VIPSSerialProtocol.h

00001 #ifndef __VIPSSERIALPROTOCOL_H__
00002 #define __VIPSSERIALPROTOCOL_H__
00003 
00004 #include "mbed.h"
00005 #include "position.h"
00006 #include "BufferedSerial.h"
00007 #include "LTCApp.h"
00008 #include "LowPassFilter.h"
00009 
00010 #define MaxBuffSize 272 //The Get Unit Info LPC command (G N) returns 266 bytes
00011 
00012 
00013 
00014 extern const char* VIPSStatusMessages[];
00015 struct UserSettings_s;
00016 
00017 class VIPSSerial
00018 {
00019 
00020 public:
00021 
00022     VIPSSerial(const PinName Tx, const PinName Rx);
00023     void run(void);
00024     bool setFilters(struct UserSettings_s *settings);
00025 
00026     // send all position outputs rather than just when requested.
00027     void sendAllUpdated(bool enable);
00028 
00029     // send a position output for the requested time. Times are based on the global TimeSinceLastFrame timer.
00030     position* sendPositionForTime(uint32_t timeValue);
00031     position* getWaitingPostion()
00032     {
00033         position *ptr = outputPtr;
00034         outputPtr=NULL;
00035         return ptr;
00036     }
00037 
00038     static void getCRC(void *data, int len, void *checksum);
00039 
00040 //  void setOutMask(uint32_t outputMask) {_outputMask = outputMask;};
00041 
00042     bool EnableSmoothing(bool enabled)
00043     {
00044         hyperSmoothEnabled = enabled;
00045         return hyperSmoothEnabled;
00046     };
00047     bool SmoothingEnabled(void)
00048     {
00049         return hyperSmoothEnabled;
00050     };
00051     bool ForceSmoothing(bool enabled)
00052     {
00053         forcedHyperSmooth = enabled;
00054         hyperSmoothEnabled = enabled;
00055         return hyperSmoothEnabled;
00056     };
00057     bool ForceSmoothingEnabled(bool enabled)
00058     {
00059         return forcedHyperSmooth;
00060     };
00061     int GetSmoothLevel(void)
00062     {
00063         return SmoothBy;
00064     };
00065     bool SetSmoothLevel (const int newSmooth)
00066     {
00067         if (newSmooth == SmoothBy) return false;
00068         SmoothBy = newSmooth;
00069         SmoothRunning = false;
00070         return true;
00071     };
00072     void EnableBypass(bool enable)
00073     {
00074         BypassMode = enable;
00075     };
00076     void bypassTx(char byte);
00077     void sendQueued(void);
00078     bool EnableDirectTX(bool enabled)
00079     {
00080         directTx = enabled;
00081         return directTx;
00082     };
00083     void sendDirectTX(unsigned char* data, int dataLen);
00084     int getWaitingBuffer(unsigned char **TXBuffer, int *bytesToSend);
00085     void sendQuiet(void);
00086 
00087 private:
00088 
00089     struct posAndTime_s {
00090         uint32_t time;
00091         position pos;
00092     };
00093 
00094     void smoothOutputPacket(position *posPtr);
00095     void onSerialRx(void);
00096     void processRxMessage();
00097     bool checkCRC(unsigned char* data);
00098     void sendResponse(unsigned char function, unsigned char* data, int dataLen);
00099     void queueResponse(unsigned char function, unsigned char* data, int dataLen);
00100     void sendAck(unsigned char function);
00101     void sendNack(unsigned char function);
00102     void sendVBOXTime();
00103     void parsePostionInput_legacy();
00104     void parsePostionInput_mocap();
00105     void onTxTimeout();
00106     bool checkNewPacketRC(unsigned char* data);
00107     RawSerial _port;
00108     unsigned char messageInBuffer[128];
00109     unsigned char messageOutBuffer[16];
00110     unsigned char TXBuffer1[MaxBuffSize];
00111     unsigned char TXBuffer2[MaxBuffSize];
00112     unsigned char *txBuf;
00113     int waitingBytes;
00114 #define posHistoryLen 3
00115     struct posAndTime_s lastPositions[posHistoryLen];
00116     int nextPosition;
00117     struct posAndTime_s lastPos; // the most recent position received
00118     struct posAndTime_s prevPos; // the most last but one position received
00119 
00120     position outputPosition;
00121     position *outputPtr;
00122 
00123     int messagePrt;
00124     int messageLength;
00125     int statusMessage;
00126     bool enableAllUpdates;
00127     bool newFormatMsg;
00128     bool hyperSmoothEnabled;
00129     bool forcedHyperSmooth;
00130     bool directTx;
00131     uint32_t pointCount;
00132     uint32_t _outputMask;
00133 
00134     int queueLen;
00135     int SmoothBy;
00136     // total as a float we would start to see rounding errors at valuses of ~20m
00137     double XSmoothTotal;
00138     double YSmoothTotal;
00139     double ZSmoothTotal;
00140     bool SmoothRunning;
00141     bool BypassMode;
00142     LowPassFilter yFilter;
00143     LowPassFilter xFilter;
00144     LowPassFilter zFilter;
00145     LowPassFilter rollFilter;
00146     LowPassFilter pitchFilter;
00147     LowPassFilter yawFilter;
00148     
00149     Timeout TxTimeout;
00150     bool TransmitFinished;
00151     //VIPSSerial* self;
00152 };
00153 
00154 #endif