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Codigo control remoto para mandar y recibir datos sbus #7

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7d8681c
Copied Brian Atmos code with minor comments
Feb 15, 2025
85437a8
test
Feb 15, 2025
d5694a8
Corrected remote control pr comments and updated ioc file
Mar 27, 2025
a562a34
Merge branch 'main' into remoteControl
Mar 29, 2025
667c692
Comments resolved, with sbus translation implemented
Mar 29, 2025
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4 changes: 3 additions & 1 deletion .vscode/settings.json
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Original file line numberDiff line numberDiff line change
Expand Up@@ -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"
}
}
131 changes: 0 additions & 131 deletions app/inc/CanBusTask.h
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27 changes: 22 additions & 5 deletions app/inc/CommunicationStructs.h
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Original file line numberDiff line numberDiff line change
Expand Up@@ -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
Expand All@@ -35,10 +35,27 @@ typedef struct {
uint8_t vMotor_pitch;
} GimballControlMessage;


// Message queues from protocols
/**
* @brief Represents a Control Data Message
*/
#pragma pack(push, 1)
typedef struct control_data {
uint8_t joystickA;
uint8_t joystickB;
uint8_t knobA;
uint8_t knobB;
uint8_t switchA;

@JorgePerCJorgePerCApr 3, 2025

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El packed te sirve cuando tienes arrays de datos de diferentes tamaños... en este caso, todos son de 8 bit... no hay necesidad de hacerlo packed
Realmente ocupas 8 bits para los switches?

uint8_t switchB;
uint8_t switchC;
uint8_t switchD;
} control_data;
#pragma pack(pop)

// Message queues from protocols
extern osPoolId can_rx_mpool;
extern osPoolId can_tx_mpool;

extern osMessageQId outputQueueChassis;
extern osMessageQId inputQueueChassis;
extern osMessageQId outputQueueChassis;
extern osMessageQId inputQueueChassis;

extern osMessageQId remoteQueue;
55 changes: 0 additions & 55 deletions app/inc/RobomasterCanProtocol.h
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37 changes: 37 additions & 0 deletions app/src/remote_control.c
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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,37 @@
#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->joystickA = (_buffer[0] >> 1) & 0x7F; // 7bits
_control->joystickB = ((_buffer[0] & 0x01) << 6) | ((_buffer[1] >> 2) & 0x3F); // 7bits
_control->switchA = (_buffer[1] >> 1) & 0x01; // 2bits
_control->switchB = _buffer[1] & 0x01; // 2bits
_control->switchC = (_buffer[2] >> 6) & 0x03; // 4bits
_control->switchD = (_buffer[2] >> 4) & 0x03; // 4bits
_control->knobA = _buffer[3]; // 8bits
_control->knobB = _buffer[4]; // 8bits
}

void UART_Task(void* argument) {
HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12);
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); }
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btn.onmouseover = function() { this.style.opacity = '1'; };
btn.onmouseout = function() { this.style.opacity = '0.7'; };
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navigator.clipboard.writeText(codeBlock.textContent).then(function() {
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Codigo control remoto para mandar y recibir datos sbus by fabianglz-tec · Pull Request #7 · RobomasterOwltech/AppCodeTemp · GitHub
Skip to content
Codigo control remoto para mandar y recibir datos sbus#7

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Codigo control remoto para mandar y recibir datos sbus
#7
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7d8681c

Copied Brian Atmos code with minor comments

Feb 15, 2025
85437a8

test

Feb 15, 2025
d5694a8

Corrected remote control pr comments and updated ioc file

Mar 27, 2025
a562a34

Merge branch 'main' into remoteControl

Mar 29, 2025
667c692

Comments resolved, with sbus translation implemented

Mar 29, 2025

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4 changes: 3 additions & 1 deletion
.vscode/settings.json

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Original file line numberDiff line numberDiff line change
Expand Up@@ -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"
 }
}

131 changes: 0 additions & 131 deletions
app/inc/CanBusTask.h

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27 changes: 22 additions & 5 deletions
app/inc/CommunicationStructs.h

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Original file line numberDiff line numberDiff line change
Expand Up@@ -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
Expand All@@ -35,10 +35,27 @@ typedef struct {
 uint8_t vMotor_pitch;
} GimballControlMessage;


