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Merged
stefanvogel merged 1 commit into from
Apr 10, 2026
Merged

feat(RemoteControl): add IMU data #230

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14 changes: 8 additions & 6 deletions lib/APPRemoteControl/src/App.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -458,10 +458,11 @@ void App_lineSensorChannelCallback(const uint8_t* payload, const uint8_t payload
}

/**
* Receives current position and heading of the robot over SerialMuxProt channel.
* Receives current position, heading and IMU of the robot over SerialMuxProt channel.
*
* @param[in] payload Current vehicle data. Two coordinates, one orientation and two motor speeds.
* @param[in] payloadSize Size of two coordinates, one orientation and two motor speeds.
* @param[in] payload Current vehicle data: Timestamp, two coordinates, one orientation,
* three motor speeds and raw IMU data (X acceleration, Z axis turn rate).
* @param[in] payloadSize The size of the received payload data.
* @param[in] userData Instance of App class.
*/
void App_currentVehicleChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData)
Expand All @@ -472,9 +473,10 @@ void App_currentVehicleChannelCallback(const uint8_t* payload, const uint8_t pay
{
const VehicleData* currentVehicleData = reinterpret_cast<const VehicleData*>(payload);

LOG_DEBUG("X: %d Y: %d Heading: %d Left: %d Right: %d Center: %d", currentVehicleData->xPos,
currentVehicleData->yPos, currentVehicleData->orientation, currentVehicleData->left,
currentVehicleData->right, currentVehicleData->center);
LOG_DEBUG("Timestamp: %d X: %d Y: %d Heading: %d Left: %d Right: %d Center: %d AccX: %d TurnZ: %d ",
currentVehicleData->timestamp, currentVehicleData->xPos, currentVehicleData->yPos,
currentVehicleData->orientation, currentVehicleData->left, currentVehicleData->right,
currentVehicleData->center, currentVehicleData->accelerationX, currentVehicleData->turnRateZ);
}
else
{
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27 changes: 16 additions & 11 deletions lib/APPRemoteControl/src/SerialMuxChannels.h
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Original file line number Diff line number Diff line change
Expand Up @@ -186,8 +186,9 @@ typedef struct _CommandResponse
};
} __attribute__((packed)) CommandResponse;

static_assert(sizeof(CommandResponse) <= MAX_DATA_LEN,
"CommandResponse struct size must be less than or equal to MAX_DATA_LEN to fit in the SerialMuxProt frame.");
static_assert(
sizeof(CommandResponse) <= MAX_DATA_LEN,
"CommandResponse struct size must be less than or equal to MAX_DATA_LEN to fit in the SerialMuxProt frame.");

/** Struct of the "Motor Speed Setpoints" channel payload. */
typedef struct _MotorSpeed
Expand All @@ -212,13 +213,16 @@ static_assert(sizeof(RobotSpeed) <= MAX_DATA_LEN,
/** Struct of the "Current Vehicle Data" channel payload. */
typedef struct _VehicleData
{
int32_t xPos; /**< X position [mm]. */
int32_t yPos; /**< Y position [mm]. */
int32_t orientation; /**< Orientation [mrad]. */
int32_t left; /**< Left motor speed [mm/s]. */
int32_t right; /**< Right motor speed [mm/s]. */
int32_t center; /**< Center speed [mm/s]. */
SMPChannelPayload::Range proximity; /**< Range at which object is found [range]. */
uint32_t timestamp; /**< Timestamp [ms]. */
int32_t xPos; /**< X position [mm]. */
int32_t yPos; /**< Y position [mm]. */
int32_t orientation; /**< Orientation [mrad]. */
int32_t left; /**< Left motor speed [mm/s]. */
int32_t right; /**< Right motor speed [mm/s]. */
int32_t center; /**< Center speed [mm/s]. */
SMPChannelPayload::Range proximity; /**< Range at which object is found [range]. */
int16_t accelerationX; /**< Raw acceleration in X [digit]. */
int16_t turnRateZ; /**< Raw turn rate around Z [digit]. */
} __attribute__((packed)) VehicleData;

static_assert(sizeof(VehicleData) <= MAX_DATA_LEN,
Expand All @@ -239,8 +243,9 @@ typedef struct _LineSensorData
uint16_t lineSensorData[5U]; /**< Line sensor data [digits] normalized to max 1000 digits. */
} __attribute__((packed)) LineSensorData;

static_assert(sizeof(LineSensorData) <= MAX_DATA_LEN,
"LineSensorData struct size must be less than or equal to MAX_DATA_LEN to fit in the SerialMuxProt frame.");
static_assert(
sizeof(LineSensorData) <= MAX_DATA_LEN,
"LineSensorData struct size must be less than or equal to MAX_DATA_LEN to fit in the SerialMuxProt frame.");

/******************************************************************************
* Functions
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