Diff: VIPSSerialProtocol.h

Revision:

1:dd1f7e162f91

Parent:

0:97661408d0f9

Child:

3:14d241e29be3

--- a/VIPSSerialProtocol.h	Fri Jan 15 11:49:01 2021 +0000
+++ b/VIPSSerialProtocol.h	Fri Jan 15 15:44:39 2021 +0000
@@ -11,10 +11,9 @@
 
 public:    
 
-    VIPSSerial(const PinName Rx, const PinName Tx);
-    void onSerialRx();
+    VIPSSerial(const PinName Tx, const PinName Rx);
     int getStatusMessage() {int tmp=statusMessage; statusMessage=0; return tmp;}
-    void fakeRX();
+    void run(void);
 
     // send all position outputs rather than just when requested.
     void sendAllUpdated(bool enable);
@@ -23,6 +22,8 @@
     position* sendPositionForTime(uint32_t timeValue);
     position* getWaitingPostion() {position *ptr = outputPtr; outputPtr=NULL; return ptr;}
 
+    static void getCRC(void *data, int len, void *checksum);
+
 private:
 
     struct posAndTime_s {
@@ -30,8 +31,8 @@
         position pos;
     };
 
+    void onSerialRx(void);
     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);
@@ -40,7 +41,7 @@
     void parsePostionInput_legacy();
     void parsePostionInput_mocap();
     bool checkNewPacketRC(unsigned char* data);
-    BufferedSerial _port;
+    RawSerial _port;
     unsigned char messageInBuffer[128];
     unsigned char messageOutBuffer[16];    
     #define posHistoryLen 3