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@16:a8d3a0dbe4bf, 2021-04-30 (annotated)

Committer:
AndyA
Date:
Fri Apr 30 11:26:34 2021 +0000
Revision:
16:a8d3a0dbe4bf
Parent:
14:76083dc18b0d
Child:
18:ad407a2ed4c9
Add support for multiple types of FIZ reader.; Added support for digipower FIZ as used by skycam

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 0:97661408d0f9 7
AndyA 0:97661408d0f9 8 extern const char* VIPSStatusMessages[];
AndyA 0:97661408d0f9 9
AndyA 0:97661408d0f9 10 class VIPSSerial {
AndyA 0:97661408d0f9 11
AndyA 0:97661408d0f9 12 public:
AndyA 0:97661408d0f9 13
AndyA 1:dd1f7e162f91 14 VIPSSerial(const PinName Tx, const PinName Rx);
AndyA 1:dd1f7e162f91 15 void run(void);
AndyA 0:97661408d0f9 16
AndyA 0:97661408d0f9 17 // send all position outputs rather than just when requested.
AndyA 0:97661408d0f9 18 void sendAllUpdated(bool enable);
AndyA 0:97661408d0f9 19
AndyA 0:97661408d0f9 20 // send a position output for the requested time. Times are based on the global TimeSinceLastFrame timer.
AndyA 0:97661408d0f9 21 position* sendPositionForTime(uint32_t timeValue);
AndyA 0:97661408d0f9 22 position* getWaitingPostion() {position *ptr = outputPtr; outputPtr=NULL; return ptr;}
AndyA 0:97661408d0f9 23
AndyA 1:dd1f7e162f91 24 static void getCRC(void *data, int len, void *checksum);
AndyA 1:dd1f7e162f91 25
AndyA 3:14d241e29be3 26 // void setOutMask(uint32_t outputMask) {_outputMask = outputMask;};
AndyA 3:14d241e29be3 27
AndyA 16:a8d3a0dbe4bf 28 bool EnableSmoothing(bool enabled) { hyperSmoothEnabled = enabled; return hyperSmoothEnabled;};
AndyA 16:a8d3a0dbe4bf 29 bool SmoothingEnabled(void) { return hyperSmoothEnabled;};
AndyA 16:a8d3a0dbe4bf 30
AndyA 16:a8d3a0dbe4bf 31 int GetSmoothLevel(void) { return SmoothBy; };
AndyA 16:a8d3a0dbe4bf 32 bool SetSmoothLevel (const int newSmooth) { if (newSmooth == SmoothBy) return false; SmoothBy = newSmooth; SmoothRunning = false; return true; };
AndyA 16:a8d3a0dbe4bf 33 void EnableBypass(bool enable) { BypassMode = enable;};
AndyA 16:a8d3a0dbe4bf 34 void bypassTx(char byte);
AndyA 16:a8d3a0dbe4bf 35
AndyA 0:97661408d0f9 36 private:
AndyA 0:97661408d0f9 37
AndyA 0:97661408d0f9 38 struct posAndTime_s {
AndyA 0:97661408d0f9 39 uint32_t time;
AndyA 0:97661408d0f9 40 position pos;
AndyA 0:97661408d0f9 41 };
AndyA 0:97661408d0f9 42
AndyA 16:a8d3a0dbe4bf 43 void smoothOutputPacket(position *posPtr);
AndyA 1:dd1f7e162f91 44 void onSerialRx(void);
AndyA 0:97661408d0f9 45 void processRxMessage();
AndyA 0:97661408d0f9 46 bool checkCRC(unsigned char* data);
AndyA 0:97661408d0f9 47 void sendResponse(unsigned char function, unsigned char* data, int dataLen);
AndyA 0:97661408d0f9 48 void sendAck(unsigned char function);
AndyA 0:97661408d0f9 49 void sendNack(unsigned char function);
AndyA 0:97661408d0f9 50 void sendVBOXTime();
AndyA 0:97661408d0f9 51 void parsePostionInput_legacy();
AndyA 0:97661408d0f9 52 void parsePostionInput_mocap();
AndyA 0:97661408d0f9 53 bool checkNewPacketRC(unsigned char* data);
AndyA 1:dd1f7e162f91 54 RawSerial _port;
AndyA 0:97661408d0f9 55 unsigned char messageInBuffer[128];
AndyA 0:97661408d0f9 56 unsigned char messageOutBuffer[16];
AndyA 0:97661408d0f9 57 #define posHistoryLen 3
AndyA 0:97661408d0f9 58 struct posAndTime_s lastPositions[posHistoryLen];
AndyA 0:97661408d0f9 59 int nextPosition;
AndyA 14:76083dc18b0d 60 struct posAndTime_s lastPos; // the most recent position received
AndyA 14:76083dc18b0d 61 struct posAndTime_s prevPos; // the most last but one position received
AndyA 0:97661408d0f9 62
AndyA 0:97661408d0f9 63 position outputPosition;
AndyA 0:97661408d0f9 64 position *outputPtr;
AndyA 0:97661408d0f9 65
AndyA 0:97661408d0f9 66 int messagePrt;
AndyA 0:97661408d0f9 67 int messageLength;
AndyA 0:97661408d0f9 68 int statusMessage;
AndyA 0:97661408d0f9 69 bool enableAllUpdates;
AndyA 0:97661408d0f9 70 bool newFormatMsg;
AndyA 16:a8d3a0dbe4bf 71 bool hyperSmoothEnabled;
AndyA 0:97661408d0f9 72 uint32_t pointCount;
AndyA 3:14d241e29be3 73 uint32_t _outputMask;
AndyA 0:97661408d0f9 74
AndyA 16:a8d3a0dbe4bf 75 int SmoothBy;
AndyA 16:a8d3a0dbe4bf 76 // total as a float we would start to see rounding errors at valuses of ~20m
AndyA 16:a8d3a0dbe4bf 77 double XSmoothTotal;
AndyA 16:a8d3a0dbe4bf 78 double YSmoothTotal;
AndyA 16:a8d3a0dbe4bf 79 double ZSmoothTotal;
AndyA 16:a8d3a0dbe4bf 80 bool SmoothRunning;
AndyA 16:a8d3a0dbe4bf 81 bool BypassMode;
AndyA 16:a8d3a0dbe4bf 82
AndyA 16:a8d3a0dbe4bf 83
AndyA 0:97661408d0f9 84 };
AndyA 0:97661408d0f9 85
AndyA 0:97661408d0f9 86 #endif