mirror of https://github.com/ArduPilot/ardupilot
273 lines
8.3 KiB
C++
273 lines
8.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "AP_Mount_Alexmos.h"
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extern const AP_HAL::HAL& hal;
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void AP_Mount_Alexmos::init ()
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{
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_port = hal.uartE;
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_port->begin(115200);
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_initialised = true;
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get_boardinfo();
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read_params(0); //we request parameters for profile 0 and therfore get global and profile parameters
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}
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// update mount position - should be called periodically
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void AP_Mount_Alexmos::update()
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{
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if (!_initialised) {
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return;
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}
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read_incoming(); // read the incoming messages from the gimbal
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// update based on mount mode
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switch(_frontend.get_mode(_instance)) {
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// move mount to a "retracted" position. we do not implement a separate servo based retract mechanism
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case MAV_MOUNT_MODE_RETRACT:
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control_axis(_frontend.state[_instance]._retract_angles.get(), true);
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break;
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// move mount to a neutral position, typically pointing forward
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case MAV_MOUNT_MODE_NEUTRAL:
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control_axis(_frontend.state[_instance]._neutral_angles.get(), true);
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break;
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// point to the angles given by a mavlink message
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case MAV_MOUNT_MODE_MAVLINK_TARGETING:
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// do nothing because earth-frame angle targets (i.e. _angle_ef_target_rad) should have already been set by a MOUNT_CONTROL message from GCS
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break;
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// RC radio manual angle control, but with stabilization from the AHRS
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case MAV_MOUNT_MODE_RC_TARGETING:
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// update targets using pilot's rc inputs
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update_targets_from_rc();
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control_axis(_angle_ef_target_rad, false);
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break;
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// point mount to a GPS point given by the mission planner
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case MAV_MOUNT_MODE_GPS_POINT:
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if(_frontend._ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
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calc_angle_to_location(_frontend.state[_instance]._roi_target, _angle_ef_target_rad, true, false);
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control_axis(_angle_ef_target_rad, false);
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}
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break;
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default:
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// we do not know this mode so do nothing
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break;
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}
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}
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
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bool AP_Mount_Alexmos::has_pan_control() const
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{
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return _gimbal_3axis;
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}
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// set_mode - sets mount's mode
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void AP_Mount_Alexmos::set_mode(enum MAV_MOUNT_MODE mode)
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{
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// record the mode change and return success
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_frontend.state[_instance]._mode = mode;
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}
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// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
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void AP_Mount_Alexmos::status_msg(mavlink_channel_t chan)
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{
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get_angles();
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mavlink_msg_mount_status_send(chan, 0, 0, _current_angle.x*100, _current_angle.y*100, _current_angle.z*100);
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}
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/*
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* get_angles
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*/
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void AP_Mount_Alexmos::get_angles()
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{
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uint8_t data[1] = {(uint8_t)1};
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send_command (CMD_GET_ANGLES, data , 1);
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}
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/*
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* set_motor will activate motors if true , and disable them if false.