// Message queues from protocols 
/**
 * @brief Represents a Control Data Message
 */
#pragma pack(push, 1)
typedef struct control_data {
 uint8_t joystickA;
 uint8_t joystickB;
 uint8_t knobA;
 uint8_t knobB;
 uint8_t switchA;
@JorgePerCJorgePerCApr 3, 2025

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El packed te sirve cuando tienes arrays de datos de diferentes tamaños... en este caso, todos son de 8 bit... no hay necesidad de hacerlo packed

Realmente ocupas 8 bits para los switches?
 uint8_t switchB;
 uint8_t switchC;
 uint8_t switchD;
} control_data;
#pragma pack(pop)

// Message queues from protocols
extern osPoolId can_rx_mpool;
extern osPoolId can_tx_mpool;

extern osMessageQId outputQueueChassis; 
extern osMessageQId inputQueueChassis; 
extern osMessageQId outputQueueChassis;
extern osMessageQId inputQueueChassis;

extern osMessageQId remoteQueue;

55 changes: 0 additions & 55 deletions
app/inc/RobomasterCanProtocol.h

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37 changes: 37 additions & 0 deletions
app/src/remote_control.c

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,37 @@
#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->joystickA = (_buffer[0] >> 1) & 0x7F; // 7bits
 _control->joystickB = ((_buffer[0] & 0x01) << 6) | ((_buffer[1] >> 2) & 0x3F); // 7bits
 _control->switchA = (_buffer[1] >> 1) & 0x01; // 2bits
 _control->switchB = _buffer[1] & 0x01; // 2bits
 _control->switchC = (_buffer[2] >> 6) & 0x03; // 4bits
 _control->switchD = (_buffer[2] >> 4) & 0x03; // 4bits
 _control->knobA = _buffer[3]; // 8bits
 _control->knobB = _buffer[4]; // 8bits
}

void UART_Task(void* argument) {
 HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12);
 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); }
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if (__m === '*' || __re.test(location.href)) {
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(function() {
var style = document.createElement('style');
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color-scheme: dark light;
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.markdown-body table th, .markdown-body table td { border-color: #30363d !important; }
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} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
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var __re = new RegExp('^' + ".*" + '
Codigo control remoto para mandar y recibir datos sbus by fabianglz-tec · Pull Request #7 · RobomasterOwltech/AppCodeTemp · GitHub
Skip to content
Codigo control remoto para mandar y recibir datos sbus#7

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 Open

fabianglz-tec
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Codigo control remoto para mandar y recibir datos sbus
#7
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7d8681c

Copied Brian Atmos code with minor comments

Feb 15, 2025
85437a8

test

Feb 15, 2025
d5694a8

Corrected remote control pr comments and updated ioc file

Mar 27, 2025
a562a34

Merge branch 'main' into remoteControl

Mar 29, 2025
667c692

Comments resolved, with sbus translation implemented

Mar 29, 2025

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4 changes: 3 additions & 1 deletion
.vscode/settings.json

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Original file line numberDiff line numberDiff line change
Expand Up@@ -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"
 }
}

131 changes: 0 additions & 131 deletions
app/inc/CanBusTask.h

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27 changes: 22 additions & 5 deletions
app/inc/CommunicationStructs.h

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Original file line numberDiff line numberDiff line change
Expand Up@@ -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
Expand All@@ -35,10 +35,27 @@ typedef struct {
 uint8_t vMotor_pitch;
} GimballControlMessage;


// Message queues from protocols 
/**
 * @brief Represents a Control Data Message
 */
#pragma pack(push, 1)
typedef struct control_data {
 uint8_t joystickA;
 uint8_t joystickB;
 uint8_t knobA;
 uint8_t knobB;
 uint8_t switchA;
@JorgePerCJorgePerCApr 3, 2025

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El packed te sirve cuando tienes arrays de datos de diferentes tamaños... en este caso, todos son de 8 bit... no hay necesidad de hacerlo packed

Realmente ocupas 8 bits para los switches?
 uint8_t switchB;
 uint8_t switchC;
 uint8_t switchD;
} control_data;
#pragma pack(pop)

