Revision 53:b790ed7b838f, committed 2021-08-25

Comitter:

JamieB

Date:

Wed Aug 25 17:20:10 2021 +0000

Parent:

49:df05784d9a5c

Parent:

52:adbbaadca0a9

Child:

54:3d7b480b8e1e

Commit message:

Random Commit so I can merge latest changes

Changed in this revision

--- a/LTCApp.h	Wed Aug 25 17:02:47 2021 +0000
+++ b/LTCApp.h	Wed Aug 25 17:20:10 2021 +0000
@@ -45,6 +45,14 @@
     bool FilterYaw;
     bool AutoHyperSmooth;
     bool FlexibleVIPSOut;
+    float SerialTxDelayMS;
+    float UDPTxDelayMS;
+    float SerialTxDelayFrame;
+    float UDPTxDelayFrame;
+    bool InvertRoll;
+    bool InvertPitch;
+    bool InvertYaw;
+    int bypassBaud;
 } UserSettings_t;
 
 extern UserSettings_t UserSettings;

--- a/main.cpp	Wed Aug 25 17:02:47 2021 +0000
+++ b/main.cpp	Wed Aug 25 17:20:10 2021 +0000
@@ -84,7 +84,7 @@
 
 BufferedSerial pc(USBTX, USBRX);
 VIPSSerial VIPS(p28, p27);
-RawSerial COM1(p13, p14);
+BufferedSerial COM1(p13, p14);
 FIZReader *FIZPort;
 
 DigitalOut led1(LED1);
@@ -139,6 +139,7 @@
 Timeout PPSsyncTimer;
 
 Timeout OutputDelayTimer;
+Timeout UDPOutputDelayTimer;
 
 // used to generate PPS edges
 Ticker PPSOutputTimer;
@@ -357,11 +358,11 @@
 
 void sendFreeDpacketSerial()
 {
-#ifdef Delay_TX_By
-    OutputDelayTimer.attach_us(&onOutputTxTime,Delay_TX_By*1000);
-#else
-    onOutputTxTime();//    COM1.write(&packetOut, sizeof(struct outputFormat_s));
-#endif
+    if (UserSettings.SerialTxDelayMS > 0)
+        OutputDelayTimer.attach_us(&onOutputTxTime,UserSettings.SerialTxDelayMS*1000);
+    else
+        onOutputTxTime();//    COM1.write(&packetOut, sizeof(struct outputFormat_s));
+
     if (logging) {
         if (!fwrite(&fdPacket, sizeof(struct D1MsgFormat_s), 1, logFile)) { // write failed
             GreenLED = LED_OFF;
@@ -373,14 +374,15 @@
 }
 
 
-void createVIPSPacket(position *posPtr) {
-    
+void createVIPSPacket(position *posPtr)
+{
+
     int byteCount = 4;
     uint32_t mask = 0x0446; // Status,orientation,accuracy,FIZ
     if (posPtr && UserSettings.FlexibleVIPSOut) {
         if (posPtr->UsedBeaconsValid) {
             mask |= 0x1000;
-            }
+        }
         if (posPtr->LLAPosition)
             mask |= 0x0001;
     }
@@ -431,17 +433,17 @@
     VIPSOutSize = byteCount+2;
     *((uint16_t*)(FlexibleVIPSOut + 2)) = VIPSOutSize;
 
-    VIPSSerial::getCRC(FlexibleVIPSOut, byteCount, (void *)(FlexibleVIPSOut+byteCount));    
-    }
+    VIPSSerial::getCRC(FlexibleVIPSOut, byteCount, (void *)(FlexibleVIPSOut+byteCount));
+}
 
 
 void sendVIPSPacketSerial()
 {
-#ifdef Delay_TX_By
-    OutputDelayTimer.attach_us(&onOutputTxTime,Delay_TX_By*1000);
-#else
-    onOutputTxTime();//    COM1.write(&packetOut, sizeof(struct outputFormat_s));
-#endif
+    if (UserSettings.SerialTxDelayMS > 0)
+        OutputDelayTimer.attach_us(&onOutputTxTime,UserSettings.SerialTxDelayMS*1000);
+    else
+        onOutputTxTime();//    COM1.write(&packetOut, sizeof(struct outputFormat_s));
+
     if (logging) {
         if (!fwrite(FlexibleVIPSOut, VIPSOutSize, 1, logFile)) { // write failed
             GreenLED = LED_OFF;
@@ -468,6 +470,15 @@
     } else
         NoDataWarn= true;
 
+    if (posPtr) {
+        if(UserSettings.InvertRoll)
+            posPtr->roll = 360-posPtr->roll;
+        if(UserSettings.InvertPitch)
+            posPtr->pitch = 360-posPtr->pitch;
+        if(UserSettings.InvertYaw)
+            posPtr->yaw = 360-posPtr->yaw;
+    }
+
 
