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@72:da2f1df6a50d, 2022-02-10 (annotated)

Committer:
JamieB
Date:
Thu Feb 10 09:24:29 2022 +0000
Revision:
72:da2f1df6a50d
Parent:
69:47f800793d00
Child:
82:ee6eed2a51bd
Added Interpolation offset option, added a re-setting timeout to VIPS RX in passthrough mode so TCP messages are sent as one message, rather than smaller chunks

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
JamieB 72:da2f1df6a50d 10 #define MaxBuffSize 272 //The Get Unit Info LPC command (G N) returns 266 bytes
JamieB 72:da2f1df6a50d 11
JamieB 72:da2f1df6a50d 12
JamieB 69:47f800793d00 13
AndyA 0:97661408d0f9 14 extern const char* VIPSStatusMessages[];
AndyA 35:7ecf25d9c414 15 struct UserSettings_s;
AndyA 0:97661408d0f9 16
AndyA 35:7ecf25d9c414 17 class VIPSSerial
AndyA 35:7ecf25d9c414 18 {
AndyA 0:97661408d0f9 19
AndyA 35:7ecf25d9c414 20 public:
AndyA 0:97661408d0f9 21
AndyA 1:dd1f7e162f91 22 VIPSSerial(const PinName Tx, const PinName Rx);
AndyA 1:dd1f7e162f91 23 void run(void);
AndyA 35:7ecf25d9c414 24 bool setFilters(struct UserSettings_s *settings);
AndyA 0:97661408d0f9 25
AndyA 0:97661408d0f9 26 // send all position outputs rather than just when requested.
AndyA 0:97661408d0f9 27 void sendAllUpdated(bool enable);
AndyA 0:97661408d0f9 28
AndyA 0:97661408d0f9 29 // send a position output for the requested time. Times are based on the global TimeSinceLastFrame timer.
AndyA 0:97661408d0f9 30 position* sendPositionForTime(uint32_t timeValue);
AndyA 35:7ecf25d9c414 31 position* getWaitingPostion()
AndyA 35:7ecf25d9c414 32 {
AndyA 35:7ecf25d9c414 33 position *ptr = outputPtr;
AndyA 35:7ecf25d9c414 34 outputPtr=NULL;
AndyA 35:7ecf25d9c414 35 return ptr;
AndyA 35:7ecf25d9c414 36 }
AndyA 0:97661408d0f9 37
AndyA 1:dd1f7e162f91 38 static void getCRC(void *data, int len, void *checksum);
AndyA 1:dd1f7e162f91 39
AndyA 3:14d241e29be3 40 // void setOutMask(uint32_t outputMask) {_outputMask = outputMask;};
AndyA 3:14d241e29be3 41
AndyA 35:7ecf25d9c414 42 bool EnableSmoothing(bool enabled)
AndyA 35:7ecf25d9c414 43 {
AndyA 35:7ecf25d9c414 44 hyperSmoothEnabled = enabled;
AndyA 35:7ecf25d9c414 45 return hyperSmoothEnabled;
AndyA 35:7ecf25d9c414 46 };
AndyA 35:7ecf25d9c414 47 bool SmoothingEnabled(void)
AndyA 35:7ecf25d9c414 48 {
AndyA 35:7ecf25d9c414 49 return hyperSmoothEnabled;
AndyA 35:7ecf25d9c414 50 };
JamieB 66:066b16c6c34f 51 bool ForceSmoothing(bool enabled)
JamieB 66:066b16c6c34f 52 {
JamieB 66:066b16c6c34f 53 forcedHyperSmooth = enabled;
JamieB 66:066b16c6c34f 54 hyperSmoothEnabled = enabled;
JamieB 66:066b16c6c34f 55 return hyperSmoothEnabled;
JamieB 66:066b16c6c34f 56 };
JamieB 66:066b16c6c34f 57 bool ForceSmoothingEnabled(bool enabled)
JamieB 66:066b16c6c34f 58 {
JamieB 66:066b16c6c34f 59 return forcedHyperSmooth;
JamieB 66:066b16c6c34f 60 };
AndyA 35:7ecf25d9c414 61 int GetSmoothLevel(void)
AndyA 35:7ecf25d9c414 62 {
AndyA 35:7ecf25d9c414 63 return SmoothBy;
AndyA 35:7ecf25d9c414 64 };
AndyA 35:7ecf25d9c414 65 bool SetSmoothLevel (const int newSmooth)
AndyA 35:7ecf25d9c414 66 {
AndyA 35:7ecf25d9c414 67 if (newSmooth == SmoothBy) return false;
AndyA 35:7ecf25d9c414 68 SmoothBy = newSmooth;
AndyA 35:7ecf25d9c414 69 SmoothRunning = false;
AndyA 35:7ecf25d9c414 70 return true;
AndyA 35:7ecf25d9c414 71 };
AndyA 35:7ecf25d9c414 72 void EnableBypass(bool enable)
AndyA 35:7ecf25d9c414 73 {
AndyA 35:7ecf25d9c414 74 BypassMode = enable;
AndyA 35:7ecf25d9c414 75 };
AndyA 16:a8d3a0dbe4bf 76 void bypassTx(char byte);
AndyA 18:ad407a2ed4c9 77 void sendQueued(void);
JamieB 69:47f800793d00 78 bool EnableDirectTX(bool enabled)
JamieB 69:47f800793d00 79 {
JamieB 69:47f800793d00 80 directTx = enabled;
JamieB 69:47f800793d00 81 return directTx;
JamieB 69:47f800793d00 82 };
JamieB 69:47f800793d00 83 void sendDirectTX(unsigned char* data, int dataLen);
JamieB 69:47f800793d00 84 int getWaitingBuffer(unsigned char **TXBuffer, int *bytesToSend);
JamieB 69:47f800793d00 85 void sendQuiet(void);
AndyA 16:a8d3a0dbe4bf 86
AndyA 0:97661408d0f9 87 private:
AndyA 0:97661408d0f9 88
AndyA 0:97661408d0f9 89 struct posAndTime_s {
AndyA 0:97661408d0f9 90 uint32_t time;
AndyA 0:97661408d0f9 91 position pos;
AndyA 0:97661408d0f9 92 };
AndyA 0:97661408d0f9 93
AndyA 16:a8d3a0dbe4bf 94 void smoothOutputPacket(position *posPtr);
AndyA 1:dd1f7e162f91 95 void onSerialRx(void);
AndyA 0:97661408d0f9 96 void processRxMessage();
AndyA 0:97661408d0f9 97 bool checkCRC(unsigned char* data);
AndyA 0:97661408d0f9 98 void sendResponse(unsigned char function, unsigned char* data, int dataLen);
AndyA 18:ad407a2ed4c9 99 void queueResponse(unsigned char function, unsigned char* data, int dataLen);
AndyA 0:97661408d0f9 100 void sendAck(unsigned char function);
AndyA 0:97661408d0f9 101 void sendNack(unsigned char function);
AndyA 0:97661408d0f9 102 void sendVBOXTime();
AndyA 0:97661408d0f9 103 void parsePostionInput_legacy();
AndyA 0:97661408d0f9 104 void parsePostionInput_mocap();
JamieB 72:da2f1df6a50d 105 void onTxTimeout();
AndyA 0:97661408d0f9 106 bool checkNewPacketRC(unsigned char* data);
AndyA 1:dd1f7e162f91 107 RawSerial _port;
AndyA 0:97661408d0f9 108 unsigned char messageInBuffer[128];
AndyA 35:7ecf25d9c414 109 unsigned char messageOutBuffer[16];
JamieB 69:47f800793d00 110 unsigned char TXBuffer1[MaxBuffSize];
JamieB 69:47f800793d00 111 unsigned char TXBuffer2[MaxBuffSize];
JamieB 69:47f800793d00 112 unsigned char *txBuf;
JamieB 69:47f800793d00 113 int waitingBytes;
AndyA 35:7ecf25d9c414 114 #define posHistoryLen 3
AndyA 0:97661408d0f9 115 struct posAndTime_s lastPositions[posHistoryLen];
AndyA 0:97661408d0f9 116 int nextPosition;
AndyA 14:76083dc18b0d 117 struct posAndTime_s lastPos; // the most recent position received
AndyA 14:76083dc18b0d 118 struct posAndTime_s prevPos; // the most last but one position received
AndyA 0:97661408d0f9 119
AndyA 0:97661408d0f9 120 position outputPosition;
AndyA 0:97661408d0f9 121 position *outputPtr;
AndyA 0:97661408d0f9 122
AndyA 0:97661408d0f9 123 int messagePrt;
AndyA 0:97661408d0f9 124 int messageLength;
AndyA 0:97661408d0f9 125 int statusMessage;
AndyA 0:97661408d0f9 126 bool enableAllUpdates;
AndyA 0:97661408d0f9 127 bool newFormatMsg;
AndyA 16:a8d3a0dbe4bf 128 bool hyperSmoothEnabled;
JamieB 66:066b16c6c34f 129 bool forcedHyperSmooth;
JamieB 69:47f800793d00 130 bool directTx;
AndyA 0:97661408d0f9 131 uint32_t pointCount;
AndyA 3:14d241e29be3 132 uint32_t _outputMask;
AndyA 0:97661408d0f9 133
AndyA 18:ad407a2ed4c9 134 int queueLen;
AndyA 16:a8d3a0dbe4bf 135 int SmoothBy;
AndyA 35:7ecf25d9c414 136 // total as a float we would start to see rounding errors at valuses of ~20m
AndyA 16:a8d3a0dbe4bf 137 double XSmoothTotal;
AndyA 16:a8d3a0dbe4bf 138 double YSmoothTotal;
AndyA 16:a8d3a0dbe4bf 139 double ZSmoothTotal;
AndyA 16:a8d3a0dbe4bf 140 bool SmoothRunning;
AndyA 16:a8d3a0dbe4bf 141 bool BypassMode;
AndyA 35:7ecf25d9c414 142 LowPassFilter yFilter;
AndyA 35:7ecf25d9c414 143 LowPassFilter xFilter;
AndyA 35:7ecf25d9c414 144 LowPassFilter zFilter;
AndyA 35:7ecf25d9c414 145 LowPassFilter rollFilter;
AndyA 35:7ecf25d9c414 146 LowPassFilter pitchFilter;
AndyA 35:7ecf25d9c414 147 LowPassFilter yawFilter;
JamieB 72:da2f1df6a50d 148
JamieB 72:da2f1df6a50d 149 Timeout TxTimeout;
JamieB 72:da2f1df6a50d 150 bool TransmitFinished;
JamieB 72:da2f1df6a50d 151 //VIPSSerial* self;
AndyA 0:97661408d0f9 152 };
AndyA 0:97661408d0f9 153
AndyA 0:97661408d0f9 154 #endif