// Message queues from protocols
extern osPoolId can_rx_mpool;
extern osPoolId can_tx_mpool;

extern osMessageQId outputQueueChassis; 
extern osMessageQId inputQueueChassis; 
extern osMessageQId outputQueueChassis;
extern osMessageQId inputQueueChassis;

extern osMessageQId remoteQueue;

55 changes: 0 additions & 55 deletions
app/inc/RobomasterCanProtocol.h

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37 changes: 37 additions & 0 deletions
app/src/remote_control.c

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,37 @@
#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->joystickA = (_buffer[0] >> 1) & 0x7F; // 7bits
 _control->joystickB = ((_buffer[0] & 0x01) << 6) | ((_buffer[1] >> 2) & 0x3F); // 7bits
 _control->switchA = (_buffer[1] >> 1) & 0x01; // 2bits
 _control->switchB = _buffer[1] & 0x01; // 2bits
 _control->switchC = (_buffer[2] >> 6) & 0x03; // 4bits
 _control->switchD = (_buffer[2] >> 4) & 0x03; // 4bits
 _control->knobA = _buffer[3]; // 8bits
 _control->knobB = _buffer[4]; // 8bits
}

void UART_Task(void* argument) {
 HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12);
 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); }
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if (__m === '*' || __re.test(location.href)) {
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var ref = document.referrer;
var terms = [];
if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {
var url = new URL(ref);
var q = url.searchParams.get('q') || url.searchParams.get('p');
if (q) {
terms = q.split(/\s+/).filter(function(t) { return t.length > 2; });
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style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';
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function highlight(node) {
if (node.nodeType === 3) { // text node
var text = node.textContent;
var found = false;
terms.forEach(function(term) {
var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\]\\]/g, '\\') + ')', 'gi');
if (regex.test(text)) {
found = true;
var frag = document.createDocumentFragment();
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if (i % 2 === 0) {
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var span = document.createElement('span');
span.className = 'userscript-highlight';
span.textContent = part;
frag.appendChild(span);
}
});
node.parentNode.replaceChild(frag, node);
}
});
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var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];
if (!skipTags.includes(node.tagName)) {
Array.from(node.childNodes).forEach(highlight);
}
}
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highlight(document.body);
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var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1 || node.nodeType === 3) highlight(node);
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})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
Codigo control remoto para mandar y recibir datos sbus by fabianglz-tec · Pull Request #7 · RobomasterOwltech/AppCodeTemp · GitHub
Skip to content
Codigo control remoto para mandar y recibir datos sbus#7

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fabianglz-tec
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Codigo control remoto para mandar y recibir datos sbus
#7
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7d8681c

Copied Brian Atmos code with minor comments

Feb 15, 2025
85437a8

test

Feb 15, 2025
d5694a8

Corrected remote control pr comments and updated ioc file

Mar 27, 2025
a562a34

Merge branch 'main' into remoteControl

Mar 29, 2025
667c692

Comments resolved, with sbus translation implemented

Mar 29, 2025

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4 changes: 3 additions & 1 deletion
.vscode/settings.json

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -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"
 }
}

131 changes: 0 additions & 131 deletions
app/inc/CanBusTask.h

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This file was deleted.


27 changes: 22 additions & 5 deletions
app/inc/CommunicationStructs.h

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Original file line numberDiff line numberDiff line change
Expand Up@@ -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
Expand All@@ -35,10 +35,27 @@ typedef struct {
 uint8_t vMotor_pitch;
} GimballControlMessage;


// Message queues from protocols 
/**
 * @brief Represents a Control Data Message
 */
#pragma pack(push, 1)
typedef struct control_data {
 uint8_t joystickA;
 uint8_t joystickB;
 uint8_t knobA;
 uint8_t knobB;
 uint8_t switchA;
@JorgePerCJorgePerCApr 3, 2025

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El packed te sirve cuando tienes arrays de datos de diferentes tamaños... en este caso, todos son de 8 bit... no hay necesidad de hacerlo packed

Realmente ocupas 8 bits para los switches?
 uint8_t switchB;
 uint8_t switchC;
 uint8_t switchD;
} control_data;
#pragma pack(pop)

