98 lines
2.6 KiB
C
98 lines
2.6 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>
|
|
|
|
#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);
|
|
|
|
// General Functions
|
|
void poweronMelody(void);
|
|
void shortBeep(uint8_t freq);
|
|
void shortBeepMany(uint8_t cnt);
|
|
void longBeep(uint8_t freq);
|
|
void calcAvgSpeed(void);
|
|
void adcCalibLim(void);
|
|
void updateCurSpdLim(void);
|
|
void saveConfig(void);
|
|
|
|
// Poweroff Functions
|
|
void poweroff(void);
|
|
void poweroffPressCheck(void);
|
|
|
|
// Read Command Function
|
|
void readCommand(void);
|
|
int PWM_Signal_Correct(int16_t u, int16_t min, int16_t max);
|
|
|
|
// 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
|
|
|