NagaokaRoboticsClub_mbedTeam / SerialMultiByte

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Dependents:   Nucleo_NHK_2018_syudo_wheel a_team_R1370 Nucleo_NHK_2018_syudo_wheel 2018NHK_gaku_ver2 ... more

Files at this revision

API Documentation at this revision

Revision 4:31dbd7ea393b, committed 2018-09-13

Comitter:
tanabe2000
Date:
Thu Sep 13 06:17:23 2018 +0000
Parent:
2:a14ba6b3f198
Child:
5:4109001829fe
Child:
6:7f87c3ff29ef
Commit message:
checksum?????

Changed in this revision

SerialMultiByte.cpp Show annotated file Show diff for this revision Revisions of this file
SerialMultiByte.h Show annotated file Show diff for this revision Revisions of this file 
--- a/SerialMultiByte.cpp	Wed Sep 12 15:20:52 2018 +0000
+++ b/SerialMultiByte.cpp	Thu Sep 13 06:17:23 2018 +0000
@@ -2,6 +2,7 @@
 
 SerialMultiByte::SerialMultiByte(PinName tx, PinName rx) :
     RawSerial(tx, rx),
+    debug(USBTX,USBRX, 115200),
     myled(LED1)
 {
     header[0] = DEFAULT_FIRST_HEADER;
@@ -33,6 +34,7 @@
 void SerialMultiByte::receiveByte()
 {
     buffer[bufferPoint % bufferSize] = getc();
+     
 
     if(bufferPoint != 0xff) {
         ++bufferPoint;
@@ -42,21 +44,31 @@
 
     ++receivedBytes;
 
-    if(receivedBytes == bufferSize) checkData();
+    if(receivedBytes >= bufferSize) checkData();
 }
 
 void SerialMultiByte::checkData()
 {
-        for(int i = 0; i < bufferSize; i++) {
-            if(buffer[i % bufferSize] == header[0] && buffer[(i + 1) % bufferSize] == header[1]) {
+    
+    for(int i = 0; i < bufferSize; i++) {
+        if(buffer[i % bufferSize] == header[0] && buffer[(i + 1) % bufferSize] == header[1]) {
+           
+            uint8_t checksum = 0x00;
+            for(int j = 0; j < bufferSize - 3; j++) {
+                checksum += buffer[(i + 2 + j)% bufferSize];
+
+            }
+            if(checksum == buffer[(i + bufferSize - 1)% bufferSize]) {
+                myled = !myled;
                 for(int j = 0; j < bufferSize - 3; j++) {
                     data[j] = buffer[(i + 2 + j) % bufferSize];
                 }
                 receivedBytes = 0;
-                myled = !myled;
+                
                 return;
             }
         }
+    }
 }
 
 void SerialMultiByte::getData(uint8_t data_[])

--- a/SerialMultiByte.h	Wed Sep 12 15:20:52 2018 +0000
+++ b/SerialMultiByte.h	Thu Sep 13 06:17:23 2018 +0000
@@ -30,6 +30,7 @@
         uint8_t header[2];
         uint16_t bufferSize;
         uint8_t* data;
+        Serial debug;
 };
 
 #endif
\ No newline at end of file