Advertisement
Not a member of Pastebin yet?
Sign Up,
it unlocks many cool features!
- void rx_auv_command(void) {
- uint8_t rx_buffer[23];
- uint32_t status = HAL_UART_Receive(&huart6, rx_buffer, 22, 200);
- if (status == HAL_TIMEOUT) {
- return;
- }
- if (status != HAL_OK) {
- return;
- }
- if (rx_buffer[0] != 0xAE && rx_buffer[22] != 0xEA) {
- return;
- }
- thrusters_pwm[0] = (int8_t)rx_buffer[1];
- thrusters_pwm[1] = (int8_t)rx_buffer[2];
- thrusters_pwm[2] = (int8_t)rx_buffer[3];
- thrusters_pwm[3] = (int8_t)rx_buffer[4];
- thrusters_pwm[4] = (int8_t)rx_buffer[5];
- thrusters_pwm[5] = (int8_t)rx_buffer[6];
- thrusters_pwm[6] = (int8_t)rx_buffer[7];
- drop_pwm[0] = (int8_t)rx_buffer[8];
- drop_pwm[1] = (int8_t)rx_buffer[9];
- drop_pwm[2] = (int8_t)rx_buffer[10];
- drop[0] = (int8_t)rx_buffer[11];
- drop[1] = (int8_t)rx_buffer[12];
- drop[2] = (int8_t)rx_buffer[13];
- set_A_drop(rx_buffer[14]);
- set_B_drop(rx_buffer[15]);
- set_C_drop(rx_buffer[16]);
- if (r_val != rx_buffer[17] ||
- g_val != rx_buffer[18] ||
- b_val != rx_buffer[19] ||
- user_color_val != rx_buffer[20]) {
- r_val = rx_buffer[17];
- g_val = rx_buffer[18];
- b_val = rx_buffer[19];
- user_color_val = rx_buffer[20];
- can_bus_set_led_color(r_val, g_val, b_val, user_color_val);
- }
- servo_angle = rx_buffer[21];
- }
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement