Racelogic / Mbed 2 deprecated VIPS_LTC_RAW_IMU

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Dependencies:   BufferedSerial FatFileSystemCpp mbed

VIPSSerialProtocol.h@74:a1bf25282cb1, 2022-02-10 (annotated)

Committer:
JamieB
Date:
Thu Feb 10 10:43:50 2022 +0000
Revision:
74:a1bf25282cb1
Parent:
72:da2f1df6a50d
Child:
82:ee6eed2a51bd
Incremented version to 0.27 (forgot to on the last commit...)

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