mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
41 lines
974 B
C
41 lines
974 B
C
#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include "board/can.h"
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#include "board/body/bldc/bldc_defs.h"
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// Motor control
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extern volatile uint16_t batt_voltage_raw;
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extern volatile uint16_t batt_percentage;
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extern volatile int rpm_left;
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extern volatile int rpm_right;
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extern volatile bool enable_motors;
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void motor_set_enable(bool enable);
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float motor_encoder_get_speed_rpm(uint8_t motor);
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uint8_t motor_get_error_code(uint8_t motor);
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void bldc_init(void);
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void bldc_step(void);
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// CAN communication
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void body_can_rx(CANPacket_t *msg);
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void body_can_init(void);
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void body_can_periodic(uint32_t now, bool ignition, bool plug_charging);
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// Status LEDs
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typedef struct {
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uint8_t r;
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uint8_t g;
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uint8_t b;
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} dotstar_rgb_t;
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void dotstar_init(void);
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void dotstar_show(void);
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void dotstar_run_rainbow(uint32_t now_us);
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void dotstar_apply_breathe(dotstar_rgb_t color, uint32_t now_us, uint32_t cycle_us);
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#ifndef BOOTSTUB
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extern int _app_start[0xc000];
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#endif
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