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a_team_fep_rx_from_kinect_sample
FEP2/FEP.cpp@0:338b7241e445, 2018-10-04 (annotated)
- Committer:
- skouki
- Date:
- Thu Oct 04 10:54:05 2018 +0000
- Revision:
- 0:338b7241e445
v1;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
skouki | 0:338b7241e445 | 1 | #include "FEP.h" |
skouki | 0:338b7241e445 | 2 | |
skouki | 0:338b7241e445 | 3 | FEP::FEP(PinName tx, PinName rx, uint8_t addr, int baud) : |
skouki | 0:338b7241e445 | 4 | RawSerial(tx, rx, baud) |
skouki | 0:338b7241e445 | 5 | { |
skouki | 0:338b7241e445 | 6 | _address = addr; |
skouki | 0:338b7241e445 | 7 | } |
skouki | 0:338b7241e445 | 8 | |
skouki | 0:338b7241e445 | 9 | void FEP::startReceive(uint16_t dataSize) |
skouki | 0:338b7241e445 | 10 | { |
skouki | 0:338b7241e445 | 11 | bufferSize = dataSize + 15; |
skouki | 0:338b7241e445 | 12 | bufferPoint = 0; |
skouki | 0:338b7241e445 | 13 | receivedBytes = 0; |
skouki | 0:338b7241e445 | 14 | buffer = new uint8_t[bufferSize]; |
skouki | 0:338b7241e445 | 15 | data = new uint8_t[dataSize]; |
skouki | 0:338b7241e445 | 16 | attach(callback(this, &FEP::receiveByte)); |
skouki | 0:338b7241e445 | 17 | } |
skouki | 0:338b7241e445 | 18 | |
skouki | 0:338b7241e445 | 19 | void FEP::getData(uint8_t data_[]) |
skouki | 0:338b7241e445 | 20 | { |
skouki | 0:338b7241e445 | 21 | for(int i = 0; i < bufferSize - 15; i++) { |
skouki | 0:338b7241e445 | 22 | data_[i] = data[i]; |
skouki | 0:338b7241e445 | 23 | } |
skouki | 0:338b7241e445 | 24 | } |
skouki | 0:338b7241e445 | 25 | |
skouki | 0:338b7241e445 | 26 | void FEP::sendData(uint8_t data_[], uint8_t length) |
skouki | 0:338b7241e445 | 27 | { |
skouki | 0:338b7241e445 | 28 | uint8_t checksum = 0x00; |
skouki | 0:338b7241e445 | 29 | |
skouki | 0:338b7241e445 | 30 | printf("@TBN%03d%03d", _address, length + 1); |
skouki | 0:338b7241e445 | 31 | for (int j = 0; j < length; j++) { |
skouki | 0:338b7241e445 | 32 | checksum += data_[j]; |
skouki | 0:338b7241e445 | 33 | putc(data_[j]); |
skouki | 0:338b7241e445 | 34 | } |
skouki | 0:338b7241e445 | 35 | putc(checksum); |
skouki | 0:338b7241e445 | 36 | putc('\r'); |
skouki | 0:338b7241e445 | 37 | putc('\n'); |
skouki | 0:338b7241e445 | 38 | } |
skouki | 0:338b7241e445 | 39 | |
skouki | 0:338b7241e445 | 40 | void FEP::receiveByte() |
skouki | 0:338b7241e445 | 41 | { |
skouki | 0:338b7241e445 | 42 | buffer[bufferPoint % bufferSize] = getc(); |
skouki | 0:338b7241e445 | 43 | |
skouki | 0:338b7241e445 | 44 | if(bufferPoint != 0xff) { |
skouki | 0:338b7241e445 | 45 | ++bufferPoint; |
skouki | 0:338b7241e445 | 46 | } else { |
skouki | 0:338b7241e445 | 47 | bufferPoint = (255%bufferSize)+1; |
skouki | 0:338b7241e445 | 48 | } |
skouki | 0:338b7241e445 | 49 | |
skouki | 0:338b7241e445 | 50 | ++receivedBytes; |
skouki | 0:338b7241e445 | 51 | |
skouki | 0:338b7241e445 | 52 | if(receivedBytes >= bufferSize) checkData(); |
skouki | 0:338b7241e445 | 53 | } |
skouki | 0:338b7241e445 | 54 | |
skouki | 0:338b7241e445 | 55 | void FEP::checkData() |
skouki | 0:338b7241e445 | 56 | { |
skouki | 0:338b7241e445 | 57 | for(int i = 0; i < bufferSize; i++) { |
skouki | 0:338b7241e445 | 58 | if(buffer[i % bufferSize] == FEP_HEADER0 && buffer[(i + 1) % bufferSize] == FEP_HEADER1 && buffer[(i + 2) % bufferSize] == FEP_HEADER2) { |
skouki | 0:338b7241e445 | 59 | uint8_t checksum = 0x00; |
skouki | 0:338b7241e445 | 60 | for(int j = 9; j < bufferSize - 6; j++) { |
skouki | 0:338b7241e445 | 61 | checksum += buffer[(i + j)% bufferSize]; |
skouki | 0:338b7241e445 | 62 | } |
skouki | 0:338b7241e445 | 63 | if(checksum == buffer[(i + bufferSize - 6)% bufferSize]) { |
skouki | 0:338b7241e445 | 64 | for(int j = 9; j < bufferSize - 6; j++) { |
skouki | 0:338b7241e445 | 65 | data[j - 9] = buffer[(i + j) % bufferSize]; |
skouki | 0:338b7241e445 | 66 | } |
skouki | 0:338b7241e445 | 67 | receivedBytes = 0; |
skouki | 0:338b7241e445 | 68 | return; |
skouki | 0:338b7241e445 | 69 | } |
skouki | 0:338b7241e445 | 70 | } |
skouki | 0:338b7241e445 | 71 | } |
skouki | 0:338b7241e445 | 72 | } |