60 lines
1.7 KiB
C
60 lines
1.7 KiB
C
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#ifndef _STRUCTS_H_
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#define _STRUCTS_H_
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// Global variables for serial communication
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typedef struct{
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uint8_t idx = 0; // Index for new data pointer
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uint16_t bufStartFrame; // Buffer Start Frame
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byte *p; // Pointer declaration for the new received data
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byte incomingByte;
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byte incomingBytePrev;
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long lastValidDataSerial_time;
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} SerialRead;
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SerialRead SerialcomFront;
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SerialRead SerialcomRear;
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typedef struct{
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uint16_t start;
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int16_t speedLeft;
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int16_t speedRight;
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uint16_t checksum;
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} SerialCommand;
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SerialCommand CommandFront;
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SerialCommand CommandRear;
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typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct in main.c
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedL_meas; //left speed is positive when driving forward
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int16_t speedR_meas; //right speed is negatie when driving forward
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t curL_DC; //negative values are current consumed. positive values mean generated current
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int16_t curR_DC;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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SerialFeedback FeedbackFront;
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SerialFeedback NewFeedbackFront;
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SerialFeedback FeedbackRear;
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SerialFeedback NewFeedbackRear;
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typedef struct{
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int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current
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int16_t curR_DC[CURRENT_FILTER_SIZE] = {0};
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uint8_t cur_pos=0;
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int16_t cmdL=0;
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int16_t cmdR=0;
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float filtered_curL=0;
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float filtered_curR=0;
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unsigned long millis=0; //time when last message received
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} MotorParameter;
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MotorParameter motorparamsFront;
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MotorParameter motorparamsRear;
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#endif
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