Diff: VIPSSerialProtocol.h

Revision:

0:97661408d0f9

Child:

1:dd1f7e162f91

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VIPSSerialProtocol.h	Fri Jan 15 11:49:01 2021 +0000
@@ -0,0 +1,62 @@
+#ifndef __VIPSSERIALPROTOCOL_H__
+#define __VIPSSERIALPROTOCOL_H__
+
+#include "mbed.h"
+#include "position.h"
+#include "BufferedSerial.h"
+
+extern const char* VIPSStatusMessages[];
+
+class VIPSSerial { 
+
+public:    
+
+    VIPSSerial(const PinName Rx, const PinName Tx);
+    void onSerialRx();
+    int getStatusMessage() {int tmp=statusMessage; statusMessage=0; return tmp;}
+    void fakeRX();
+
+    // send all position outputs rather than just when requested.
+    void sendAllUpdated(bool enable);
+
+    // send a position output for the requested time. Times are based on the global TimeSinceLastFrame timer.
+    position* sendPositionForTime(uint32_t timeValue);
+    position* getWaitingPostion() {position *ptr = outputPtr; outputPtr=NULL; return ptr;}
+
+private:
+
+    struct posAndTime_s {
+        uint32_t time;
+        position pos;
+    };
+
+    void processRxMessage();
+    void getCRC(unsigned char* data, int len, unsigned char* checksum);
+    bool checkCRC(unsigned char* data);
+    void sendResponse(unsigned char function, unsigned char* data, int dataLen);
+    void sendAck(unsigned char function);
+    void sendNack(unsigned char function);
+    void sendVBOXTime();
+    void parsePostionInput_legacy();
+    void parsePostionInput_mocap();
+    bool checkNewPacketRC(unsigned char* data);
+    BufferedSerial _port;
+    unsigned char messageInBuffer[128];
+    unsigned char messageOutBuffer[16];    
+    #define posHistoryLen 3
+    struct posAndTime_s lastPositions[posHistoryLen];
+    int nextPosition;
+
+    position outputPosition;
+    position *outputPtr;
+
+    int messagePrt;
+    int messageLength;
+    int statusMessage;
+    bool enableAllUpdates;
+    bool newFormatMsg;
+    uint32_t pointCount;
+
+};
+
+#endif