Racelogic / Mbed 2 deprecated VIPS_LTC_RAW_IMU

I messed up the merge, so pushing it over to another repo so I don't lose it. Will tidy up and remove later

Dependencies:   BufferedSerial FatFileSystemCpp mbed

Files at this revision

API Documentation at this revision

Revision 27:498cce52fe5f, committed 2021-07-09

Comitter:
JamieB
Date:
Fri Jul 09 16:00:55 2021 +0000
Parent:
26:7f66ac76cd5d
Child:
28:7600b18ccb7a
Commit message:
Fixed 180-degree heading wrap-around issue in FreeD output

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Jul 08 17:31:11 2021 +0000
+++ b/main.cpp	Fri Jul 09 16:00:55 2021 +0000
@@ -83,6 +83,10 @@
 #define LED_OFF 1
 #define LED_ON 0
 
+#define setRED() ({GreenLED=LED_OFF;BlueLED = LED_OFF;RedLED = LED_ON;})
+#define setGREEN() ({GreenLED=LED_ON;BlueLED = LED_OFF;RedLED = LED_OFF;})
+#define setBLUE() ({GreenLED=LED_OFF;BlueLED = LED_ON;RedLED = LED_OFF;})
+#define setOFF() ({GreenLED=LED_OFF;BlueLED = LED_OFF;RedLED = LED_OFF;})
 
 frameclock movieTime;
 
@@ -322,7 +326,7 @@
     if (posPtr) {
         fdPacket.header = 0xD1;
         fdPacket.id = 0xFF - posPtr->ID;
-        set24bitValue(fdPacket.yaw, (int)(posPtr->yaw *32768));
+        set24bitValue(fdPacket.yaw, (int)(((posPtr->yaw > 180)? posPtr->yaw - 360 : posPtr->yaw) *32768)); ;
         set24bitValue(fdPacket.pitch, (int)(posPtr->pitch *32768));
         set24bitValue(fdPacket.roll, (int)(posPtr->roll *32768));
 //        fdPacket.yaw = (int)(posPtr->yaw *32768);
@@ -609,6 +613,7 @@
 {
     pc.baud(115200);
     pc.printf("\r\n\r\nStartup - v0.7\r\n");
+    setRED();
 
     UserSettings.FIZmode = formatPreston;
     UserSettings.SerialOutMode = mode_VIPS;
@@ -679,10 +684,6 @@
     inputTimer.reset();
     inputTimer.start();
 
-    GreenLED = LED_ON;
-    RedLED = LED_OFF;
-    BlueLED = LED_OFF;
-
     prepPacketOut();
 
     LTCInput.enable(true);
@@ -690,11 +691,13 @@
     VIPS.run();
 
     pc.printf("System init complete\r\n");
+    setBLUE();
     COM1.attach(&onOutputSerialRx);
 
     TimeSinceLastFrame.reset();
     TimeSinceLastFrame.start();
 
+
     pc.printf("Waiting for sync input clock\r\n");
 
 #ifdef enableFakePPF
@@ -726,6 +729,7 @@
         Syncin.rise(NULL);
     }
 
+    setGREEN();
     pc.printf("Measuring frame rate\r\n");
 
     int currentFrames = framesIn;
@@ -765,6 +769,7 @@
 
     pc.printf("Current time is %02d:%02d:%02d %02d\r\n",movieTime.hours(),movieTime.minutes(),movieTime.seconds(),movieTime.frame());
     LTCInput.enable(false);
+    setOFF();
 
     pc.printf("Running\r\n",framesPerSecond);
 
@@ -772,6 +777,7 @@
     getNextFileNumber();
     COM1.attach(callback(onOutputSerialRx));
 
+
     while (true) {
         if (NewFramePulse) { // New frame. Output data.
             //framePulse(FramePulseTime);