Codigo control remoto para mandar y recibir datos sbus

.vscode/settings.json

@@ -10,6 +10,8 @@
         "stm32_hal_legacy.h": "c",
         "stm32f3xx.h": "c",
         "stm32f303xe.h": "c",
-        "robotpins.h": "c"
+        "robotpins.h": "c",
+        "stm32f3xx_it.h": "c",
+        "communicationstructs.h": "c"
     }
 }

app/inc/CommunicationStructs.h

@@ -8,8 +8,8 @@
 
 #pragma once
 
-#include "main.h"
 #include "cmsis_os.h"
+#include "main.h"
 
 /**
  * @brief Represents a CAN bus message splitted into the velocity
@@ -35,10 +35,27 @@ typedef struct {
     uint8_t vMotor_pitch;
 } GimballControlMessage;
 
-
-// Message queues from protocols 
+/**
+ * @brief Represents a Control Data Message
+ */
+#pragma pack(push, 1)
+typedef struct control_data {
+    uint8_t joystickA;
+    uint8_t joystickB;
+    uint8_t knobA;
+    uint8_t knobB;
+    uint8_t switchA;
+    uint8_t switchB;
+    uint8_t switchC;
+    uint8_t switchD;
+} control_data;
+#pragma pack(pop)
+
+// Message queues from protocols
 extern osPoolId can_rx_mpool;
 extern osPoolId can_tx_mpool;
 
-extern osMessageQId outputQueueChassis; 
-extern osMessageQId inputQueueChassis; 
+extern osMessageQId outputQueueChassis;
+extern osMessageQId inputQueueChassis;
+
+extern osMessageQId remoteQueue;

app/src/remote_control.c

@@ -0,0 +1,37 @@
+#include <stm32f3xx_hal.h>
+#include <stm32f3xx_it.h>
+#include <string.h>
+
+#include "CommunicationStructs.h"
+#include "cmsis_os.h"
+#include "usart.h"
+
+control_data control1;
+UART_HandleTypeDef huart1;
+uint8_t UART1_rxBuffer;
+
+osMessageQDef(remoteQueue, 16, unsigned int);
+
+void UART_Init(void) {}
+
+void sbus_translate(control_data* _control, uint8_t* _buffer) {
+    _control->joystickA = (_buffer[0] >> 1) & 0x7F;                                 // 7bits
+    _control->joystickB = ((_buffer[0] & 0x01) << 6) | ((_buffer[1] >> 2) & 0x3F);  // 7bits
+    _control->switchA = (_buffer[1] >> 1) & 0x01;                                   // 2bits
+    _control->switchB = _buffer[1] & 0x01;                                          // 2bits
+    _control->switchC = (_buffer[2] >> 6) & 0x03;                                   // 4bits
+    _control->switchD = (_buffer[2] >> 4) & 0x03;                                   // 4bits
+    _control->knobA = _buffer[3];                                                   // 8bits
+    _control->knobB = _buffer[4];                                                   // 8bits
+}
+
+void UART_Task(void* argument) {
+    HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12);
+    remoteQueue = osMessageCreate(osMessageQ(remoteQueue), NULL);
+    for (;;) {
+        sbus_translate(&control1, &UART1_rxBuffer);
+        osMessagePut(remoteQueue, (unsigned int)&control1, osWaitForever);
+    }
+}
+
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef* uart) { HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12); }