Diff: RFDevCOMM/RFDevCOMM.cpp

Revision:

1:dd6e70abeb8e

Parent:

0:f0b20f502059

--- a/RFDevCOMM/RFDevCOMM.cpp	Thu May 24 10:19:44 2018 +0000
+++ b/RFDevCOMM/RFDevCOMM.cpp	Fri May 25 08:09:17 2018 +0000
@@ -7,12 +7,13 @@
 void RF2FCC(void)
 {
     signed short yaw, azi;
-    signed short v2, v3;
-    unsigned char yawbuf[2],azibuf[2];
+    //signed short v2, v3;
+    unsigned char yawbuf[2],azibuf[2],v2buf[2],v3buf[2];
     
     Fcc.putc(0xfe);
     Fcc.putc(0xfe);
     
+    /*
     //-------dummy----------
     v2=22;
     RFBuf[8]=v2>>8;
@@ -21,26 +22,32 @@
     RFBuf[10]=v3>>8;
     RFBuf[9]=v3;
     //----------------------
+    */
     
     azi=(short)(Azi*100);
     if(azi<0) azi=36000+azi;
     azibuf[0]=azi>>8;
     azibuf[1]=azi;
     
-    Fcc.putc(azibuf[0]);        //Azi
-    Fcc.putc(azibuf[1]);
-    
     yaw=(short)(YawRel*100);
     if(yaw<0) yaw=36000+yaw;
     yawbuf[0]=yaw>>8;
     yawbuf[1]=yaw;
     
+    v2buf[0]=rV2>>8;
+    v2buf[1]=rV2;
+    v3buf[0]=rV3>>8;
+    v3buf[1]=rV3;
+    
+    Fcc.putc(azibuf[0]);        //Azi
+    Fcc.putc(azibuf[1]);
     Fcc.putc(yawbuf[0]);        //Yaw
     Fcc.putc(yawbuf[1]);
-    Fcc.putc(RFBuf[8]);         //V2
-    Fcc.putc(RFBuf[7]);
-    Fcc.putc(RFBuf[10]);         //V3
-    Fcc.putc(RFBuf[9]);
+    
+    Fcc.putc(v2buf[0]);         //V2
+    Fcc.putc(v2buf[1]);
+    Fcc.putc(v3buf[0]);         //V3
+    Fcc.putc(v3buf[1]);
     
     Fcc.putc(0xff);
     Fcc.putc(0xff);
@@ -57,45 +64,45 @@
     {
         RFBuf[RFCnt]=RFbuf;
 
-        if(RFCnt==35)
-        {            
+        if(RFCnt==35) 
+        {
             RFBodyChks=0;
-            for(char i=5;i<=34;i++)
+            for(char i=5; i<=34; i++) 
             {
                 RFBodyChks+=RFBuf[i];
             }
             //pc.printf("%d %d %d\n",RFCnt,RFBodyChks,RFBuf[35]);
+            if(RFBodyChks==RFBuf[35]) {
+                rV1             =(RFBuf[6]<<8)|RFBuf[5];
+                rV2             =(RFBuf[8]<<8)|RFBuf[7];
+                rV3             =(RFBuf[10]<<8)|RFBuf[9];
+                rV4             =(RFBuf[12]<<8)|RFBuf[11];
+                rEle            =(RFBuf[14]<<8)|RFBuf[13];
+                rAzi            =(RFBuf[16]<<8)|RFBuf[15];
+                rEle_raw        =(RFBuf[18]<<8)|RFBuf[17];
+                rAzi_raw        =(RFBuf[20]<<8)|RFBuf[19];
+                rEle_Offset     =(RFBuf[22]<<8)|RFBuf[21];
+                rAzi_Offset     =(RFBuf[24]<<8)|RFBuf[23];
+
+
+                V1             =(float)rV1*0.001f;
+                V2             =(float)rV2*0.001f;
+                V3             =(float)rV3*0.001f;
+                V4             =(float)rV4*0.001f;
+                Ele            =(float)rEle*0.01f;
+                Azi            =(float)rAzi*0.01f;
+                Ele_raw        =(float)rEle_raw*0.01f;
+                Azi_raw        =(float)rAzi_raw*0.01f;
+                Ele_Offset     =(float)rEle_Offset*0.001f;
+                Azi_Offset     =(float)rAzi_Offset*0.001f;
+
+                RF2FCC();
+                RFCnt=1;
+                fRFread=1;
+            }
+            else RFCnt=1;
         }
-        RFCnt++;
-    }
-    else if(RFCnt==36&&RFBodyChks==RFBuf[35])
-    {      
-        rV1             =(RFBuf[6]<<8)|RFBuf[5];
-        rV2             =(RFBuf[8]<<8)|RFBuf[7];
-        rV3             =(RFBuf[10]<<8)|RFBuf[9];
-        rV4             =(RFBuf[12]<<8)|RFBuf[11];
-        rEle            =(RFBuf[14]<<8)|RFBuf[13];
-        rAzi            =(RFBuf[16]<<8)|RFBuf[15];
-        rEle_raw        =(RFBuf[18]<<8)|RFBuf[17];
-        rAzi_raw        =(RFBuf[20]<<8)|RFBuf[19];
-        rEle_Offset     =(RFBuf[22]<<8)|RFBuf[21];
-        rAzi_Offset     =(RFBuf[24]<<8)|RFBuf[23];
-        
-        
-        V1             =(float)rV1*0.001f;
-        V2             =(float)rV2*0.001f;
-        V3             =(float)rV3*0.001f;
-        V4             =(float)rV4*0.001f;
-        Ele            =(float)rEle*0.01f;
-        Azi            =(float)rAzi*0.01f;
-        Ele_raw        =(float)rEle_raw*0.01f;
-        Azi_raw        =(float)rAzi_raw*0.01f;
-        Ele_Offset     =(float)rEle_Offset*0.001f;
-        Azi_Offset     =(float)rAzi_Offset*0.001f;
-        
-        RF2FCC();  
-        RFCnt=1;
-        fRFread=1;
+        else RFCnt++;
     }    
     else{RFCnt=1;}
 }