// Message queues from protocols
extern osPoolId can_rx_mpool;
extern osPoolId can_tx_mpool;

extern osMessageQId outputQueueChassis; 
extern osMessageQId inputQueueChassis; 
extern osMessageQId outputQueueChassis;
extern osMessageQId inputQueueChassis;

extern osMessageQId remoteQueue;

55 changes: 0 additions & 55 deletions
app/inc/RobomasterCanProtocol.h

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37 changes: 37 additions & 0 deletions
app/src/remote_control.c

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,37 @@
#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->joystickA = (_buffer[0] >> 1) & 0x7F; // 7bits
 _control->joystickB = ((_buffer[0] & 0x01) << 6) | ((_buffer[1] >> 2) & 0x3F); // 7bits
 _control->switchA = (_buffer[1] >> 1) & 0x01; // 2bits
 _control->switchB = _buffer[1] & 0x01; // 2bits
 _control->switchC = (_buffer[2] >> 6) & 0x03; // 4bits
 _control->switchD = (_buffer[2] >> 4) & 0x03; // 4bits
 _control->knobA = _buffer[3]; // 8bits
 _control->knobB = _buffer[4]; // 8bits
}

void UART_Task(void* argument) {
 HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12);
 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); }
Empty file addedtest.txt

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, 'i');
if (__m === '*' || __re.test(location.href)) {
// Strip utm_, fbclid, gclid, etc. from all links on page
(function() {
var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',
'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',
'ref', 'ref_src', 'source', 'medium', 'campaign'];
function cleanUrl(url) {
try {
var u = new URL(url, window.location.origin);
var changed = false;
trackingParams.forEach(function(p) {
if (u.searchParams.has(p)) {
u.searchParams.delete(p);
changed = true;
}
});
return changed ? u.toString() : url;
} catch (e) {
return url;
}
}
function cleanLinks() {
document.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
cleanLinks();
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1) {
if (node.tagName === 'A') cleanLinks();
node.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '
Codigo control remoto para mandar y recibir datos sbus by fabianglz-tec · Pull Request #7 · RobomasterOwltech/AppCodeTemp · GitHub
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Codigo control remoto para mandar y recibir datos sbus#7

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Codigo control remoto para mandar y recibir datos sbus
#7
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7d8681c

Copied Brian Atmos code with minor comments

Feb 15, 2025
85437a8

test

Feb 15, 2025
d5694a8

Corrected remote control pr comments and updated ioc file

Mar 27, 2025
a562a34

Merge branch 'main' into remoteControl

Mar 29, 2025
667c692

Comments resolved, with sbus translation implemented

Mar 29, 2025

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4 changes: 3 additions & 1 deletion
.vscode/settings.json

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Original file line numberDiff line numberDiff line change
Expand Up@@ -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"
 }
}

131 changes: 0 additions & 131 deletions
app/inc/CanBusTask.h

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This file was deleted.


27 changes: 22 additions & 5 deletions
app/inc/CommunicationStructs.h

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Original file line numberDiff line numberDiff line change
Expand Up@@ -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
Expand All@@ -35,10 +35,27 @@ typedef struct {
 uint8_t vMotor_pitch;
} GimballControlMessage;


// Message queues from protocols 
/**
 * @brief Represents a Control Data Message
 */
#pragma pack(push, 1)
typedef struct control_data {
 uint8_t joystickA;
 uint8_t joystickB;
 uint8_t knobA;
 uint8_t knobB;
 uint8_t switchA;
@JorgePerCJorgePerCApr 3, 2025

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El packed te sirve cuando tienes arrays de datos de diferentes tamaños... en este caso, todos son de 8 bit... no hay necesidad de hacerlo packed

Realmente ocupas 8 bits para los switches?
 uint8_t switchB;
 uint8_t switchC;
 uint8_t switchD;
} control_data;
#pragma pack(pop)

// Message queues from protocols
extern osPoolId can_rx_mpool;
extern osPoolId can_tx_mpool;

extern osMessageQId outputQueueChassis; 
extern osMessageQId inputQueueChassis; 
extern osMessageQId outputQueueChassis;
extern osMessageQId inputQueueChassis;

extern osMessageQId remoteQueue;

55 changes: 0 additions & 55 deletions
app/inc/RobomasterCanProtocol.h

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37 changes: 37 additions & 0 deletions
app/src/remote_control.c

