#ifndef TRACKERRXTX_H
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#define TRACKERRXTX_H
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#include <Arduino.h>
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#include <modules/my_mutex/Mutex.h>
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#include <modules/mavlink/v2.0/ardupilotmega/mavlink.h>
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#define PACKED __attribute__((__packed__))
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class TrackerRxTx
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{
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public:
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TrackerRxTx();
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~TrackerRxTx();
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static void TaskTrackerRxTx(void *pvParameters);
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void Init(uint32_t baud);
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bool isNewData(){return mDataRedy;}
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bool isNewCamData(){return mCamDataRedy;}
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void GetTrackerData(uint16_t &x,uint16_t &y,uint8_t &v,uint8_t &mode,uint16_t &cnt);
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void SetMavlikBuf(uint8_t *buf_in,int len);
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float GetCamData();
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private:
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void SendMavlik();
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unsigned char crc8(unsigned char crc, unsigned char * dat, unsigned int len);
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void ParseChar(uint8_t c);
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void ReadSerial();
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HardwareSerial *mSerial;
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struct PACKED tracker_msg {
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uint16_t msg_x;
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uint16_t msg_y;
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uint8_t msg_valid;
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uint8_t msg_mode;
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};
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union PACKED {
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tracker_msg data;
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uint8_t buf[6];
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} mBufferIn;
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union PACKED {
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int32_t mInt;
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float mFloat;
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} mInt2Float;
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enum {
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ReadHeader,
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ReadData,
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CalcCrc
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};
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uint8_t mBuf[2*MAVLINK_MAX_PACKET_LEN];
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uint8_t mSenBuf[MAVLINK_MAX_PACKET_LEN];
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uint16_t mMsgSendLen=0;
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bool mRedySend=false;
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uint8_t msg_buf[8];
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uint8_t msg_idx=0;
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uint8_t msg_state=ReadHeader;
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Mutex mMutex;
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bool mDataRedy=false;
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uint16_t mX=0;
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uint16_t mY=0;
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uint8_t mDataValid=0;
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uint8_t mMode=0;
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uint16_t mMsgCnt=0;
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uint8_t mBufferOutStream[2*MAVLINK_MAX_PACKET_LEN];
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bool mMavlinkNew=false;
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int mSendLen=0;
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bool mCamDataRedy=false;
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float mCamValue=0;
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};
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#endif
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