Diff: main.cpp

Revision:

0:0389ce4f9789

Child:

1:fbc9c604df21

diff -r 000000000000 -r 0389ce4f9789 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat May 12 07:28:33 2018 +0000
@@ -0,0 +1,75 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <math.h>
+#include <iostream>
+#include "an_packet_protocol.h"
+#include "spatial_packets.h"
+#include "mbed.h"
+
+#define M_PI 3.14
+#define RADIANS_TO_DEGREES (180.0/M_PI)
+
+ 
+Serial pc(USBTX, USBRX); // tx, rx
+Serial device(p9, p10);  // tx, rx
+ 
+int main() {
+    
+    an_decoder_t an_decoder;
+    an_packet_t *an_packet;
+    
+    system_state_packet_t system_state_packet;
+
+    an_decoder_initialise(&an_decoder);
+   
+    pc.baud(115200);
+    device.baud(115200);    
+     
+      while(1) {
+            
+            while(device.readable()) {
+
+                int i = an_decoder.buffer_length;
+                an_decoder.buffer[i+1] = device.getc();
+                an_decoder_increment(&an_decoder, 1);
+
+                
+            }
+            
+            /* iterate through an example data dump from spatial */
+            if (40 < an_decoder.buffer_length)
+            { 
+            
+                //calculate the number of bytes to copy
+                //bytes_to_copy = an_decoder_size(&an_decoder);
+        
+                while ((an_packet = an_packet_decode(&an_decoder)) != NULL)
+                {   
+                    //an_packet = an_packet_decode(&an_decoder);
+                    pc.printf("what is problem? \r\n"); 
+                                        
+                    if (an_packet->id == packet_id_system_state) //system state packet 
+                    {   pc.printf("what is problem?222"); 
+        
+                        //copy all the binary data into the typedef struct for the packet 
+                        //this allows easy access to all the different values             
+                        if (decode_system_state_packet(&system_state_packet, an_packet) == 0)
+                        {pc.printf("what is problem?222");
+                            pc.printf("System State Packet:\n");
+                            pc.printf("\tLatitude = %f, Longitude = %f, Height = %f\n", system_state_packet.latitude * RADIANS_TO_DEGREES, system_state_packet.longitude * RADIANS_TO_DEGREES, system_state_packet.height);
+                            pc.printf("\tRoll = %f, Pitch = %f, Heading = %f\n", system_state_packet.orientation[0] * RADIANS_TO_DEGREES, system_state_packet.orientation[1] * RADIANS_TO_DEGREES, system_state_packet.orientation[2] * RADIANS_TO_DEGREES);
+                        }
+                    }
+                    else
+                    {
+                        pc.printf("Packet ID %u of Length %u\n", an_packet->id, an_packet->length);
+                    }
+                }
+            }
+        }
+        
+    
+}
+