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,37 @@
#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->joystickA = (_buffer[0] >> 1) & 0x7F; // 7bits
 _control->joystickB = ((_buffer[0] & 0x01) << 6) | ((_buffer[1] >> 2) & 0x3F); // 7bits
 _control->switchA = (_buffer[1] >> 1) & 0x01; // 2bits
 _control->switchB = _buffer[1] & 0x01; // 2bits
 _control->switchC = (_buffer[2] >> 6) & 0x03; // 4bits
 _control->switchD = (_buffer[2] >> 4) & 0x03; // 4bits
 _control->knobA = _buffer[3]; // 8bits
 _control->knobB = _buffer[4]; // 8bits
}

void UART_Task(void* argument) {
 HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12);
 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); }
Empty file addedtest.txt

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, 'i');
if (__m === '*' || __re.test(location.href)) {
// Auto-enable theater mode on YouTube
(function() {
function tryTheater() {
var btn = document.querySelector('button[aria-label="Theater mode"], ytd-player #player button[title="Theater mode"]');
if (btn && !btn.classList.contains('activated')) {
btn.click();
}
}
// Try immediately
tryTheater();
// Try after navigation (SPA)
var lastUrl = location.href;
setInterval(function() {
if (location.href !== lastUrl) {
lastUrl = location.href;
setTimeout(tryTheater, 500);
}
}, 1000);
// Also try on player load
var observer = new MutationObserver(tryTheater);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
Codigo control remoto para mandar y recibir datos sbus by fabianglz-tec · Pull Request #7 · RobomasterOwltech/AppCodeTemp · GitHub
Skip to content
Codigo control remoto para mandar y recibir datos sbus#7

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Codigo control remoto para mandar y recibir datos sbus
#7
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7d8681c

Copied Brian Atmos code with minor comments

Feb 15, 2025
85437a8

test

Feb 15, 2025
d5694a8

Corrected remote control pr comments and updated ioc file

Mar 27, 2025
a562a34

Merge branch 'main' into remoteControl

Mar 29, 2025
667c692

Comments resolved, with sbus translation implemented

Mar 29, 2025

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4 changes: 3 additions & 1 deletion
.vscode/settings.json

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Original file line numberDiff line numberDiff line change
Expand Up@@ -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"
 }
}

131 changes: 0 additions & 131 deletions
app/inc/CanBusTask.h

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This file was deleted.


27 changes: 22 additions & 5 deletions
app/inc/CommunicationStructs.h

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Original file line numberDiff line numberDiff line change
Expand Up@@ -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
Expand All@@ -35,10 +35,27 @@ typedef struct {
 uint8_t vMotor_pitch;
} GimballControlMessage;


// Message queues from protocols 
/**
 * @brief Represents a Control Data Message
 */
#pragma pack(push, 1)
typedef struct control_data {
 uint8_t joystickA;
 uint8_t joystickB;
 uint8_t knobA;
 uint8_t knobB;
 uint8_t switchA;
@JorgePerCJorgePerCApr 3, 2025

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El packed te sirve cuando tienes arrays de datos de diferentes tamaños... en este caso, todos son de 8 bit... no hay necesidad de hacerlo packed

Realmente ocupas 8 bits para los switches?
 uint8_t switchB;
 uint8_t switchC;
 uint8_t switchD;
} control_data;
#pragma pack(pop)

// Message queues from protocols
extern osPoolId can_rx_mpool;
extern osPoolId can_tx_mpool;

extern osMessageQId outputQueueChassis; 
extern osMessageQId inputQueueChassis; 
extern osMessageQId outputQueueChassis;
extern osMessageQId inputQueueChassis;

extern osMessageQId remoteQueue;

55 changes: 0 additions & 55 deletions
app/inc/RobomasterCanProtocol.h

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37 changes: 37 additions & 0 deletions
app/src/remote_control.c

