Revision 51:d6b64ac3c30d, committed 2014-04-26

Comitter:

krobertson

Date:

Sat Apr 26 06:49:37 2014 +0000

Parent:

50:030da136eacb

Child:

55:c2c10a521874

Commit message:

It mother fucking worked! Just walked the path

Changed in this revision

--- a/adapt/xbee.h	Sat Apr 26 04:26:48 2014 +0000
+++ b/adapt/xbee.h	Sat Apr 26 06:49:37 2014 +0000
@@ -9,7 +9,7 @@
 #define XBEEPINRX p10
 
 /// Define Baud
-#define XBEEBAUD 115200
+#define XBEEBAUD 57600
 //115200
 
 class XBEE{

--- a/handle/handleCommand.cpp	Sat Apr 26 04:26:48 2014 +0000
+++ b/handle/handleCommand.cpp	Sat Apr 26 06:49:37 2014 +0000
@@ -35,7 +35,7 @@
             }else{
                 switch(pack_type){
                     case PT_STARTCOMMANDS:
-                        USB::getSerial().printf("Start Commands\r\n");
+                        //USB::getSerial().printf("Start Commands\r\n");
                         startCommandsReceived = 1;
                         break;
                     case PT_ENDCOMMANDS:

--- a/handle/handleGPS.cpp	Sat Apr 26 04:26:48 2014 +0000
+++ b/handle/handleGPS.cpp	Sat Apr 26 06:49:37 2014 +0000
@@ -17,7 +17,7 @@
 }
 
 char GPSHandle::readWaypoints(){
-    USB::getSerial().printf("getting waypoitns\r\n");
+    //USB::getSerial().printf("getting waypoitns\r\n");
     PacketStruct pack;
     char rx_status = getPS().receivePacket(&pack);
     if(rx_status != 1){
@@ -27,10 +27,10 @@
     Point* points = (Point*)pack.data;
     unsigned int num_points = pack.size;
     for(int i=0;i<num_points;i++){
-        USB::getSerial().printf("Adding Waypoint: %f, %f\r\n",points[i].lat,points[i].lon);
+        //USB::getSerial().printf("Adding Waypoint: %f, %f\r\n",points[i].lat,points[i].lon);
         DH::Locs().add(LHType_targ,DataLocation(points[i].lat,points[i].lon,6.0f));
     }
-    USB::getSerial().printf("Waypoints size: %d\r\n",DH::Locs().getI(LHType_targ,LHIType_size));
+    //USB::getSerial().printf("Waypoints size: %d\r\n",DH::Locs().getI(LHType_targ,LHIType_size));
     for(int i=0;i<DH::Locs().getI(LHType_targ,LHIType_size);i++){
         DataLocation thisData=DH::Locs().getC(LHType_targ,i);
         USB::getSerial().printf("Waypoint %d: %f,%f\r\n",i,thisData.getLat(),thisData.getLon());
@@ -119,7 +119,7 @@
                         latitude = degrees + minutes/60;
                         degrees = (int)(longitude/100);
                         minutes = longitude - degrees*100;
-                        longitude = degrees + minutes/60;
+                        longitude = -1*(degrees + minutes/60);
                         USB::getSerial().printf("\nMy GPS data: Lat: %f, Lon: %f, Alt: %f, Time:%f\r\n",latitude,longitude,altitude,timeS);
                         DH::Locs().add(LHType_locs,DataLocation(latitude,longitude,altitude,timeS));
                        // USB::getSerial().printf("Current Time:%f\r\n",DH::Locs().getC().getTime());

--- a/packet.h	Sat Apr 26 04:26:48 2014 +0000
+++ b/packet.h	Sat Apr 26 06:49:37 2014 +0000
@@ -184,11 +184,12 @@
         char temp;
         int total_rec_bytes = 0;//total bytes received for this packet.
         while(total_rec_bytes < sizeof(PacketStruct)){
-            if((rx_ret = rx_ready_with_timeout()) != 1){
+            if(!outputDevice.readable() && (rx_ret = rx_ready_with_timeout(&outputDevice, 3)) != 1){
                 USB::getSerial().printf("timed out waiting for packet. Received %d/%d bytes\r\n",total_rec_bytes,sizeof(PacketStruct));
                 return rx_ret;
             }
             temp = outputDevice.getc();
+            //USB::getSerial().printf("%c ",temp);
             *(((char*)pack) + total_rec_bytes) = temp;
             total_rec_bytes++;
         }