Jetson.cpp File Reference

#include "Jetson.h"

Macros
#define	DATA_HEADER   0xAA
#define	REF_HEADER   0xBB
#define	AIM_HEADER   0xCC
#define	ODOM_HEADER   0xDD
#define	JETSON_READ_BUFF_SIZE   500
#define	JETSON_READ_MSG_SIZE   11
#define	JETSON_MAX_PACKET_SIZE   117

Functions
void	getBytesFromFloat (char *byteArr, float value)
void	getBytesFromInt16 (char *byteArr, int16_t value)
void	getBytesFromInt8 (char *byteArr, int8_t value)
void	decode_toSTM32 (char *read_buf, float &received_one, float &received_two, char &received_three, uint8_t &checksum)
void	copy4Char (char *srcBuf, char *destBuf, int offset)
void	jetson_send_feedback (BufferedSerial &bcJetson, const Jetson_send_ref &ref_data, const Jetson_send_data &data, int msg_type)
ssize_t	jetson_read_values (BufferedSerial &bcJetson, Jetson_read_data &read_data, Jetson_read_odom &odom_data)
ssize_t	jetson_send_read_spi (SPI &spiJetson, const Jetson_send_data &input, Jetson_read_data &output)

Variables
char	nucleo_value [50] = {0}
char	jetson_read_buff [JETSON_READ_BUFF_SIZE] = {0}
int	jetson_read_buff_pos = 0

Macro Definition Documentation

AIM_HEADER

#define AIM_HEADER   0xCC

DATA_HEADER

#define DATA_HEADER   0xAA

JETSON_MAX_PACKET_SIZE

#define JETSON_MAX_PACKET_SIZE   117

JETSON_READ_BUFF_SIZE

#define JETSON_READ_BUFF_SIZE   500

JETSON_READ_MSG_SIZE

#define JETSON_READ_MSG_SIZE   11

ODOM_HEADER

#define ODOM_HEADER   0xDD

REF_HEADER

#define REF_HEADER   0xBB

Function Documentation

copy4Char()

void copy4Char	(	char *	srcBuf,
		char *	destBuf,
		int	offset
	)

Copies 4 bytes from srcBuf[0] into destBuf[offset]

Parameters

srcBuf	source buffer
destBuf	destination buffer
offset	the starting position into destBuf

decode_toSTM32()

void decode_toSTM32	(	char *	read_buf,
		float &	received_one,
		float &	received_two,
		char &	received_three,
		uint8_t &	checksum
	)

Writes 9 bytes of read_buf into received_one and received_two as floats for pitch & yaw positions Used for receiving desired position data from CV in read_buf, write out as floats to received_one/two.

Parameters

read_buf	- Source data
received_one	- Destination buffer

getBytesFromFloat()

void getBytesFromFloat	(	char *	byteArr,
		float	value
	)

Copy float value bytes into single bytes in byteArr array

Parameters

byteArr	destination char array for value individual bytes
value	float value to copy into byteArr

getBytesFromInt16()

void getBytesFromInt16	(	char *	byteArr,
		int16_t	value
	)

getBytesFromInt8()

void getBytesFromInt8	(	char *	byteArr,
		int8_t	value
	)

jetson_read_values()

ssize_t jetson_read_values	(	BufferedSerial &	bcJetson,
		Jetson_read_data &	read_data,
		Jetson_read_odom &	odom_data
	)

Read desired pitch and yaw position data from Jetson

Parameters

pitch_move	buffer to store desired pitch position
yaw_move	buffer to store desired yaw position

jetson_send_feedback()

void jetson_send_feedback	(	BufferedSerial &	bcJetson,
		const Jetson_send_ref &	ref_data,
		const Jetson_send_data &	data,
		int	msg_type
	)

Read motor values and send to CV

jetson_send_read_spi()

ssize_t jetson_send_read_spi	(	SPI &	spiJetson,
		const Jetson_send_data &	input,
		Jetson_read_data &	output
	)

Variable Documentation

jetson_read_buff

char jetson_read_buff[JETSON_READ_BUFF_SIZE] = {0}

jetson_read_buff_pos

int jetson_read_buff_pos = 0

nucleo_value

char nucleo_value[50] = {0}