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 58:8cce8fcc765f, committed 2021-09-13

Comitter:
JamieB
Date:
Mon Sep 13 07:38:22 2021 +0000
Parent:
57:ba6f516d93b9
Child:
59:10ab123d3c7c
Commit message:
Reduced Ethernet latency and Increased thread priority

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Sep 03 08:43:37 2021 +0000
+++ b/main.cpp	Mon Sep 13 07:38:22 2021 +0000
@@ -1,4 +1,4 @@
-#define APP_VERSION 0.16
+#define APP_VERSION 0.17
 
 /*
 Settings file options
@@ -135,6 +135,10 @@
 Timer TimeSinceLastFrame;
 uint32_t TimeSinceLastFrameWrap;
 
+//Debug Timer for Ethernet
+Timer EthernetTimer;
+uint32_t TimeSinceLastEthernetPacket;
+
 // used to start PPS at the correct point
 Timeout PPSsyncTimer;
 
@@ -175,6 +179,8 @@
 struct D1MsgFormat_s fdPacket;
 
 volatile bool EthTxNow = false;
+Mutex NewData;
+
 
 void filterOff(void)
 {
@@ -457,6 +463,7 @@
 void UDP_Tx_Now()
 {
     EthTxNow = true;
+    NewData.unlock();
 }
 
 void applyOffsets(float *value, int offset, bool invert, int max_wrap)
@@ -479,6 +486,7 @@
 
 void sendPosition(position *posPtr)
 {
+    NewData.lock();
     static bool NoDataWarn = true;
     if (!posPtr) {
         if (NoDataWarn) { // only warn once per dropout
@@ -842,8 +850,11 @@
             VIPSSocket->set_broadcasting(true);
             VIPSTarget.set_address(0xFFFFFFFF, UserSettings.VipsUDPPort);
         }
+        EthernetTimer.reset();
+        EthernetTimer.start();
         while (true) {
             if (EthTxNow) {
+//                NewData.lock();
                 EthTxNow = false;
                 if (!FreeDSocket && UserSettings.FreeDPort) {
                     pc.puts("No FreeD UDP socket\r\n");
@@ -855,10 +866,13 @@
                 }
                 if (FreeDSocket) {
                     Result = FreeDSocket->sendTo(FreeDTarget,(char *)&fdPacket, sizeof(struct D1MsgFormat_s));
+                    //uint32_t ethtime = EthernetTimer.read_us();
+                    //EthernetTimer.reset();
                     if (Result != sizeof(struct D1MsgFormat_s)) {
                         pc.puts("FreeD UDP Tx Failed!\r\n");
                         break;
-                    }
+                    } //else
+                    //pc.printf("%d\r\n", ethtime);
                 }
                 if (VIPSSocket) {
                     Result = VIPSSocket->sendTo(VIPSTarget,(char *)FlexibleVIPSOut, VIPSOutSize);
@@ -869,7 +883,8 @@
                 }
 //                pc.puts("UDP Tx\r\n");
             } else
-                Thread::wait(5);
+//                NewData.unlock();
+                Thread::wait(1);
         }
         eth.disconnect();
         pc.puts("Attempting to restart network\r\n");
@@ -968,8 +983,7 @@
 //    FIZPort = new FIZDigiPowerActive(p9, p10);
     COM1.baud(115200); // radio port
 
-    Thread serialTask(ethernetTask, &UserSettings, osPriorityNormal, 256 * 4);
-
+    Thread serialTask(ethernetTask, &UserSettings, osPriorityHigh, 256 * 4);
     led1 = 0;
     inputTimer.reset();
     inputTimer.start();