I messed up the merge, so pushing it over to another repo so I don't lose it. Will tidy up and remove later
Dependencies: BufferedSerial FatFileSystemCpp mbed
FreeD.h
- Committer:
- JamieB
- Date:
- 2021-07-01
- Revision:
- 20:ce1d8fbff68f
- Child:
- 25:7002be632308
File content as of revision 20:ce1d8fbff68f:
#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