Racelogic
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
Revision 47:8d577dfb7eb1, committed 2021-08-17
- Comitter:
- AndyA
- Date:
- Tue Aug 17 14:52:50 2021 +0000
- Parent:
- 45:03d255642704
- Parent:
- 42:9653486372a6
- Child:
- 48:475b3c5f5707
- Commit message:
- 0.14 - Merge (and bug fix) flexible output. Allow independent UDP port enables
Changed in this revision
--- a/LTCApp.h Thu Aug 12 11:31:31 2021 +0000
+++ b/LTCApp.h Tue Aug 17 14:52:50 2021 +0000
@@ -30,7 +30,8 @@
typedef struct UserSettings_s {
int FIZmode;
int SerialOutMode;
- int UDPPort;
+ int FreeDPort;
+ int VipsUDPPort;
char IPAddress[32];
char Gateway[32];
char Subnet[32];
--- a/main.cpp Thu Aug 12 11:31:31 2021 +0000
+++ b/main.cpp Tue Aug 17 14:52:50 2021 +0000
@@ -1,4 +1,4 @@
-#define APP_VERSION 0.12
+#define APP_VERSION 0.14
/*
Settings file options
@@ -26,6 +26,9 @@
Data is sent as a UDP broadcast on the select port number.
A port number of 0 disables UDP output.
+VIPS_UDP_Port=pppp
+ Same As Above
+
IP_addr=aaa.bbb.ccc.ddd
Subnet=aaa.bbb.ccc.ddd
Gateway=aaa.bbb.ccc.ddd
@@ -375,8 +378,9 @@
int byteCount = 4;
uint32_t mask = 0x0446; // Status,orientation,accuracy,FIZ
if (posPtr && UserSettings.FlexibleVIPSOut) {
- if (posPtr->UsedBeaconsValid)
+ if (posPtr->UsedBeaconsValid) {
mask |= 0x1000;
+ }
if (posPtr->LLAPosition)
mask |= 0x0001;
}
@@ -394,8 +398,8 @@
byteCount +=8;
*((float*)(FlexibleVIPSOut + byteCount)) = posPtr->Height;
byteCount +=4;
- FlexibleVIPSOut[ byteCount++] = posPtr->beacons;
- FlexibleVIPSOut[ byteCount++] = posPtr->solutionType;
+ FlexibleVIPSOut[byteCount++] = posPtr->beacons;
+ FlexibleVIPSOut[byteCount++] = posPtr->solutionType;
*((uint16_t*)(FlexibleVIPSOut + byteCount)) = posPtr->KFStatus;
byteCount +=2;
*((float*)(FlexibleVIPSOut + byteCount)) = posPtr->roll;
@@ -410,16 +414,18 @@
byteCount += blankBytes;
}
- FlexibleVIPSOut[ byteCount++] = 0;
- FlexibleVIPSOut[ byteCount++] = 0;
- FlexibleVIPSOut[ byteCount++] = 0;
- FlexibleVIPSOut[ byteCount++] = posPtr?posPtr->ID:0;
+ FlexibleVIPSOut[byteCount++] = 0;
+ FlexibleVIPSOut[byteCount++] = 0;
+ FlexibleVIPSOut[byteCount++] = 0;
+ FlexibleVIPSOut[byteCount++] = posPtr?posPtr->ID:0;
FIZPort->getMostRecent((uint32_t*)(FlexibleVIPSOut + byteCount), (uint16_t*)(FlexibleVIPSOut + byteCount+4), (uint16_t*)(FlexibleVIPSOut + byteCount+6));
byteCount+=8;
- if (mask | 0x1000) // pos must be valid for this to be set
+ if (mask | 0x1000) { // pos must be valid for this to be set
memcpy(FlexibleVIPSOut + byteCount,posPtr->UsedBeacons,12);
+ byteCount+=12;
+ }
// set length to current size plus checksum.
VIPSOutSize = byteCount+2;
@@ -428,12 +434,12 @@
VIPSSerial::getCRC(FlexibleVIPSOut, byteCount, (void *)(FlexibleVIPSOut+byteCount));
if (posPtr && (posPtr->KFStatus < 0x200)) {
- led2 = 0;
- RedLED = LED_ON;
- } else {
- led2 = 1;
- RedLED = LED_OFF;
- }
+ led2 = 0;
+ RedLED = LED_ON;
+ } else {
+ led2 = 1;
+ RedLED = LED_OFF;
+ }
#ifdef Delay_TX_By
OutputDelayTimer.attach_us(&onOutputTxTime,Delay_TX_By*1000);
@@ -450,7 +456,7 @@
}
}
-void UDPTxFreeD()
+void UDP_Tx_Now()
{
EthTxNow = true;
}
@@ -468,12 +474,13 @@
// FreeD could be output by two different methods so calculate first if needed rather than at Tx.
- if ((UserSettings.SerialOutMode==mode_FreeD) || UserSettings.UDPPort)
+ if ((UserSettings.SerialOutMode==mode_FreeD) || UserSettings.FreeDPort)
createFreeDPacket(posPtr);
// Network is faster so send that first.
