Racelogic / Mbed 2 deprecated VIPS_LTC_RAW_IMU

I messed up the merge, so pushing it over to another repo so I don't lose it. Will tidy up and remove later

Dependencies:   BufferedSerial FatFileSystemCpp mbed

VIPSSerialProtocol.h@65:8ee40ed9295b, 2021-11-16 (annotated)

Committer:
JamieB
Date:
Tue Nov 16 16:08:26 2021 +0000
Revision:
65:8ee40ed9295b
Parent:
35:7ecf25d9c414 
Temp commit - REMOVE;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AndyA 0:97661408d0f9 1 #ifndef __VIPSSERIALPROTOCOL_H__
AndyA 0:97661408d0f9 2 #define __VIPSSERIALPROTOCOL_H__
AndyA 0:97661408d0f9 3
AndyA 0:97661408d0f9 4 #include "mbed.h"
AndyA 0:97661408d0f9 5 #include "position.h"
AndyA 0:97661408d0f9 6 #include "BufferedSerial.h"
AndyA 35:7ecf25d9c414 7 #include "LTCApp.h"
AndyA 35:7ecf25d9c414 8 #include "LowPassFilter.h"
AndyA 0:97661408d0f9 9
AndyA 0:97661408d0f9 10 extern const char* VIPSStatusMessages[];
AndyA 35:7ecf25d9c414 11 struct UserSettings_s;
AndyA 0:97661408d0f9 12
AndyA 35:7ecf25d9c414 13 class VIPSSerial
AndyA 35:7ecf25d9c414 14 {
AndyA 0:97661408d0f9 15
AndyA 35:7ecf25d9c414 16 public:
AndyA 0:97661408d0f9 17
AndyA 1:dd1f7e162f91 18 VIPSSerial(const PinName Tx, const PinName Rx);
AndyA 1:dd1f7e162f91 19 void run(void);
AndyA 35:7ecf25d9c414 20 bool setFilters(struct UserSettings_s *settings);
AndyA 0:97661408d0f9 21
AndyA 0:97661408d0f9 22 // send all position outputs rather than just when requested.
AndyA 0:97661408d0f9 23 void sendAllUpdated(bool enable);
AndyA 0:97661408d0f9 24
AndyA 0:97661408d0f9 25 // send a position output for the requested time. Times are based on the global TimeSinceLastFrame timer.
AndyA 0:97661408d0f9 26 position* sendPositionForTime(uint32_t timeValue);
AndyA 35:7ecf25d9c414 27 position* getWaitingPostion()
AndyA 35:7ecf25d9c414 28 {
AndyA 35:7ecf25d9c414 29 position *ptr = outputPtr;
AndyA 35:7ecf25d9c414 30 outputPtr=NULL;
AndyA 35:7ecf25d9c414 31 return ptr;
AndyA 35:7ecf25d9c414 32 }
AndyA 0:97661408d0f9 33
AndyA 1:dd1f7e162f91 34 static void getCRC(void *data, int len, void *checksum);
AndyA 1:dd1f7e162f91 35
AndyA 3:14d241e29be3 36 // void setOutMask(uint32_t outputMask) {_outputMask = outputMask;};
AndyA 3:14d241e29be3 37
AndyA 35:7ecf25d9c414 38 bool EnableSmoothing(bool enabled)
AndyA 35:7ecf25d9c414 39 {
AndyA 35:7ecf25d9c414 40 hyperSmoothEnabled = enabled;
AndyA 35:7ecf25d9c414 41 return hyperSmoothEnabled;
AndyA 35:7ecf25d9c414 42 };
JamieB 65:8ee40ed9295b 43 bool ForceSmoothing(bool enabled)
JamieB 65:8ee40ed9295b 44 {
JamieB 65:8ee40ed9295b 45 forcedHyperSmooth = enabled;
JamieB 65:8ee40ed9295b 46 hyperSmoothEnabled = enabled;
JamieB 65:8ee40ed9295b 47 return hyperSmoothEnabled;
JamieB 65:8ee40ed9295b 48 };
JamieB 65:8ee40ed9295b 49 bool ForceSmoothingEnabled(bool enabled)
JamieB 65:8ee40ed9295b 50 {
JamieB 65:8ee40ed9295b 51 return forcedHyperSmooth;
JamieB 65:8ee40ed9295b 52 };
AndyA 35:7ecf25d9c414 53 bool SmoothingEnabled(void)
AndyA 35:7ecf25d9c414 54 {
AndyA 35:7ecf25d9c414 55 return hyperSmoothEnabled;
AndyA 35:7ecf25d9c414 56 };
AndyA 16:a8d3a0dbe4bf 57
AndyA 35:7ecf25d9c414 58 int GetSmoothLevel(void)
AndyA 35:7ecf25d9c414 59 {
AndyA 35:7ecf25d9c414 60 return SmoothBy;
AndyA 35:7ecf25d9c414 61 };
AndyA 35:7ecf25d9c414 62 bool SetSmoothLevel (const int newSmooth)
AndyA 35:7ecf25d9c414 63 {
AndyA 35:7ecf25d9c414 64 if (newSmooth == SmoothBy) return false;
