Refactor code structure for improved readability and maintainability

2026-05-20 18:35:58 +03:00
parent 769ac3d0c7
commit cf8f3908a0
39 changed files with 772 additions and 591 deletions
@@ -16,6 +16,9 @@ typedef struct {
    uint8_t  header[2];
    int16_t  gx;
    int16_t  filt_gx;
+    uint16_t notch1_hz;
+    uint16_t notch2_hz;
+    uint16_t notch3_hz;
 } Telemetry_t;
 #pragma pack(pop)

@@ -59,8 +62,12 @@ int main(void) {
                  DSP_Process(); 
              }

+              float32_t filt_gx_value = filt_gx;
              pkt.gx = gx_val;
-              pkt.filt_gx = (int16_t)filt_gx;
+              pkt.filt_gx = (int16_t)filt_gx_value;
+              pkt.notch1_hz = dsp_notch_freqs[0];
+              pkt.notch2_hz = dsp_notch_freqs[1];
+              pkt.notch3_hz = dsp_notch_freqs[2];
              UART_SendPacket(&pkt);

              Set_Motor_Individual(m1_speed, m2_speed, m3_speed, m4_speed);