Diff: app/Decoder.cpp

Revision:

0:f2815503561f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/app/Decoder.cpp	Wed Jul 06 20:40:36 2016 +0000
@@ -0,0 +1,141 @@
+/*
+ * Decoder.cpp
+ *
+ *  Created on: 16.05.2016
+ *      Author: Adrian
+ */
+
+#include "Decoder.h"
+#include <RawSerial.h>
+
+Decoder::Decoder(mbed::RawSerial* serial) {
+	this->serial = serial;
+	this->serial->attach(this,&Decoder::rxInterrupt,this->serial->RxIrq);
+	setActualState(INIT);
+	setBufferPosition(0);
+}
+
+Decoder::~Decoder() {
+
+}
+
+void Decoder::setActualState(DecoderState newState){
+	actualState = newState;
+
+}
+DecoderState Decoder::getActualState(){
+	return actualState;
+}
+
+void Decoder::getCharacterFromSerial(){
+	lastReceivedChar = serial->getc();
+}
+
+bool Decoder::hasReceived(char specificChar){
+	bool received=false;
+
+	if(lastReceivedChar == specificChar){
+		received = true;
+		setActualState(RECEIVE);
+	}
+
+	return received;
+}
+
+void Decoder::bufferReceivedCharacterAtBegin(){
+	receiveBuffer[0]=lastReceivedChar;
+}
+
+void Decoder::bufferReceivedCharacter(){
+	receiveBuffer[bufferPosition]=lastReceivedChar;
+	incrementBufferPosition();
+}
+
+void Decoder::setBufferPosition(uint8_t newPosition){
+	bufferPosition = 0;
+}
+
+void Decoder::incrementBufferPosition(){
+	if(getActualState()!=INIT && bufferPosition < MESSAGE_LENGHT){
+		bufferPosition++;
+	}
+}
+
+bool Decoder::isBufferFilled(){
+	bool isFilled=false;
+	if(bufferPosition==MESSAGE_LENGHT){
+		isFilled=true;
+	}
+	return isFilled;
+}
+
+void Decoder::clearReceiveBuffer(){
+	int i;
+	for(i=0;i<MESSAGE_LENGHT;i++){
+		receiveBuffer[i]=0x20;
+	}
+}
+
+void Decoder::rxInterrupt(){
+	if(serial->readable()){
+		getCharacterFromSerial();
+
+		if(hasReceived(0xB5)){
+			setBufferPosition(0);
+		}
+
+		bufferReceivedCharacter();
+
+		if(isBufferFilled()){
+			decodeReceiveBuffer();
+		}
+	}
+}
+
+char* Decoder::getReceiveBuffer(){
+	return receiveBuffer;
+}
+
+void Decoder::decodeReceiveBuffer(){
+
+	lastPoslhh.iTOW = receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+3]<<24|
+			receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+2]<<16|
+			receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+1]<<8|
+			receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+0];
+
+	lastPoslhh.lon = receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+7]<<24|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+6]<<16|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+5]<<8|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+4];
+
+	lastPoslhh.lat = receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+11]<<24|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+10]<<16|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+9]<<8|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+8];
+
+	lastPoslhh.height = receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+15]<<24|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+14]<<16|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+13]<<8|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+12];
+
+	lastPoslhh.hMSL = receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+19]<<24|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+18]<<16|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+17]<<8|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+16];
+
+	lastPoslhh.hAcc = receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+23]<<24|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+22]<<16|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+21]<<8|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+20];
+
+	lastPoslhh.vAcc = receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+27]<<24|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+26]<<16|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+25]<<8|
+				receiveBuffer[HEADER_LENGHT+ID_LENGHT+LENGHT_LENGHT+24];
+
+}
+
+POSLHH Decoder::getLastPoslhh(){
+	return lastPoslhh;
+}
+