nhorro / rover-firmware-ng Goto Github PK
View Code? Open in Web Editor NEWNext generation of rover firmware, in STM32.
Next generation of rover firmware, in STM32.
For manual driving not all telemetry is useful. Provide commands to configure its rate.
Add task that periodically reads MPU9250 and updates the raw measurements.
When the system halts, motors keep running. Use a watchdog to detect halt state and put vehicle to a safe state.
Floats are not properly decoded. Required for motor control commands.
Currently, tachometers are reading usint an EXTINT interrupts.
Experiment if this can be improved using the STM32 Timer Capture Input Encoder Mode.
As the full length of a packet is known before sending it, DMA seems to be a better option to avoid the generated interrupts for each transmitted byte.
CRC is being calculated by software. Maybe this can be done using STM32 peripheral.
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