Files
Last update 7 years 8 months
by
Teivaz
FilesSoftwareFeatherSource | |
---|---|
.. | |
buffer.h | |
config.h | |
main.c | |
main.h | |
motor.c | |
motor.h | |
package.c | |
package.h | |
servo.c | |
servo.h |
buffer.h#ifndef BUFFER_H_ #define BUFFER_H_ extern void *memset(void *, int, size_t); /* 0| [P] [S] [1] [2] [C] [ ] [ ] [ ] [ ] [ ] 1| [ ] [P] [S] [1] [2] [C] [ ] [ ] [ ] [ ] 2| [ ] [ ] [P] [S] [1] [2] [C] [ ] [ ] [ ] 3| [ ] [ ] [ ] [P] [S] [1] [2] [C] [ ] [ ] 4| [ ] [ ] [ ] [ ] [P] [S] [1] [2] [C] [ ] 0| [ ] [ ] [ ] [ ] [ ] [P] [S] [1] [2] [C] 0 1 2 3 4 5 6 7 8 9 */ #define PACKAGE_LENGTH 5 #define TOTAL_PACKAGES PACKAGE_LENGTH #define BUFFER_LENGTH (PACKAGE_LENGTH*2) typedef struct { char primary; // Primary letter char secondary; // Secondary letter char payload[2]; // Payload char hash; // Checksum } Package; typedef struct { char data[BUFFER_LENGTH]; // Bytes of package unsigned char length; unsigned char prev_length; } Buffer; inline void Buffer_Init(Buffer* buf) { memset(buf->data, 0, BUFFER_LENGTH); buf->length = 0; buf->prev_length = 0; } // Will push symbol if length >= 0 and increase length of buffer inline void Buffer_Push(Buffer* buf, char symbol) { buf->data[buf->length] = symbol; buf->data[buf->length + PACKAGE_LENGTH] = symbol; buf->length = (buf->length + 1) % PACKAGE_LENGTH; } inline char Buffer_HasData(Buffer* buf) { return buf->length != buf->prev_length; } inline void Buffer_MarkRead(Buffer* buf) { buf->prev_length = buf->length; } // Will check single package. Returns 0 if no data detected. // Returns pointer to data if package was detected inline char* Buffer_Read(Buffer* buf) { // increase prev_length buf->prev_length = (buf->prev_length + 1) % PACKAGE_LENGTH; // use prev_length as package id because it is matches exactly for length of 5 Package* package = (Package*)(buf->data + buf->prev_length); if (package->primary != PRIMARY_LETTER) return 0; else if (package->secondary != SECONDARY_LETTER) return 0; else if (HASH4((char*)package) != package->hash) return 0; else return package->payload; } #endif /* BUFFER_H_ */