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*/
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void AP_Mount_Alexmos::set_motor(bool on){
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if (on) {
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uint8_t data[1] = {(uint8_t)1};
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send_command (CMD_MOTORS_ON, data, 1);
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} else {
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uint8_t data[1] = {(uint8_t)1};
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send_command (CMD_MOTORS_OFF, data, 1);
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}
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}
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/*
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* get board version and firmware version
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*/
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void AP_Mount_Alexmos::get_boardinfo()
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{
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if (_board_version != 0) {
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return;
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}
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uint8_t data[1] = {(uint8_t)1};
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send_command (CMD_BOARD_INFO, data , 1);
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}
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/*
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control_axis : send new angles to the gimbal at a fixed speed of 30 deg/s2
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*/
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void AP_Mount_Alexmos::control_axis(const Vector3f& angle, bool target_in_degrees )
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{
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// convert to degrees if necessary
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Vector3f target_deg = angle;
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if (!target_in_degrees) {
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target_deg *= RAD_TO_DEG;
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}
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alexmos_parameters outgoing_buffer;
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outgoing_buffer.angle_speed.mode = AP_MOUNT_ALEXMOS_MODE_ANGLE;
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outgoing_buffer.angle_speed.speed_roll = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
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outgoing_buffer.angle_speed.angle_roll = DEGREE_TO_VALUE(target_deg.x);
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outgoing_buffer.angle_speed.speed_pitch = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
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outgoing_buffer.angle_speed.angle_pitch = DEGREE_TO_VALUE(target_deg.y);
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outgoing_buffer.angle_speed.speed_yaw = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
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outgoing_buffer.angle_speed.angle_yaw = DEGREE_TO_VALUE(target_deg.z);
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send_command (CMD_CONTROL, outgoing_buffer.bytes , sizeof (alexmos_angles_speed));
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}
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/*
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read current profile profile_id and global parameters from the gimbal settings
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*/
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void AP_Mount_Alexmos::read_params(uint8_t profile_id){
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uint8_t data[1] = {(uint8_t) profile_id};
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send_command (CMD_READ_PARAMS, data , 1);
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}
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/*
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write new parameters to the gimbal settings
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*/
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void AP_Mount_Alexmos::write_params()
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{
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if (!_param_read_once) {
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return;
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}
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send_command (CMD_WRITE_PARAMS, _current_parameters.bytes , sizeof (alexmos_params));
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}
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/*
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send a command to the Alemox Serial API
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*/
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void AP_Mount_Alexmos::send_command(uint8_t cmd, uint8_t* data, uint8_t size)
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{
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if (_port->txspace() < (size + 5)) {
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return;
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}
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uint8_t checksum = 0;
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_port->write( '>' );
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_port->write( cmd ); // write command id
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_port->write( size ); // write body size
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_port->write( cmd+size ); // write header checkum
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for (uint8_t i = 0; i != size ; i++) {
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checksum += data[i];
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_port->write ( data[i] );
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}
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_port->write (checksum);
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}
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/*
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* Parse the body of the message received from the Alexmos gimbal
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*/
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void AP_Mount_Alexmos::parse_body()
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{
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switch (_command_id ) {
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case CMD_BOARD_INFO:
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_board_version = _buffer.version._board_version/ 10;
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_current_firmware_version = _buffer.version._firmware_version / 1000.0f ;
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_firmware_beta_version = _buffer.version._firmware_version % 10 ;
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_gimbal_3axis = ( _buffer.version._board_features & 0x1 );
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_gimbal_bat_monitoring = (_buffer.version._board_features & 0x2 );
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break;
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case CMD_GET_ANGLES:
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_current_angle.x = VALUE_TO_DEGREE(_buffer.angles.angle_roll);
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_current_angle.y = VALUE_TO_DEGREE(_buffer.angles.angle_pitch);
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_current_angle.z = VALUE_TO_DEGREE(_buffer.angles.angle_yaw);
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break;
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case CMD_READ_PARAMS:
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_param_read_once = true;
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_current_parameters.params = _buffer.params;
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break;
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case CMD_WRITE_PARAMS:
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break;
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default :
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_last_command_confirmed = true;
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break;
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}
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}
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/*
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* detect and read the header of the incoming message from the gimbal
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*/
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void AP_Mount_Alexmos::read_incoming()
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{
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uint8_t data;
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int16_t numc;
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numc = _port->available();
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for (int16_t i = 0; i < numc; i++) { // Process bytes received
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data = _port->read();
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switch (_step) {
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case 0:
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if ( '>' == data) {
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_step = 1;
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_checksum = 0; //reset checksum accumulator
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_last_command_confirmed = false;
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}
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break;
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case 1: // command ID
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_checksum = data;
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_command_id = data;
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_step++;
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break;
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case 2: // Size of the body of the message
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_checksum += data;
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_payload_length = data;
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_step++;
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break;
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case 3: // checksum of the header
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if (_checksum != data ) {
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_step = 0;
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_checksum = 0;
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// checksum error
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break;
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}
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_step++;
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_checksum = 0;
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_payload_counter = 0; // prepare to receive payload
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break;
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case 4: // parsing body
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_checksum += data;
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if (_payload_counter < sizeof(_buffer)) {
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_buffer.bytes[_payload_counter] = data;
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}
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if (++_payload_counter == _payload_length)
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_step++;
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break;
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case 5:// body checksum
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_step = 0;
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if (_checksum != data) {
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break;
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}
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parse_body ();
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}
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}
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}
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