Revision 7:2e20e4cf53e6, committed 2013-04-06

Comitter:

jekain314

Date:

Sat Apr 06 21:24:52 2013 +0000

Parent:

6:2a8486283198

Child:

8:13724ed3f825

Commit message:

Version fixing the POSVEL message to work correctly in Waldo_FCS

Changed in this revision

--- a/PCMessaging.h	Tue Apr 02 15:22:37 2013 +0000
+++ b/PCMessaging.h	Sat Apr 06 21:24:52 2013 +0000
@@ -1,7 +1,7 @@
 //these are defines for the messages that are sent from the PC across the USB
 //these messages produce reactions on the mbed
-const unsigned char STATUS_MSG          =0;
-const unsigned char POSVEL_MSG          =1;
+const unsigned char  STATUS_MSG         =0;
+const unsigned char  POSVEL_MSG         =1;
 const unsigned char  STARTDATA_MSG      =2;
 const unsigned char  STOPDATA_MSG       =3;
 const unsigned char  STARTSTREAM_MSG    =4;
@@ -29,7 +29,7 @@
 
 const unsigned char numMessages = 8;    //number of potential messages
 char msgList[numMessages][32];          //text array storing the command messages from the PC
-char minMessageSize = 10;               //minimum size of a text message
+char minMessageSize = 11;               //minimum size of a text message
 unsigned char CR = 0x0d;                //ASCII Carriage Return
 unsigned char LF = 0x0a;                //ASCII Line Feed
 
@@ -58,21 +58,23 @@
         
         // Read in next character
         char inChar = toPC.getc();  //read char from the USB serial link to the PC
+        //toPC.printf("%02x ",inChar);
         
         //incoming messages will end witb a CR / LF -- disregard these chars
-        if (inChar == CR || inChar == LF) return;
+        if (inChar == CR || inChar == LF)  return; //CR is a 0x0a
         
         serBuf[serBufChars++] = inChar; //set this char in a char array
         
         //no need to continue if numChars are less than the shortest candidate message
-        if (serBufChars < minMessageSize) return;
-        
+        //if (serBufChars < minMessageSize) return;
+                
         // Append end of string
         //We always assume we have a complete message string and test for this below
         serBuf[serBufChars] = '\0';
         
         bool validMessage = false;
         
+        
         // Check for valid message -- there are numMessages possible messages
         for (int m = 0; m < numMessages && !validMessage; m++) //check for all messages ... 
         {
@@ -83,7 +85,7 @@
             if (serBufChars == strlen(msgList[m]) && strncmp(serBuf, msgList[m], serBufChars) == 0 )
             {
             
-                //toPC.printf( "\n       found valid message \n\n");
+                //toPC.printf( "\n       found valid message %s  \n\n", serBuf);
 
                 validMessage = true;
                 serBufChars = 0; //reset the character count to reset for next message
@@ -185,10 +187,17 @@
             double lonPos = posMsg.longitude + (eVel/lonRateFac)*elTime;            
             double htPos  = posMsg.height    + velMsg.verticalSpeed/(60*1852)*elTime;
             
-            toPC.printf("WMsg POSVEL %5.3lf %1d %s %8.5lf %9.5lf %4.3lf %4.3lf %4.3lf %4.3lf\n", 
+            char solReady = 'N';
+            //solStatus 
+            if (posMsg.solStatus == 0) //see description of solution status in OEMV615.h
+            {
+                solReady = 'Y';
+            }
+            
+            toPC.printf("WMsg POSVEL %5.3lf %1d %c %8.5lf %9.5lf %4.3lf %4.3lf %4.3lf %4.3lf\n", 
                          posTime, 
                          posMsg.numSolSV,
-                         posMsg.solStatus,
+                         solReady,
                          latPos,
                          lonPos,
                          htPos,

--- a/main.cpp	Tue Apr 02 15:22:37 2013 +0000
+++ b/main.cpp	Sat Apr 06 21:24:52 2013 +0000
@@ -226,6 +226,7 @@
         //read the USB serial data from the PC to check for commands
         //in the primary real-time portion, there are no bytes from the PC so this has no impact
         readFromPC();
+                
         processPCmessages(fpNav, posMsg, velMsg);
 
 //