Diff: FreeD.h

Revision:

20:ce1d8fbff68f

Child:

25:7002be632308

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FreeD.h	Thu Jul 01 10:35:20 2021 +0000
@@ -0,0 +1,36 @@
+#ifndef __FreeD_h__
+#define __FreeD_h__
+
+#include "mbed.h"
+#include <cstdint>
+
+struct D1MsgFormat_s {
+    uint8_t header; //0xD1, annoying it cant be set as default value here!
+    uint8_t id; //camera ID, use 255 minus Rover ID
+    uint32_t yaw : 24;
+    uint32_t pitch : 24;
+    uint32_t roll : 24;
+    uint32_t x : 24;
+    uint32_t y : 24;
+    uint32_t z : 24;
+    uint32_t zoom : 24;
+    uint32_t focus : 24;
+    uint16_t spare;
+    uint8_t checksum;
+} __attribute__((packed)) ;
+
+inline int GetFdCRC(void *data) {
+    uint8_t *dataPtr = (uint8_t *)data;
+    //uint8_t *crcPtr = (uint8_t *)checksum;
+    int len = sizeof(D1MsgFormat_s) -1;
+    uint8_t sum =0;
+    int byteCount = 0;
+
+    while ((len--) > 0) {sum += dataPtr[byteCount++];}
+        
+    //crcPtr[0] = 0x40 - sum;
+    return 0x40 - sum;
+}
+
+
+#endif
\ No newline at end of file