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
- Committer:
- AndyA
- Date:
- 2021-01-15
- Revision:
- 1:dd1f7e162f91
- Parent:
- 0:97661408d0f9
- Child:
- 3:14d241e29be3
File content as of revision 1:dd1f7e162f91:
#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 Tx, const PinName Rx); int getStatusMessage() {int tmp=statusMessage; statusMessage=0; return tmp;} void run(void); // 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;} static void getCRC(void *data, int len, void *checksum); private: struct posAndTime_s { uint32_t time; position pos; }; void onSerialRx(void); void processRxMessage(); 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); RawSerial _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