seCo/SeCo.cpp at master · Alvipe/seCo · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
#include "Arduino.h"
#include "SeCo.h"

static const uint8_t header = 0x7E;
static const uint8_t footer = 0x7E;
static const unsigned int floatSize = 4;

typedef union {
    float floating;
    uint8_t binary[floatSize];
} binaryFloat;

SeCo::SeCo(Stream &serial) {
    _serial = &serial;
}

bool SeCo::waitHeader() {
    uint8_t inByte;
    while(_serial->available()>0) {
        inByte = _serial->read();
        delayMicroseconds(100);
        if(inByte==header) {
            return true;
        }
        else {
            return false;
        }
    }
    return false;
}

bool SeCo::checkMessage(uint8_t *message, unsigned int messageSize) {
    uint8_t xorCheck = 0x00;
    unsigned int i;
    for(i=0;i<messageSize;i++) {
        xorCheck = xorCheck^message[i];
    }
    if(xorCheck==check) {
        return true;
    }
    else {
        return false;
    }
}

void SeCo::getMessage(uint8_t* message, unsigned int messageSize) {
    uint8_t inByte;
    unsigned int i=0;
    while(!waitHeader()) {}
    while(_serial->available()>0) {
        inByte= _serial->read();
        delayMicroseconds(100);
        if((inByte!=footer)&&(i<messageSize)) {
            message[i] = inByte;
            i++;
        }
        else if((inByte!=footer)&&(i==messageSize)) {
            check = inByte;
        }
        else if(inByte==footer) {
            return;
        }
    }
}

void SeCo::readData(float* dataIn) {
    unsigned int messageSize = floatSize;
    uint8_t message[messageSize];
    binaryFloat data;
    unsigned int i;
    getMessage(message, messageSize);
    if(checkMessage(message, messageSize)) {
        for(i=0;i<4;i++) {
            data.binary[i] = message[i];
        }
        *dataIn = data.floating;
        return;
    }
}

void SeCo::readArray(float* dataArrayIn, unsigned int dataPoints) {
    unsigned int messageSize = floatSize*dataPoints;
    uint8_t message[messageSize];
    binaryFloat data;
    unsigned int i=0, j, k;
    getMessage(message, messageSize);
    if(checkMessage(message, messageSize)) {
        for(j=0;j<dataPoints;j++) {
            for(k=0;k<floatSize;k++) {
                data.binary[k] = message[i];
                i++;
            }
            dataArrayIn[j] = data.floating;
        }
        return;
    }
}

void SeCo::writeData(float* dataOut) {
    binaryFloat data;
    data.floating = *dataOut;
    uint8_t message[7];
    uint8_t xorCheck = 0x00;
    unsigned int i;
    message[0] = header;
    for(i=1;i<5;i++) {
        message[i] = data.binary[i-1];
        xorCheck = xorCheck^data.binary[i-1];
    }
    message[5] = xorCheck;
    message[6] = footer;
    _serial->write(message,7);
}

void SeCo::writeArray(float* dataArrayOut, unsigned int dataPoints) {
    binaryFloat data;
    unsigned int messageSize = floatSize*dataPoints;
    uint8_t message[messageSize+3];
    uint8_t xorCheck = 0x00;
    message[0] = header;
    unsigned int i=1, j, k;
    for(j=0;j<dataPoints;j++) {
        data.floating = dataArrayOut[j];
        for(k=0;k<floatSize;k++) {
            message[i] = data.binary[k];
            xorCheck = xorCheck^data.binary[k];
            i++;
        }
    }
    message[messageSize+1] = xorCheck;
    message[messageSize+2] = footer;
    _serial->write(message,messageSize+3);
}