 // FreeD could be output by two different methods so calculate first if needed rather than at Tx.
     if ((UserSettings.SerialOutMode==mode_FreeD) || UserSettings.FreeDPort)
@@ -479,8 +490,10 @@
 
 // Network is faster so send that first.
     if (UserSettings.FreeDPort || UserSettings.VipsUDPPort) {
-        //ALSO ADD VARIABLE DELAY HERE
-        UDP_Tx_Now();
+        if (UserSettings.UDPTxDelayMS > 0) {
+            UDPOutputDelayTimer.attach_us(&UDP_Tx_Now,UserSettings.UDPTxDelayMS*1000);
+        } else
+            UDP_Tx_Now();
     }
 
     switch (UserSettings.SerialOutMode) {
@@ -612,6 +625,18 @@
     UserSettings.FilterYaw = false;
     UserSettings.AutoHyperSmooth = true;
     UserSettings.FlexibleVIPSOut = false;
+<<<<<<< working copy
+=======
+    UserSettings.SerialTxDelayMS = 0;
+    UserSettings.UDPTxDelayMS = 0;
+    UserSettings.SerialTxDelayFrame = 0;
+    UserSettings.UDPTxDelayFrame = 0;
+    UserSettings.InvertRoll = false;
+    UserSettings.InvertPitch = false;
+    UserSettings.InvertYaw = false;
+    UserSettings.bypassBaud = 0;
+
+>>>>>>> merge rev
 
     LocalFileSystem localFS("local");
     FILE *LSFile= fopen("/local/settings.txt","r");
@@ -619,8 +644,13 @@
     int valueIn;
     float floatIn;
     if (LSFile) {
-        while (!feof(LSFile)) {
+        while (!feof(LSFile) && !UserSettings.bypassBaud) {
             if (fgets(lineBuffer, 64, LSFile)) {
+                if (sscanf(lineBuffer,"RadioConfigPassthrough=%d",&valueIn) == 1) {
+                    pc.printf("Switching to RADIO/USB bypass mode at %d baud\r\n",valueIn);
+                    UserSettings.bypassBaud = valueIn;
+                }
+
                 if (sscanf(lineBuffer,"Output_Format=%d",&valueIn) == 1) {
                     pc.printf("Got Output_Format value from file of %d\r\n",valueIn);
                     UserSettings.SerialOutMode = valueIn;
@@ -685,6 +715,34 @@
                 if (sscanf(lineBuffer,"ExtendedOutput=%d",&valueIn) == 1) {
                     pc.printf("Got ExtendedOutput value from file of %d\r\n",valueIn);
                 }
+                if (sscanf(lineBuffer,"DelaySerial=%f",&floatIn) == 1) {
+                    pc.printf("Got serial delay value from file of %.2f ms\r\n",floatIn);
+                    UserSettings.SerialTxDelayMS = floatIn;
+                }
+                if (sscanf(lineBuffer,"DelaySerialFrame=%f",&floatIn) == 1) {
+                    pc.printf("Got serial delay value from file of %.2f frames\r\n",floatIn);
+                    UserSettings.SerialTxDelayFrame = floatIn;
+                }
+                if (sscanf(lineBuffer,"DelayUDP=%f",&floatIn) == 1) {
+                    pc.printf("Got UDP delay value from file of %.2f ms\r\n",floatIn);
+                    UserSettings.UDPTxDelayMS = floatIn;
+                }
+                if (sscanf(lineBuffer,"DelayUDPFrame=%f",&floatIn) == 1) {
+                    pc.printf("Got UDP delay value from file of %.2f frames\r\n",floatIn);
+                    UserSettings.UDPTxDelayFrame = floatIn;
+                }
+                if (sscanf(lineBuffer,"InvertRoll=%d",&valueIn) == 1) {
+                    pc.printf("Got InvertRoll value from file of %d\r\n",valueIn);
+                    UserSettings.InvertRoll = (valueIn==1);
+                }
+                if (sscanf(lineBuffer,"InvertPitch=%d",&valueIn) == 1) {
+                    pc.printf("Got InvertPitch value from file of %d\r\n",valueIn);
+                    UserSettings.InvertPitch = (valueIn==1);
+                }
+                if (sscanf(lineBuffer,"InvertYaw=%d",&valueIn) == 1) {
+                    pc.printf("Got InvertYaw value from file of %d\r\n",valueIn);
+                    UserSettings.InvertYaw = (valueIn==1);
+                }
             }
         }
         fclose(LSFile);
@@ -712,7 +770,7 @@
     }
     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 {
@@ -729,8 +787,8 @@
 
     while (true) {
 
-    Result = -1;
-    while (Result != 0) {
+        Result = -1;
+        while (Result != 0) {
             Result = eth.connect();
             if (Result) {
                 pc.puts("Ethernet connect failed\r\n");
@@ -792,6 +850,59 @@
 }
 
