#include <dji_serial.hpp>

Inheritance diagram for tap::communication::serial::DJISerial:

Collaboration diagram for tap::communication::serial::DJISerial:

[legend]

Classes
struct	FrameHeader

struct	SerialMessage

Public Types
using	ReceivedSerialMessage = SerialMessage< SERIAL_RX_BUFF_SIZE >

Public Member Functions
	DJISerial (Drivers *drivers, Uart::UartPort port, bool isRxCRCEnforcementEnabled=true)

mockable	~DJISerial ()=default

mockable void	initialize ()

mockable void	updateSerial ()

virtual void	messageReceiveCallback (const ReceivedSerialMessage &completeMessage)=0

Public Attributes
struct tap::communication::serial::DJISerial::FrameHeader	modm_packed

struct tap::communication::serial::DJISerial::SerialMessage	modm_packed

Static Public Attributes
static const uint16_t	SERIAL_RX_BUFF_SIZE = 1024

static const uint16_t	SERIAL_HEAD_BYTE = 0xA5

Protected Attributes
Drivers *	drivers

Detailed Description

A serial handler that implements a specific protocol to be used for communicating with the referee system. Also used for our personal communication with the xavier.

Extend this class and implement messageReceiveCallback if you want to use this serial protocol on a serial line.

Structure of a Serial Message: \rst +--------------—+---------------------------------------------------------—+ | Byte Number | Byte Description | +=================+============================================================+ | Frame Header | +--------------—+---------------------------------------------------------—+ | 0 | Frame Head Byte (0xA5) | +--------------—+---------------------------------------------------------—+ | 1 | Frame Data Length, LSB | +--------------—+---------------------------------------------------------—+ | 2 | Frame Data Length, MSB | +--------------—+---------------------------------------------------------—+ | 3 | Frame Sequence Number | +--------------—+---------------------------------------------------------—+ | 4 | CRC8 of the frame, (bytes 0 - 3) | +--------------—+---------------------------------------------------------—+ | 5 | Message Type, LSB | +--------------—+---------------------------------------------------------—+ | 6 | Message Type, MSB | +--------------—+---------------------------------------------------------—+ | Body - Data Length bytes | +--------------—+---------------------------------------------------------—+ | Message CRC | +--------------—+---------------------------------------------------------—+ | 7 + Data Length | CRC16 of header and frame, LSB (bytes 0 - 6 + Data Length) | +--------------—+---------------------------------------------------------—+ | 8 + Data Length | CRC16 of header and frame, MSB | +--------------—+---------------------------------------------------------—+ \endrst

Member Typedef Documentation

◆ ReceivedSerialMessage

using tap::communication::serial::DJISerial::ReceivedSerialMessage = SerialMessage<SERIAL_RX_BUFF_SIZE>

Constructor & Destructor Documentation

◆ DJISerial()

tap::communication::serial::DJISerial::DJISerial	(	Drivers *	drivers,
		Uart::UartPort	port,
		bool	isRxCRCEnforcementEnabled = `true`
	)

Construct a Serial object.

Parameters

[in]	port	serial port to work on.
[in]	isRxCRCEnforcementEnabled	`true` to enable Rx CRC Enforcement.

◆ ~DJISerial()

mockable tap::communication::serial::DJISerial::~DJISerial ( )

default

Member Function Documentation

◆ initialize()

void tap::communication::serial::DJISerial::initialize ( )

Initialize serial. In particular, initializes the hardware serial specified upon construction.

Note: currently, only uart ports 1, 2, and 6 are enabled. Be sure to add a serial port to uart.hpp if you want to use the serial. Also, if you add a new uart port to be generated in the project.xml file, you should add it to both the Uart class and this function.

See also: Uart

◆ messageReceiveCallback()

virtual void tap::communication::serial::DJISerial::messageReceiveCallback ( const ReceivedSerialMessage & completeMessage )

pure virtual

Called when a complete message is received. A derived class must implement this in order to handle incoming messages properly.

Parameters

[in] completeMessage a reference to the full message that has just been received by this class.

Implemented in tap::communication::serial::RefSerial.

◆ updateSerial()

void tap::communication::serial::DJISerial::updateSerial ( )

Receive messages. Call periodically in order to receive all incoming messages.

Note: tested with a delay of 10 microseconds with referee system. The longer the timeout the more likely a message failure may occur.

Member Data Documentation

◆ drivers

Drivers* tap::communication::serial::DJISerial::drivers

protected

◆ modm_packed [1/2]

struct tap::communication::serial::DJISerial::FrameHeader tap::communication::serial::DJISerial::modm_packed

◆ modm_packed [2/2]

struct tap::communication::serial::DJISerial::SerialMessage tap::communication::serial::DJISerial::modm_packed

◆ SERIAL_HEAD_BYTE

const uint16_t tap::communication::serial::DJISerial::SERIAL_HEAD_BYTE = 0xA5

static

◆ SERIAL_RX_BUFF_SIZE

const uint16_t tap::communication::serial::DJISerial::SERIAL_RX_BUFF_SIZE = 1024