
uint16_t start;
int16_t steer;
int16_t speed;
uint16_t checksum;
} SerialCommand;
#endif
#endif
#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
typedef struct{
uint16_t start;
int16_t roll;
int16_t pitch;
int16_t yaw;
uint16_t sensors;
uint16_t checksum;
} SerialSideboard;
#endif
// Initialization Functions
void BLDC_Init(void);
void Input_Lim_Init(void);
void Input_Init(void);
void UART_DisableRxErrors(UART_HandleTypeDef *huart);
// General Functions
void poweronMelody(void);
void shortBeep(uint8_t freq);
void shortBeepMany(uint8_t cnt, int8_t dir);
void longBeep(uint8_t freq);
void calcAvgSpeed(void);
void adcCalibLim(void);
void updateCurSpdLim(void);
void saveConfig(void);
int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max);
void standstillHold(int16_t *speedCmd);
void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
void cruiseControl(uint8_t button);
// Poweroff Functions
void poweroff(void);
void poweroffPressCheck(void);
// Read Command Function
void readCommand(void);
void readInput(void);
void usart2_rx_check(void);
void usart3_rx_check(void);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
void usart_process_debug(uint8_t *userCommand, uint32_t len);
#endif
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
void usart_process_command(SerialCommand *command_in, SerialCommand *command_out, uint8_t usart_idx);
#endif
#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sideboard_out, uint8_t usart_idx);
#endif
// Sideboard functions
void sideboardLeds(uint8_t *leds);
void sideboardSensors(uint8_t sensors);
// Filtering Functions
void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
// Multiple Tap Function
typedef struct {
uint32_t t_timePrev;
uint8_t z_pulseCntPrev;
uint8_t b_hysteresis;
uint8_t b_multipleTap;
} MultipleTap;
void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
#endif