Diff: protocol.cpp

Revision:

116:6dfcafa00e42

Parent:

115:156b8234f2de

diff -r 156b8234f2de -r 6dfcafa00e42 protocol.cpp
--- a/protocol.cpp	Wed May 18 18:07:09 2022 +0000
+++ b/protocol.cpp	Mon May 23 12:55:02 2022 +0000
@@ -1,9 +1,10 @@
 #include "protocol.h"
+#include "toolbox.hpp"
 
 char newDataAvailable = 0;
 
-//Bytewise XOR
-char calculateChecksum(char command, char* payload, char payloadLength)
+//Bytewise XOR checksum
+char calculateChecksum(char command, char* payload, char payloadLength) //Use only when receiving frames
 {
     char checksum = 0xff;
     checksum ^= command;
@@ -12,6 +13,22 @@
     return checksum;
 }
 
+char calculateChecksum(char *msg) //Use only when emitting speed frames
+{
+    int i = 0;
+    char checksum = msg[i++];
+    for (; i < 5; i++)
+        checksum ^= msg[i];
+    return checksum;
+}
+
+void encodeMessage(char *msg, float vitesse)
+{
+    msg[0] = 0xff;
+    convertFloatToBytes(&vitesse, msg, 1);
+    msg[5] = calculateChecksum(msg); 
+}
+
 char receiveState = STATE_START_OF_FRAME;
 char receiveIndex = 0;
 char receiveIndexLimit;