hardware.h

#ifndef __HARDWARE_H
#define __HARDWARE_H

/*  In hardware.h & hardware.c define:
  Components of the robot
  Geometry constants of the robot
  Pin & Timer connection of circuit
  Basic operation of components         */

#include "gpio.h"
#include "tim.h"
#include "crc.h"
#include "usart.h"

struct UART
{
 UART_HandleTypeDef  *huart;
 uint8_t    tx_length, rx_length, start, flag, single_count, reset_count;   // count as 32-bits, without crc
 uint32_t   trans_count, recev_count, error_count;
 int8_t   reset_check;
 double    recev_suc_rate;
 volatile int32_t tx[20];
 volatile int32_t rx[20];
 volatile int32_t buf[20];
 volatile int32_t checked_rx[20];
 volatile int32_t    rx_single[2];
 volatile int32_t    rx_temp[4];
};
void Uart_Transmit(struct UART* uart);
void Uart_Rate_Count(struct UART* uart);
short Uart_Crc_Check(struct UART* uart);
void Uart_RxCplt(UART_HandleTypeDef *huart, struct UART *uart);


//---------------------------------------------------------------------------
struct HARDWARE
{
 struct UART    uartRPI;
};
void Hardware_Init(struct HARDWARE *hardware);
void Hardware_Mapping(struct HARDWARE *hardware);




#endif