Racelogic / Mbed 2 deprecated VIPS_LTC_RAW_IMU

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Dependencies:   BufferedSerial FatFileSystemCpp mbed

FIZ_readers/FIZCanon.cpp@66:066b16c6c34f, 2021-11-16 (annotated)

Committer:
JamieB
Date:
Tue Nov 16 19:01:34 2021 +0000
Revision:
66:066b16c6c34f
Parent:
39:3cd9e498b5c6 
Changed Buffered Serial to Read Raw Serial in RX Interrupt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JamieB 29:b0eaeefa4e63 1 #include "FIZCanon.h"
JamieB 29:b0eaeefa4e63 2 #include "LTCApp.h"
JamieB 29:b0eaeefa4e63 3 FIZCanon::FIZCanon(const PinName Tx, const PinName Rx) : FIZReader(Tx,Rx)
JamieB 29:b0eaeefa4e63 4 {
JamieB 29:b0eaeefa4e63 5 inputPtr = 0;
JamieB 29:b0eaeefa4e63 6 newData = false;
JamieB 29:b0eaeefa4e63 7 _port.baud(19200);
JamieB 29:b0eaeefa4e63 8 _port.format(8, SerialBase::Even, 1);
JamieB 29:b0eaeefa4e63 9 _port.attach(callback(this, &FIZCanon::OnRx));
JamieB 29:b0eaeefa4e63 10 missedPackets=0;
JamieB 29:b0eaeefa4e63 11
JamieB 29:b0eaeefa4e63 12 }
JamieB 29:b0eaeefa4e63 13
JamieB 29:b0eaeefa4e63 14 void FIZCanon::requestCurrent(void)
JamieB 29:b0eaeefa4e63 15 {
JamieB 29:b0eaeefa4e63 16 if (missedPackets>5) {
JamieB 29:b0eaeefa4e63 17 // configure output format
JamieB 29:b0eaeefa4e63 18 _port.putc(0x80);
JamieB 29:b0eaeefa4e63 19 _port.putc(0xC6);
JamieB 29:b0eaeefa4e63 20 _port.putc(0xBF);
JamieB 29:b0eaeefa4e63 21 // pc.printf("W");
JamieB 29:b0eaeefa4e63 22 missedPackets = 0;
JamieB 29:b0eaeefa4e63 23 }
JamieB 29:b0eaeefa4e63 24
JamieB 29:b0eaeefa4e63 25 _port.putc(0x94);
JamieB 29:b0eaeefa4e63 26 _port.putc(0xC1);
JamieB 29:b0eaeefa4e63 27 _port.putc(0xBF);
JamieB 29:b0eaeefa4e63 28 _port.putc(0x94);
JamieB 29:b0eaeefa4e63 29 _port.putc(0xC3);
JamieB 29:b0eaeefa4e63 30 _port.putc(0xBF);
JamieB 29:b0eaeefa4e63 31 _port.putc(0x94);
JamieB 29:b0eaeefa4e63 32 _port.putc(0xC5);
JamieB 29:b0eaeefa4e63 33 _port.putc(0xBF);
JamieB 29:b0eaeefa4e63 34 missedPackets++;
JamieB 29:b0eaeefa4e63 35 // pc.printf("T");
JamieB 29:b0eaeefa4e63 36 }
JamieB 29:b0eaeefa4e63 37
JamieB 29:b0eaeefa4e63 38 // expect hex data format:
JamieB 29:b0eaeefa4e63 39 // [dat len] [command] [data] [cs]
JamieB 29:b0eaeefa4e63 40 // only command we care about is multi reply which is 7 bytes of data - zoom, focus, iris, switch 4
JamieB 29:b0eaeefa4e63 41 // 07 60 [zoom1][zoom2] .... [cs]
JamieB 29:b0eaeefa4e63 42 void FIZCanon::OnRx(void)
JamieB 29:b0eaeefa4e63 43 {
JamieB 29:b0eaeefa4e63 44 uint8_t dIn = _port.getc();
JamieB 29:b0eaeefa4e63 45 // pc.putc('R');
JamieB 29:b0eaeefa4e63 46 inputBuffer[inputPtr] = dIn;
JamieB 29:b0eaeefa4e63 47 if (inputPtr==0) {
JamieB 29:b0eaeefa4e63 48 if (dIn == 0x94) { // correct length
JamieB 29:b0eaeefa4e63 49 inputPtr++;
JamieB 29:b0eaeefa4e63 50 }
JamieB 29:b0eaeefa4e63 51 } else if (inputPtr > 30) {
JamieB 29:b0eaeefa4e63 52 inputPtr = 0;
JamieB 29:b0eaeefa4e63 53 } else { // waiting for data.
JamieB 29:b0eaeefa4e63 54 inputPtr++;
JamieB 29:b0eaeefa4e63 55 if (inputPtr == (18) && dIn == 0xBF) { // full packet = 2 byte header, 7 byte data, 1 byte cs
JamieB 29:b0eaeefa4e63 56 parsePacket();
JamieB 29:b0eaeefa4e63 57 inputPtr = 0;
JamieB 29:b0eaeefa4e63 58 if (missedPackets)