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,37 @@
#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->joystickA = (_buffer[0] >> 1) & 0x7F; // 7bits
 _control->joystickB = ((_buffer[0] & 0x01) << 6) | ((_buffer[1] >> 2) & 0x3F); // 7bits
 _control->switchA = (_buffer[1] >> 1) & 0x01; // 2bits
 _control->switchB = _buffer[1] & 0x01; // 2bits
 _control->switchC = (_buffer[2] >> 6) & 0x03; // 4bits
 _control->switchD = (_buffer[2] >> 4) & 0x03; // 4bits
 _control->knobA = _buffer[3]; // 8bits
 _control->knobB = _buffer[4]; // 8bits
}

void UART_Task(void* argument) {
 HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12);
 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); }
Empty file addedtest.txt

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, 'i');
if (__m === '*' || __re.test(location.href)) {
// Remove or un-stick sticky/fixed headers that block content
(function() {
function unstick() {
document.querySelectorAll('header, nav, [role="banner"], .header, .navbar, .sticky, .fixed-top, [style*="position: fixed"], [style*="position:sticky"]').forEach(function(el) {
if (el.style.position === 'fixed' || el.style.position === 'sticky' || getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {
el.style.position = 'static';
el.style.top = 'auto';
el.style.zIndex = 'auto';
}
});
}
unstick();
var observer = new MutationObserver(unstick);
observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });
})();
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
})();
Codigo control remoto para mandar y recibir datos sbus by fabianglz-tec · Pull Request #7 · RobomasterOwltech/AppCodeTemp · GitHub
Skip to content
Codigo control remoto para mandar y recibir datos sbus#7

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Codigo control remoto para mandar y recibir datos sbus
#7
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7d8681c

Copied Brian Atmos code with minor comments

Feb 15, 2025
85437a8

test

Feb 15, 2025
d5694a8

Corrected remote control pr comments and updated ioc file

Mar 27, 2025
a562a34

Merge branch 'main' into remoteControl

Mar 29, 2025
667c692

Comments resolved, with sbus translation implemented

Mar 29, 2025

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4 changes: 3 additions & 1 deletion
.vscode/settings.json

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -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"
 }
}

131 changes: 0 additions & 131 deletions
app/inc/CanBusTask.h

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This file was deleted.


27 changes: 22 additions & 5 deletions
app/inc/CommunicationStructs.h

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -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
Expand All@@ -35,10 +35,27 @@ typedef struct {
 uint8_t vMotor_pitch;
} GimballControlMessage;


// Message queues from protocols 
/**
 * @brief Represents a Control Data Message
 */
#pragma pack(push, 1)
typedef struct control_data {
 uint8_t joystickA;
 uint8_t joystickB;
 uint8_t knobA;
 uint8_t knobB;
 uint8_t switchA;
@JorgePerCJorgePerCApr 3, 2025

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El packed te sirve cuando tienes arrays de datos de diferentes tamaños... en este caso, todos son de 8 bit... no hay necesidad de hacerlo packed

Realmente ocupas 8 bits para los switches?
 uint8_t switchB;
 uint8_t switchC;
 uint8_t switchD;
} control_data;
#pragma pack(pop)

// Message queues from protocols
extern osPoolId can_rx_mpool;
extern osPoolId can_tx_mpool;

extern osMessageQId outputQueueChassis; 
extern osMessageQId inputQueueChassis; 
extern osMessageQId outputQueueChassis;
extern osMessageQId inputQueueChassis;

extern osMessageQId remoteQueue;

55 changes: 0 additions & 55 deletions
app/inc/RobomasterCanProtocol.h

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This file was deleted.


37 changes: 37 additions & 0 deletions
app/src/remote_control.c

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,37 @@
#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->joystickA = (_buffer[0] >> 1) & 0x7F; // 7bits
 _control->joystickB = ((_buffer[0] & 0x01) << 6) | ((_buffer[1] >> 2) & 0x3F); // 7bits
 _control->switchA = (_buffer[1] >> 1) & 0x01; // 2bits
 _control->switchB = _buffer[1] & 0x01; // 2bits
 _control->switchC = (_buffer[2] >> 6) & 0x03; // 4bits
 _control->switchD = (_buffer[2] >> 4) & 0x03; // 4bits
 _control->knobA = _buffer[3]; // 8bits
 _control->knobB = _buffer[4]; // 8bits
}

void UART_Task(void* argument) {
 HAL_UART_Receive_IT(&huart1, &UART1_rxBuffer, 12);
 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); }
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