Diff: FIZ_readers/FIZ_ArriCmotion.cpp

Revision:

62:dcb92159ac8e

Child:

63:11ee40ec32bd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FIZ_readers/FIZ_ArriCmotion.cpp	Mon Oct 25 09:04:21 2021 +0000
@@ -0,0 +1,110 @@
+#include "FIZ_ArriCmotion.h"
+#include "LTCApp.h"
+
+FIZ_ArriCmotion::FIZ_ArriCmotion(const PinName Tx, const PinName Rx) : FIZReader(Tx,Rx)
+{
+    inputPtr = 0;
+    newData = false;
+    _port.baud(38400);
+    _port.attach(callback(this, &FIZ_ArriCmotion::OnRx));
+}
+
+//  expect hex data format:
+//  0x02 [commandID] [LEN] [len-5 bytes data] [checksum] [0x33]
+// checksum is xor of all data bytes.
+#define HeaderByte 0x02
+#define FooterByte 0x33
+
+// some ambiguity as to how large the packets should be
+#define packetSizeToSend 12
+
+void FIZ_ArriCmotion::requestCurrent(void)
+{
+    _port.putc(HeaderByte);
+    _port.putc('O'); 
+    _port.putc(packetSizeToSend);
+    // value of 0 for the first byte indicates client device with invalid data.
+    // So shouldn't move the motor, only read the values. 
+    // may possibly need to change this to 0x40 0x00 0x00 0x00 for each axis
+    // (master but invalid data)
+    for (int i=0;i<packetSizeToSend;i++)
+      _port.putc(0);
+    
+    // checksum - if all data is 0 then cs is 0. If data above changes then change this.
+    _port.putc(0);
+    
+    _port.putc(FooterByte);
+}
+
+
+void FIZ_ArriCmotion::OnRx(void)
+{
+    uint8_t dIn = _port.getc();
+    inputBuffer[inputPtr] = dIn;
+    if (inputPtr==0) {
+        if (dIn == HeaderByte) {
+            inputPtr++;
+        }
+    } else if (inputPtr == 1) {
+        if ((dIn == 'o')||(dIn == 'O')) { // ID 'o' = Motor status. or 'O' = motor command
+            inputPtr++;
+        } else { // wrong ID
+            if (dIn == HeaderByte) {
+                inputBuffer[0] = HeaderByte;
+                inputPtr = 1;
+            } else {
+                inputPtr = 0;
+            }
+        }
+    } else { // waiting for data.
+        if (inputPtr == 2) { // just got length
+            if (inputBuffer[2]>20) // length is too high
+                inputPtr=0;
+            else
+                inputPtr++;
+        } else {
+            inputPtr++;
+            if ((inputPtr>4) && (inputPtr == (inputBuffer[2]+5))) {
+                parsePacket();
+                inputPtr = 0;
+            }
+        }
+    }
+}
+
+void FIZ_ArriCmotion::parsePacket()
+{
+    if (inputBuffer[0] != HeaderByte)
+        return;
+    if (inputBuffer[1] != 'o') // only parse status
+        return;
+    int DataLen = inputBuffer[2];    
+    if (inputBuffer[DataLen+4] != FooterByte)
+        return;
+    int checksum = inputBuffer[DataLen+3];
+    uint8_t *dataValues = inputBuffer+3; // ptr to data part of message
+    // checksum is xor of all bytes.
+    int cs = 0;
+    for (int i=0; i<DataLen; i++) {
+        cs ^= dataValues[i];
+    }
+    if (cs != checksum) {
+//       pc.printf("FIZ Checksum Fail 0x%04X\r\n",cs);
+        return;
+    }
+
+// format is 2 bytes status then 16 bit value, MSB first.
+// This is repeated for Motor (focus?), iris and zoom
+    uint16_t focus_Position = ((uint16_t)dataValues[2])<<8 | inputBuffer[3];
+
+    uint16_t iris_Position = ((uint16_t)inputBuffer[6])<<8 | inputBuffer[7];
+
+    uint16_t zoom_Position = ((uint16_t)inputBuffer[10])<<8 | inputBuffer[11];
+
+// MAY NEED TO SCALE THESE
+    _focus = focus_Position;
+    _iris = iris_Position;
+    _zoom = zoom_Position;
+
+    newData = true;
+}