- if (UserSettings.UDPPort) {
- UDPTxFreeD();
+ if (UserSettings.FreeDPort || UserSettings.VipsUDPPort) {
+ //ALSO ADD VARIABLE DELAY HERE
+ UDP_Tx_Now();
}
switch (UserSettings.SerialOutMode) {
@@ -581,7 +588,8 @@
UserSettings.FIZmode = formatPreston;
UserSettings.SerialOutMode = mode_VIPS;
- UserSettings.UDPPort = 0;
+ UserSettings.FreeDPort = 0;
+ UserSettings.VipsUDPPort = 0;
UserSettings.IPAddress[0] = 0;
UserSettings.Gateway[0] = 0;
UserSettings.Subnet[0] = 0;
@@ -612,7 +620,11 @@
}
if (sscanf(lineBuffer,"FreeD_Port=%d",&valueIn) == 1) {
pc.printf("Got FreeD_Port value from file of %d\r\n",valueIn);
- UserSettings.UDPPort = valueIn;
+ UserSettings.FreeDPort = valueIn;
+ }
+ if (sscanf(lineBuffer,"VIPS_UDP_Port=%d",&valueIn) == 1) {
+ pc.printf("Got VIPS_Port value from file of %d\r\n",valueIn);
+ UserSettings.VipsUDPPort = valueIn;
}
if (sscanf(lineBuffer,"IP_addr=%s",UserSettings.IPAddress) == 1) {
pc.printf("Got IP_addr value from file of %s\r\n",UserSettings.IPAddress);
@@ -674,16 +686,19 @@
UDPSocket* FreeDSocket = NULL;
Endpoint FreeDTarget;
+ UDPSocket* VIPSSocket = NULL;
+ Endpoint VIPSTarget;
+
UserSettings_t *settingsPtr = (UserSettings_t *) settings;
pc.puts("Ethernet task startup\r\n");
- if (!settingsPtr->UDPPort) {
+ if (!settingsPtr->FreeDPort && !settingsPtr->VipsUDPPort) {
pc.puts("No UDP port set. Ethernet task exiting\r\n");
return;
}
int Result = -1;
while (Result != 0) {
- if ((UserSettings.IPAddress[0] != 0) && (UserSettings.Gateway[0] != 0) && (UserSettings.Subnet[0] != 0)) {
+ if ((UserSettings.IPAddress[0] != 0) && (UserSettings.Gateway[0] != 0) && (UserSettings.Subnet[0] != 0)) {
pc.puts("Static IP init attempt\r\n");
Result = eth.init(UserSettings.IPAddress, UserSettings.Subnet, UserSettings.Gateway);
} else {
@@ -700,8 +715,8 @@
while (true) {
- Result = -1;
- while (Result != 0) {
+ Result = -1;
+ while (Result != 0) {
Result = eth.connect();
if (Result) {
pc.puts("Ethernet connect failed\r\n");
@@ -712,22 +727,45 @@
if (FreeDSocket)
delete FreeDSocket;
- FreeDSocket = new UDPSocket();
- FreeDSocket->init();
- FreeDSocket->set_broadcasting(true);
- FreeDTarget.set_address(0xFFFFFFFF, UserSettings.UDPPort);
+ if (UserSettings.FreeDPort) {
+ FreeDSocket = new UDPSocket();
+ FreeDSocket->init();
+ FreeDSocket->set_broadcasting(true);
+ FreeDTarget.set_address(0xFFFFFFFF, UserSettings.FreeDPort);
+ }
+ if (VIPSSocket)
+ delete VIPSSocket;
+ if (UserSettings.VipsUDPPort) {
+ VIPSSocket = new UDPSocket();
+ VIPSSocket->init();
+ VIPSSocket->set_broadcasting(true);
+ VIPSTarget.set_address(0xFFFFFFFF, UserSettings.VipsUDPPort);
+ }
while (true) {
if (EthTxNow) {
EthTxNow = false;
- if (!FreeDSocket) {
- pc.puts("No UDP socket\r\n");
+ if (!FreeDSocket && UserSettings.FreeDPort) {
+ pc.puts("No FreeD UDP socket\r\n");
+ break;
+ }
+ if (!VIPSSocket && UserSettings.VipsUDPPort) {
+ pc.puts("No VIPS UDP socket\r\n");
break;
}
- Result = FreeDSocket->sendTo(FreeDTarget,(char *)&fdPacket, sizeof(struct D1MsgFormat_s));
- if (Result != sizeof(struct D1MsgFormat_s)) {
- pc.puts("UDP Tx Failed!\r\n");
- break;
+ if (FreeDSocket) {
+ Result = FreeDSocket->sendTo(FreeDTarget,(char *)&fdPacket, sizeof(struct D1MsgFormat_s));
+ if (Result != sizeof(struct D1MsgFormat_s)) {
+ pc.puts("FreeD UDP Tx Failed!\r\n");
+ break;
+ }
+ }
+ if (VIPSSocket) {
+ Result = VIPSSocket->sendTo(VIPSTarget,(char *)FlexibleVIPSOut, VIPSOutSize);
+ if (Result != VIPSOutSize) {
+ pc.puts("VIPS UDP Tx Failed!\r\n");
+ break;
+ }
}
// pc.puts("UDP Tx\r\n");
} else
--- a/position.cpp Thu Aug 12 11:31:31 2021 +0000
+++ b/position.cpp Tue Aug 17 14:52:50 2021 +0000
@@ -76,7 +76,9 @@
output->beacons = pos1->beacons;
output->solutionType = pos1->solutionType;
output->KFStatus = pos1->KFStatus;
- memcpy(output->UsedBeacons,pos1->UsedBeacons,12);
+ output->UsedBeaconsValid = pos1->UsedBeaconsValid;
+ if (output->UsedBeaconsValid)
+ memcpy(output->UsedBeacons,pos1->UsedBeacons,12);
return true;
}
--- a/settings.txt Thu Aug 12 11:31:31 2021 +0000 +++ b/settings.txt Tue Aug 17 14:52:50 2021 +0000 @@ -22,6 +22,7 @@ # A port number of 0 disables UDP output. -------------------------------- FreeD_Port=12345 +VIPS_UDP_Port=7000 -------------------------------- [Network Settings]