 
+void XBEEBypassmode(int baud)
+{
+    pc.baud(baud);
+
+/*
+    COM1.baud(9600);
+    COM1.puts("+++");
+    wait(1.2);
+    switch (baud) {
+        case 1200:
+            COM1.puts("ATBD0\n");
+            break;
+        case 2400:
+            COM1.puts("ATBD1\n");
+            break;
+        case 4800:
+            COM1.puts("ATBD2\n");
+            break;
+        case 9600:
+            COM1.puts("ATBD3\n");
+            break;
+        case 19200:
+            COM1.puts("ATBD4\n");
+            break;
+        case 38400:
+            COM1.puts("ATBD5\n");
+            break;
+        case 57600:
+            COM1.puts("ATBD6\n");
+            break;
+        case 115200:
+            COM1.puts("ATBD7\n");
+            break;
+        default:
+            COM1.printf("ATBD%d\n",baud);
+            break;
+    }
+
+    wait(0.1);
+    COM1.puts("ATCN\n");
+    wait(0.5);
+*/
+
+    COM1.baud(baud);
+    while (true) {
+        if (pc.readable()) {
+            char commandIn = pc.getc();
+            COM1.putc(commandIn);
+        }
+        if (COM1.readable())
+            pc.putc(COM1.getc());
+    }
+}
 
 int main()
 {
@@ -801,6 +912,10 @@
 
     readSettingsFile();
 
+    if (UserSettings.bypassBaud) {
+        XBEEBypassmode(UserSettings.bypassBaud);
+    }
+
     switch(UserSettings.FIZmode) {
         case formatPreston :
             FIZPort = new FIZDisney(p9, p10);
@@ -823,7 +938,7 @@
             pc.printf("Set Default - Preston");
     }
 //    FIZPort = new FIZDigiPowerActive(p9, p10);
-    COM1.baud(115200); // VIPS port
+    COM1.baud(115200); // radio port
 
     Thread serialTask(ethernetTask, &UserSettings, osPriorityNormal, 256 * 4);
 
@@ -894,6 +1009,14 @@
     int framesPerSecond = frameRates::getClosestRate(frameTime);
 
     pc.printf("Detected frame rate %d\r\n",framesPerSecond);
+    if (UserSettings.SerialTxDelayFrame != 0) {
+        UserSettings.SerialTxDelayMS = (UserSettings.SerialTxDelayFrame*1000)/framesPerSecond;
+        pc.printf("Serial delay of %.2f frames calculated as %.2f ms\r\n",UserSettings.SerialTxDelayFrame,UserSettings.SerialTxDelayMS);
+    }
+    if (UserSettings.UDPTxDelayFrame != 0) {
+        UserSettings.UDPTxDelayMS = (UserSettings.UDPTxDelayFrame*1000)/framesPerSecond;
+        pc.printf("Serial delay of %.2f frames calculated as %.2f ms\r\n",UserSettings.UDPTxDelayFrame,UserSettings.UDPTxDelayMS);
+    }
 
     if (LTCInput.synced()) { // getting LTC so set the clock.
         currentFrames = framesIn;

--- a/settings.txt	Wed Aug 25 17:02:47 2021 +0000
+++ b/settings.txt	Wed Aug 25 17:20:10 2021 +0000
@@ -1,3 +1,12 @@
+[Radio configuration mode]
+ #   RadioConfigPassthrough=<baud rate>
+ #   If this option is set then normal FIZ box functionality is disabled.
+ #   The system will instead transparently connect the USB COM port to the radio com port
+ #   Both ports will be set to the baud rate specified.
+ #   When used this option should be first in the options file.
+//RadioConfigPassthrough=115200
+ 
+
 [Serial Output Format]
 # Sets the serial output format.
 # 0 = VIPS (Default)
@@ -63,7 +72,32 @@
 # Currently supported fields are:
 #   Used Beacon List (mask value 0x1000)
 //ExtendedOutput=1
+
+
+# By default the FIZ output is sent as soon as possible after the sync pulse.
+# An optional delay can be added to this to either as time or as a proportion of a frame 
+# If both ms and frame delays are set then the frame one will be used.
+# NOTE: UDP output has an aditional jitter/delay of up to 2ms due to the thread sleep times.
+# BIG FLASHING NOTE IN BOLD: No additional buffering is provided so if delay is sufficently large
+#                            that the transmit doesn't complete until after the next frame starts 
+#                            then the message will get corrupted.
+#   Delay the serial by a fixed number of ms
+//DelaySerial=5.2
+#   Delay the serial by a fraction of a frame
+//DelaySerialFrame=0.3
+#   Delay the serial by a fixed number of ms
+//DelayUDP=5.2
+#   Delay the serial by a fraction of a frame
+//DelayUDPFrame=0.3
+
+
+# Orientation control 
+#   These options allow the direction of the orientation channels to be inverted.
+//InvertRoll=1 
+//InvertPitch=1 
+//InvertYaw=1 
  
+  
 [NOTES]
 - All settings are case sensitive.
 - Do NOT include spaces in the options lines.