42 lines
1.2 KiB
C
42 lines
1.2 KiB
C
#include "hoverboard.h"
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#include "config.h"
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#include "stm32f7xx_hal.h"
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static UART_HandleTypeDef huart2;
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void hoverboard_init(void) {
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/* Enable clocks */
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__HAL_RCC_USART2_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/* PA2=TX, PA3=RX, AF7 for USART2 */
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GPIO_InitTypeDef gpio = {0};
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gpio.Pin = GPIO_PIN_2 | GPIO_PIN_3;
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gpio.Mode = GPIO_MODE_AF_PP;
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gpio.Pull = GPIO_PULLUP;
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gpio.Speed = GPIO_SPEED_FREQ_HIGH;
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gpio.Alternate = GPIO_AF7_USART2;
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HAL_GPIO_Init(GPIOA, &gpio);
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/* USART2 config */
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huart2.Instance = USART2;
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huart2.Init.BaudRate = HOVERBOARD_BAUD;
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huart2.Init.WordLength = UART_WORDLENGTH_8B;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.Mode = UART_MODE_TX_RX;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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HAL_UART_Init(&huart2);
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}
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void hoverboard_send(int16_t speed, int16_t steer) {
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hoverboard_cmd_t cmd;
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cmd.start = HOVERBOARD_START_FRAME;
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cmd.steer = steer;
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cmd.speed = speed;
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cmd.checksum = cmd.start ^ cmd.steer ^ cmd.speed;
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HAL_UART_Transmit(&huart2, (uint8_t *)&cmd, sizeof(cmd), 5);
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}
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