AndyA 35:7ecf25d9c414 65 SmoothBy = newSmooth;
AndyA 35:7ecf25d9c414 66 SmoothRunning = false;
AndyA 35:7ecf25d9c414 67 return true;
AndyA 35:7ecf25d9c414 68 };
AndyA 35:7ecf25d9c414 69 void EnableBypass(bool enable)
AndyA 35:7ecf25d9c414 70 {
AndyA 35:7ecf25d9c414 71 BypassMode = enable;
AndyA 35:7ecf25d9c414 72 };
AndyA 16:a8d3a0dbe4bf 73 void bypassTx(char byte);
AndyA 18:ad407a2ed4c9 74 void sendQueued(void);
AndyA 16:a8d3a0dbe4bf 75
AndyA 0:97661408d0f9 76 private:
AndyA 0:97661408d0f9 77
AndyA 0:97661408d0f9 78 struct posAndTime_s {
AndyA 0:97661408d0f9 79 uint32_t time;
AndyA 0:97661408d0f9 80 position pos;
AndyA 0:97661408d0f9 81 };
AndyA 0:97661408d0f9 82
AndyA 16:a8d3a0dbe4bf 83 void smoothOutputPacket(position *posPtr);
AndyA 1:dd1f7e162f91 84 void onSerialRx(void);
AndyA 0:97661408d0f9 85 void processRxMessage();
AndyA 0:97661408d0f9 86 bool checkCRC(unsigned char* data);
AndyA 0:97661408d0f9 87 void sendResponse(unsigned char function, unsigned char* data, int dataLen);
AndyA 18:ad407a2ed4c9 88 void queueResponse(unsigned char function, unsigned char* data, int dataLen);
AndyA 0:97661408d0f9 89 void sendAck(unsigned char function);
AndyA 0:97661408d0f9 90 void sendNack(unsigned char function);
AndyA 0:97661408d0f9 91 void sendVBOXTime();
AndyA 0:97661408d0f9 92 void parsePostionInput_legacy();
AndyA 0:97661408d0f9 93 void parsePostionInput_mocap();
AndyA 0:97661408d0f9 94 bool checkNewPacketRC(unsigned char* data);
AndyA 1:dd1f7e162f91 95 RawSerial _port;
AndyA 0:97661408d0f9 96 unsigned char messageInBuffer[128];
AndyA 35:7ecf25d9c414 97 unsigned char messageOutBuffer[16];
AndyA 35:7ecf25d9c414 98 #define posHistoryLen 3
AndyA 0:97661408d0f9 99 struct posAndTime_s lastPositions[posHistoryLen];
AndyA 0:97661408d0f9 100 int nextPosition;
AndyA 14:76083dc18b0d 101 struct posAndTime_s lastPos; // the most recent position received
AndyA 14:76083dc18b0d 102 struct posAndTime_s prevPos; // the most last but one position received
AndyA 0:97661408d0f9 103
AndyA 0:97661408d0f9 104 position outputPosition;
AndyA 0:97661408d0f9 105 position *outputPtr;
AndyA 0:97661408d0f9 106
AndyA 0:97661408d0f9 107 int messagePrt;
AndyA 0:97661408d0f9 108 int messageLength;
AndyA 0:97661408d0f9 109 int statusMessage;
AndyA 0:97661408d0f9 110 bool enableAllUpdates;
AndyA 0:97661408d0f9 111 bool newFormatMsg;
AndyA 16:a8d3a0dbe4bf 112 bool hyperSmoothEnabled;
AndyA 0:97661408d0f9 113 uint32_t pointCount;
AndyA 3:14d241e29be3 114 uint32_t _outputMask;
JamieB 65:8ee40ed9295b 115 bool forcedHyperSmooth;
AndyA 0:97661408d0f9 116
AndyA 18:ad407a2ed4c9 117 int queueLen;
AndyA 16:a8d3a0dbe4bf 118 int SmoothBy;
AndyA 35:7ecf25d9c414 119 // total as a float we would start to see rounding errors at valuses of ~20m
AndyA 16:a8d3a0dbe4bf 120 double XSmoothTotal;
AndyA 16:a8d3a0dbe4bf 121 double YSmoothTotal;
AndyA 16:a8d3a0dbe4bf 122 double ZSmoothTotal;
AndyA 16:a8d3a0dbe4bf 123 bool SmoothRunning;
AndyA 16:a8d3a0dbe4bf 124 bool BypassMode;
AndyA 35:7ecf25d9c414 125 LowPassFilter yFilter;
AndyA 35:7ecf25d9c414 126 LowPassFilter xFilter;
AndyA 35:7ecf25d9c414 127 LowPassFilter zFilter;
AndyA 35:7ecf25d9c414 128 LowPassFilter rollFilter;
AndyA 35:7ecf25d9c414 129 LowPassFilter pitchFilter;
AndyA 35:7ecf25d9c414 130 LowPassFilter yawFilter;
AndyA 0:97661408d0f9 131 };
AndyA 0:97661408d0f9 132
AndyA 0:97661408d0f9 133 #endif