diff options
Diffstat (limited to 'libraries/Robot_Control/EasyTransfer2.cpp')
| -rw-r--r-- | libraries/Robot_Control/EasyTransfer2.cpp | 152 |
1 files changed, 152 insertions, 0 deletions
diff --git a/libraries/Robot_Control/EasyTransfer2.cpp b/libraries/Robot_Control/EasyTransfer2.cpp new file mode 100644 index 0000000..24427cc --- /dev/null +++ b/libraries/Robot_Control/EasyTransfer2.cpp @@ -0,0 +1,152 @@ +#include "EasyTransfer2.h" + + + + +//Captures address and size of struct +void EasyTransfer2::begin(HardwareSerial *theSerial){ + _serial = theSerial; + + //dynamic creation of rx parsing buffer in RAM + //rx_buffer = (uint8_t*) malloc(size); + + resetData(); +} + +void EasyTransfer2::writeByte(uint8_t dat){ + if(position<20) + data[position++]=dat; + size++; +} +void EasyTransfer2::writeInt(int dat){ + if(position<19){ + data[position++]=dat>>8; + data[position++]=dat; + size+=2; + } +} +uint8_t EasyTransfer2::readByte(){ + if(position>=size)return 0; + return data[position++]; +} +int EasyTransfer2::readInt(){ + if(position+1>=size)return 0; + int dat_1=data[position++]<<8; + int dat_2=data[position++]; + int dat= dat_1 | dat_2; + return dat; +} + +void EasyTransfer2::resetData(){ + for(int i=0;i<20;i++){ + data[i]=0; + } + size=0; + position=0; +} + +//Sends out struct in binary, with header, length info and checksum +void EasyTransfer2::sendData(){ + uint8_t CS = size; + _serial->write(0x06); + _serial->write(0x85); + _serial->write(size); + for(int i = 0; i<size; i++){ + CS^=*(data+i); + _serial->write(*(data+i)); + //Serial.print(*(data+i)); + //Serial.print(","); + } + //Serial.println(""); + _serial->write(CS); + + resetData(); +} + +boolean EasyTransfer2::receiveData(){ + + //start off by looking for the header bytes. If they were already found in a previous call, skip it. + if(rx_len == 0){ + //this size check may be redundant due to the size check below, but for now I'll leave it the way it is. + if(_serial->available() >= 3){ + //this will block until a 0x06 is found or buffer size becomes less then 3. + while(_serial->read() != 0x06) { + //This will trash any preamble junk in the serial buffer + //but we need to make sure there is enough in the buffer to process while we trash the rest + //if the buffer becomes too empty, we will escape and try again on the next call + if(_serial->available() < 3) + return false; + } + //Serial.println("head"); + if (_serial->read() == 0x85){ + rx_len = _serial->read(); + //Serial.print("rx_len:"); + //Serial.println(rx_len); + resetData(); + + //make sure the binary structs on both Arduinos are the same size. + /*if(rx_len != size){ + rx_len = 0; + return false; + }*/ + } + } + //Serial.println("nothing"); + } + + //we get here if we already found the header bytes, the struct size matched what we know, and now we are byte aligned. + if(rx_len != 0){ + + while(_serial->available() && rx_array_inx <= rx_len){ + data[rx_array_inx++] = _serial->read(); + } + + if(rx_len == (rx_array_inx-1)){ + //seem to have got whole message + //last uint8_t is CS + calc_CS = rx_len; + //Serial.print("len:"); + //Serial.println(rx_len); + for (int i = 0; i<rx_len; i++){ + calc_CS^=data[i]; + //Serial.print("m"); + //Serial.print(data[i]); + //Serial.print(","); + } + //Serial.println(); + //Serial.print(data[rx_array_inx-1]); + //Serial.print(" "); + //Serial.println(calc_CS); + + if(calc_CS == data[rx_array_inx-1]){//CS good + //resetData(); + //memcpy(data,d,rx_len); + for(int i=0;i<20;i++){ + //Serial.print(data[i]); + //Serial.print(","); + } + //Serial.println(""); + size=rx_len; + rx_len = 0; + rx_array_inx = 0; + return true; + } + + else{ + //Serial.println("CS"); + resetData(); + //failed checksum, need to clear this out anyway + rx_len = 0; + rx_array_inx = 0; + return false; + } + + } + } + //Serial.print(rx_len); + //Serial.print(" "); + //Serial.print(rx_array_inx); + //Serial.print(" "); + //Serial.println("Short"); + return false; +}
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