philip/MDH-UAV-Control-System
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Arduino com working with parser and everything (hopefully)

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This commit is contained in:
Lennart Eriksson 2016-11-01 09:34:57 +01:00
parent 1c0c7fb00f
commit 50bc7bac30
3 changed files with 28 additions and 98 deletions
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13
UAV-ControlSystem/inc/drivers/arduino_com.h
View File

@ -63,3 +63,16 @@ bool arduino_frame_available();
void arduino_read();
#endif /* DRIVERS_ARDUINO_COM_H_ */
//----------------------- Example code for the parser --------------------------
//arduinoCom_init(USART1);
//while (1) {
// if(arduino_frame_available())
// arduino_read();
// HAL_Delay(15);
// float lng = gps_data.longitude;
// float lat = gps_data.latitude;
//}

101
UAV-ControlSystem/src/drivers/arduino_com.c
View File

@ -93,6 +93,13 @@ arduino_data_t find_packet_from_header(uint8_t header)
return arduino_data;
}
/***********************************************************************
* BRIEF: A function that parses the message byte per byte and then
* if it was wrong it will do recursive call and parse the rest
* of the message
* INFORMATION: *
***********************************************************************/
void arduino_parse_message(uint8_t data)
{
static uint8_t arduino_arr[ARDUINO_DMA_SIZE];
@ -172,103 +179,13 @@ void arduino_parse_message(uint8_t data)
***********************************************************************/
void arduino_read()
{
static uint8_t arduino_arr[ARDUINO_DMA_SIZE];
static uint8_t message_it = 0;
static uint32_t missedMsg = 0;
static uint8_t message_it_secondary_head = 0;
static bool new_header = false;
static uint8_t crc = 0;
static arduino_data_t msg_header_and_size = { .size = 0, .dataPtr = NULL };
static bool find_new_header = true;
//If the DMA has come to a new buffer
if (raw_dma_data_t.new_data)
{
// parse the entire message to the gps_data and compass_data
for (int i = 0; i < ARDUINO_DMA_SIZE; i++)
{
arduino_parse_message(raw_dma_data_t.buff[i]);
// uint8_t msg = raw_dma_data_t.buff[i]; //raw_dma_data_t.buff[i];
// if(find_new_header)
// {
// msg_header_and_size = find_packet_from_header(msg);
// if(msg_header_and_size.size != 0)
// {
// find_new_header = false;
// arduino_arr[(message_it)] = msg;
// message_it++;
// new_header = false; // Just received one
// crc ^= msg;
// }
// }
// // Look for the end of sbus frame
// else
// {
// /* If we find any new possible header then we should be able to return to that point in time */
// if (((arduino_data_t)find_packet_from_header(msg)).size != 0 && new_header == false)
// {
// new_header = true;
// message_it_secondary_head = message_it; //save the value of the position in The buffer array, not the dma array index
// }
//
// /* Reading the message except the crc byte */
// if ((message_it) < (msg_header_and_size.size - 1))
// {
// arduino_arr[(message_it)] = msg;
// crc ^= msg;
// message_it++;
// }
// else if ((message_it) == (msg_header_and_size.size - 1))
// {
// /* put the crc code into the data buffer as well */
// arduino_arr[(message_it)] = msg;
// missedMsg++;
//
// /* TODO: Replace with check for CRC */
// if (crc == msg)
// {
// /* Clear necessary variables in order to fill the buffer with new ones */
// message_it = 0;
// find_new_header = true;
// missedMsg--;
// crc = 0;
//
// memcpy(msg_header_and_size.dataPtr, arduino_arr, msg_header_and_size.size);
// }
//
// /* If CRC does not match */
// else
// {
//
// int temp_secondaryHeader = message_it_secondary_head;
// int length = msg_header_and_size.size;
// int new_struct_size = 0;
// message_it = message_it - temp_secondaryHeader; //update the counter to the empty part of the updated array
//
// if(new_header)
// msg_header_and_size = find_packet_from_header(arduino_arr[temp_secondaryHeader]);
//
// /* Clear necessary variables so that a new message can be read into the buffer correctly */
// new_header = false; //set new header to false, this is true if there is another header within the buffer
// crc = 0;
//
// //Move all the remaning messages in the buffer to the start of the buffer
// for (int j = temp_secondaryHeader; j < length; j++)
// {
// int innerCount = j - temp_secondaryHeader;
// arduino_arr[innerCount] = arduino_arr[j];
//
// crc ^= arduino_arr[j];
//
// //check if we find another possible header inside the rest of the buffer and save that
// if (((arduino_data_t)(find_packet_from_header(innerCount))).size != 0 && innerCount > 0 && new_header == false )
// {
// new_header = true;
// message_it_secondary_head = innerCount;
// }
// }
// }
// }
// }
}
}
}

12
UAV-ControlSystem/src/main.c
View File

@ -59,12 +59,12 @@ void init_system()
//sbus_init();
// TODO!! TEMP code
arduinoCom_init(USART1);
while (1) {
if(arduino_frame_available())
arduino_read();
HAL_Delay(15);
}
// arduinoCom_init(USART1);
// while (1) {
// if(arduino_frame_available())
// arduino_read();
// HAL_Delay(15);
// }
//init motors to run with oneshot 125, small delay