JamieB 29:b0eaeefa4e63 59 missedPackets--;
JamieB 29:b0eaeefa4e63 60 }
JamieB 29:b0eaeefa4e63 61 }
JamieB 29:b0eaeefa4e63 62 }
JamieB 29:b0eaeefa4e63 63
JamieB 29:b0eaeefa4e63 64 void FIZCanon::parsePacket()
JamieB 29:b0eaeefa4e63 65 {
JamieB 39:3cd9e498b5c6 66 // pc.puts("FIZ parse\r\n");
JamieB 39:3cd9e498b5c6 67 // pc.putc('P');
JamieB 30:87810cae96ac 68 int read_pos = 0;
JamieB 31:2eec69c777a7 69 bool valid = false;
JamieB 29:b0eaeefa4e63 70
JamieB 30:87810cae96ac 71 while (read_pos != inputPtr) {
JamieB 39:3cd9e498b5c6 72 if (!valid) {
JamieB 39:3cd9e498b5c6 73 if (inputBuffer[read_pos] == CANON_START) {
JamieB 31:2eec69c777a7 74 valid = true;
JamieB 39:3cd9e498b5c6 75 }
JamieB 39:3cd9e498b5c6 76 } else {
JamieB 39:3cd9e498b5c6 77 switch(inputBuffer[read_pos]) {
JamieB 39:3cd9e498b5c6 78 case CANON_ZOOM:
JamieB 39:3cd9e498b5c6 79 // pc.putc('Z');
JamieB 39:3cd9e498b5c6 80 _zoom = (((uint32_t)inputBuffer[read_pos+1])<<14 | inputBuffer[read_pos +2]<<7 | inputBuffer[read_pos +3])/60;
JamieB 30:87810cae96ac 81 // pc.putc(0x01);
JamieB 30:87810cae96ac 82 // pc.putc(inputBuffer[read_pos+1]);
JamieB 30:87810cae96ac 83 // pc.putc(inputBuffer[read_pos+2]);
JamieB 30:87810cae96ac 84 // pc.putc(inputBuffer[read_pos+3]);
JamieB 39:3cd9e498b5c6 85 read_pos += 4; // type + 3 BYTES OF DATA
JamieB 39:3cd9e498b5c6 86 break;
JamieB 39:3cd9e498b5c6 87 case CANON_FOCUS:
JamieB 39:3cd9e498b5c6 88 // pc.putc('F');
JamieB 39:3cd9e498b5c6 89 _focus = 1000 - (((uint32_t)inputBuffer[read_pos+1])<<14 | inputBuffer[read_pos +2]<<7 | inputBuffer[read_pos +3])/60;
JamieB 30:87810cae96ac 90 // pc.putc(0x02);
JamieB 30:87810cae96ac 91 // pc.putc(inputBuffer[read_pos+1]);
JamieB 30:87810cae96ac 92 // pc.putc(inputBuffer[read_pos+2]);
JamieB 30:87810cae96ac 93 // pc.putc(inputBuffer[read_pos+3]);
JamieB 39:3cd9e498b5c6 94 read_pos += 4;
JamieB 39:3cd9e498b5c6 95 break;
JamieB 39:3cd9e498b5c6 96 case CANON_IRIS:
JamieB 39:3cd9e498b5c6 97 //IRIS NOT SCALED CORRECTLY -> 0x8000 - 0xD000, 0x1000 between FStops -> Fix Later
JamieB 39:3cd9e498b5c6 98 // pc.putc('I');
JamieB 31:2eec69c777a7 99 _iris = (((uint32_t)inputBuffer[read_pos +1])<<14 | inputBuffer[read_pos +2]<<7 | inputBuffer[read_pos +3]);
JamieB 30:87810cae96ac 100 // pc.putc(0x03);
JamieB 30:87810cae96ac 101 // pc.putc(inputBuffer[read_pos+1]);
JamieB 30:87810cae96ac 102 // pc.putc(inputBuffer[read_pos+2]);
JamieB 30:87810cae96ac 103 // pc.putc(inputBuffer[read_pos+3]);
JamieB 39:3cd9e498b5c6 104 read_pos += 4;
JamieB 39:3cd9e498b5c6 105 break;
JamieB 39:3cd9e498b5c6 106 default:
JamieB 39:3cd9e498b5c6 107 //pc.putc('D');
JamieB 39:3cd9e498b5c6 108 break;
JamieB 39:3cd9e498b5c6 109 }
JamieB 39:3cd9e498b5c6 110 valid = false;
JamieB 39:3cd9e498b5c6 111 } // if valid
JamieB 39:3cd9e498b5c6 112 read_pos++;
JamieB 39:3cd9e498b5c6 113 } // while
JamieB 29:b0eaeefa4e63 114
JamieB 30:87810cae96ac 115 //// MAY NEED TO SCALE THESE
JamieB 30:87810cae96ac 116 // _focus = focus_Position;
JamieB 30:87810cae96ac 117 // _iris = iris_Position;
JamieB 30:87810cae96ac 118 // _zoom = zoom_Position;
JamieB 30:87810cae96ac 119 //
JamieB 39:3cd9e498b5c6 120
JamieB 29:b0eaeefa4e63 121 newData = true;
JamieB 39:3cd9e498b5c6 122 }