f1ed809c71
- null-terminated TSV frame: V_bat, IMU (9 fields), RPM, gear - mock RPM ramps 800-8000, gear derived from RPM bands - voltage calibration offset - PROTOCOL.md documents wire format Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
32 lines
1.0 KiB
C
32 lines
1.0 KiB
C
#ifndef COMMS_H
|
|
#define COMMS_H
|
|
|
|
#include <Arduino.h>
|
|
#include "imu.h"
|
|
|
|
// Initialize Pi serial communication (call in setup)
|
|
void comms_init();
|
|
|
|
// Process incoming commands from Pi - call in loop
|
|
// Returns true if a complete command was received
|
|
bool comms_update();
|
|
|
|
// Send complete telemetry frame (TSV format, null-terminated)
|
|
// Format: V_bat\tAx\tAy\tAz\tGx\tGy\tGz\tRoll\tPitch\tYaw\tRPM\tGear\0
|
|
// If imu_valid is false, IMU fields are empty (but tabs preserved)
|
|
void comms_send_telemetry(float voltage, const ImuData& imu, bool imu_valid, int rpm, int gear);
|
|
|
|
// Send key:value line (for debug/ACK, newline-terminated)
|
|
void comms_send(const char* key, float value, int decimals = 2);
|
|
void comms_send(const char* key, int value);
|
|
void comms_send(const char* key, const char* value);
|
|
|
|
// Get last received command (empty if none)
|
|
// Command buffer is cleared after reading
|
|
const char* comms_get_command();
|
|
|
|
// Check if connected (received any data recently)
|
|
bool comms_is_connected(unsigned long timeout_ms = 5000);
|
|
|
|
#endif
|