Nucleo f303re enhnancements

.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 +35,30 @@ typedef struct {
     uint8_t vMotor_pitch;
 } GimballControlMessage;
 
+/**
+ * @brief Represents a Control Data Message
+ */
+#pragma pack(push, 1)
+typedef struct control_data {
+    uint8_t joystickAx;
+    uint8_t joystickAy;
+    uint8_t joystickBx;
+    uint8_t joystickBy;
+    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 
+// Message queues from protocols
 extern osPoolId can_rx_mpool;
 extern osPoolId can_tx_mpool;
+extern osPoolId remote_pool;
+
+extern osMessageQId outputQueueChassis;
+extern osMessageQId inputQueueChassis;
 
-extern osMessageQId outputQueueChassis; 
-extern osMessageQId inputQueueChassis; 
+extern osMessageQId remoteQueue;

app/src/remote_control.c

@@ -0,0 +1,40 @@
+#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->joystickAx = ((_buffer[1] >> 3) | (_buffer[2] << 5)) & 0xff;
+    _control->joystickAy = ((_buffer[2] >> 6) | (_buffer[3] << 2) | (_buffer[4] << 10)) & 0xff;
+    _control->joystickBx = ((_buffer[4] >> 1) | (_buffer[5] << 7)) & 0x0ff;
+    _control->joystickBy = ((_buffer[5] >> 1) | (_buffer[6] << 7)) & 0x0ff;
+    _control->knobA = ((_buffer[6] >> 7) | (_buffer[7] << 1)) & 0xff;
+    _control->knobB = ((_buffer[7]) | (_buffer[8])) & 0xff;
+    _control->switchA = (_buffer[9] & 0x07) >> 2;
+    _control->switchB = (_buffer[10] & 0x20) >> 5;
+    _control->switchC = ((_buffer[12] >> 3) & 0x03);
+    _control->switchD = ((_buffer[13] & 0x08) >> 3);
+}
+
+void UART_Task(void* argument) {
+    HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12);
+    osPoolDef(remote_pool, 16, control_data);
+    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); }