Xbees comms #161
Xbees comms #161
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code in a working state, the previous crap was shitty
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Might need some fixes to style still or commenting, but the code is in a working state now. |
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| class pogiData { | ||
| public: |
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Could we fix the indentation here to make it more readable?
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(Yes tab after both public: and private:)
| uint8_t checksum; | ||
| }; | ||
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| struct responseFrame { |
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What is the purpose of the responseFrame?
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no purpose currently, but when you send an outgoing message, the xbee will send you a response telling you if it failed or succeeded. Im working on support for that in v2 which ill be done with soon.
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| void pogiData::setPMState(uint8_t state) { | ||
| this->statusDisplay = (this->statusDisplay & 01110000) | (state & 00001111); |
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Why isn't this statusDisplay & 11110000? If you're really only setting the last four bits, as you do with state & 00001111?
| void Comms::transmitMessage() { | ||
| transmitFrame frame; | ||
| frame.payload = this->tx; | ||
| frame.id = 1; |
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what does id signify?
| uint8_t rawData[40] = { 0 }; | ||
| uint8_t checksum = 0xFF; | ||
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| rawData[0] = frame.startDelim; |
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are you basically going through your transmit frame, putting it into an array of uint8_t, and transmitting that instead of the whole struct?
| uint8_t size = sizeof(rawData); | ||
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| // send the data | ||
| HAL_UART_Transmit(&huart1, rawData, size,100); |
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Have you considered doing what Yashraj did in the UART driver for FW-CV comms? He is able to reinterpret and transmit structs effectively. That might be a better solution
| @@ -80,7 +82,7 @@ void MX_USART2_UART_Init(void) | |||
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| huart2.Instance = USART2; | |||
| huart2.Init.BaudRate = 115200; | |||
| huart2.Init.BaudRate = 9600; | |||
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Is this what the XBees use? No way to increase it somehow?
| public: | ||
| uint8_t outputs[4] = { 0 }; | ||
| uint8_t grabberPos = 0; | ||
| // 5 |
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Is this needed? If so then make this comment clearer (eg. Byte offset: 5)
| void setControlState(uint8_t state); // 2 bits | ||
| void setPMState(uint8_t state); // 4 bits |
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Is there a way to make it clearer the data format going into these functions?
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| class pogiData { | ||
| public: |
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(Yes tab after both public: and private:)
| } | ||
| if(huart == &huart2) { | ||
| HAL_UART_Receive_DMA(&huart2, Comms::GetInstance()->rxBuffer, 40); | ||
| } | ||
| } |
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add a line at the end of the file to make github happy
| Comms* Comms::instance = nullptr; | ||
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| Comms::Comms() { | ||
| //constructor |
| } | ||
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| // this is a weird dumb no good way to do this, but I am tired and this works | ||
| // manually unwrapping the class because a cast seems to not work (internet says that classes have padding) |
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Often there will be an additional 8 bit address associated with pointers, but if this works, that can be looked at later
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| rawData[0] = frame.startDelim; | ||
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| uint8_t *castedVal = (uint8_t*)&frame.length; |
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castVal? Casted feels like bad grammar
adding comms from plane to ground
this is a draft because I need to fix style and also add comments, but as far as I can tell, it works.