a752c7ab
 elopes
add first test an...
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/*
* Copyright (C) 2017 Inria
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @ingroup drivers_feetech
* @{
*
* @file
* @brief Feetech messages writer
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
*
* @}
*/
#include "feetech_writer.h"
void feetech_writer_init(feetech_writer_t *writer, uint8_t *buffer, size_t buffer_max_size)
{
writer->buffer = buffer;
writer->size = 0;
writer->buffer_max_size = buffer_max_size;
}
const uint8_t *feetech_writer_get_data(const feetech_writer_t *writer)
{
return (const uint8_t*)writer->buffer;
}
size_t feetech_writer_get_size(const feetech_writer_t *writer)
{
return writer->size;
}
void feetech_writer_response_make(feetech_writer_t *writer, uint8_t id, const uint8_t *buffer, size_t size)
{
const size_t len = 2 + size;
if (len + 4 <= writer->buffer_max_size) {
writer->size = len + 4;
uint8_t sum = 0;
writer->buffer[0] = FEETECH_START;
writer->buffer[1] = FEETECH_START;
sum += writer->buffer[2] = id;
sum += writer->buffer[3] = len;
sum += writer->buffer[4] = 0;
for (size_t i = 0 ; i < size ; i++) {
sum += writer->buffer[5 + i] = buffer[i];
}
writer->buffer[size - 1] = ~sum;
}
else {
writer->size = 0;
}
}
void feetech_writer_ack_make(feetech_writer_t *writer, uint8_t id)
{
const size_t len = 2;
if (len + 4 <= writer->buffer_max_size) {
writer->size = len + 4;
uint8_t sum = 0;
writer->buffer[0] = FEETECH_START;
writer->buffer[1] = FEETECH_START;
sum += writer->buffer[2] = id;
sum += writer->buffer[3] = len;
sum += writer->buffer[4] = 0;
writer->buffer[5] = ~sum;
}
else {
writer->size = 0;
}
}
void feetech_writer_ping_make(feetech_writer_t *writer, uint8_t id)
{
const size_t len = 2;
if (len + 4 <= writer->buffer_max_size) {
writer->size = len + 4;
uint8_t sum = 0;
writer->buffer[0] = FEETECH_START;
writer->buffer[1] = FEETECH_START;
sum += writer->buffer[2] = id;
sum += writer->buffer[3] = len;
sum += writer->buffer[4] = INST_PING;
writer->buffer[5] = ~sum;
}
else {
writer->size = 0;
}
}
void feetech_writer_write8_make(feetech_writer_t *writer, uint8_t id, uint8_t reg, uint8_t value)
{
const size_t len = 4;
if (len + 4 <= writer->buffer_max_size) {
writer->size = len + 4;
uint8_t sum = 0;
writer->buffer[0] = FEETECH_START;
writer->buffer[1] = FEETECH_START;
sum += writer->buffer[2] = id;
sum += writer->buffer[3] = len;
sum += writer->buffer[4] = INST_WRITE;
sum += writer->buffer[5] = reg;
sum += writer->buffer[6] = value;
writer->buffer[7] = ~sum;
}
else {
writer->size = 0;
}
}
void feetech_writer_write16_make(feetech_writer_t *writer, uint8_t id, uint8_t reg, uint16_t value)
{
const size_t len = 5;
if (len + 4 <= writer->buffer_max_size) {
writer->size = len + 4;
uint8_t sum = 0;
writer->buffer[0] = FEETECH_START;
writer->buffer[1] = FEETECH_START;
sum += writer->buffer[2] = id;
sum += writer->buffer[3] = len;
sum += writer->buffer[4] = INST_WRITE;
sum += writer->buffer[5] = reg;
sum += writer->buffer[6] = (value >> 8) & 0xFF;
sum += writer->buffer[7] = value & 0xFF;
writer->buffer[8] = ~sum;
}
else {
writer->size = 0;
}
}
void feetech_writer_write_make(feetech_writer_t *writer, uint8_t id, uint8_t reg, const uint8_t *buffer, size_t size)
{
const size_t len = 3 + size;
if (len + 4 <= writer->buffer_max_size) {
writer->size = len + 4;
uint8_t sum = 0;
writer->buffer[0] = FEETECH_START;
writer->buffer[1] = FEETECH_START;
sum += writer->buffer[2] = id;
sum += writer->buffer[3] = len;
sum += writer->buffer[4] = INST_WRITE;
sum += writer->buffer[5] = reg;
for (size_t i = 0 ; i < size ; i++) {
sum += writer->buffer[6 + i] = buffer[i];
}
writer->buffer[writer->size - 1] = ~sum;
}
else {
writer->size = 0;
}
}
void feetech_writer_read_make(feetech_writer_t *writer, uint8_t id, uint8_t reg, size_t size)
{
const size_t len = 4;
if (len + 4 <= writer->buffer_max_size) {
writer->size = len + 4;
uint8_t sum = 0;
writer->buffer[0] = FEETECH_START;
writer->buffer[1] = FEETECH_START;
sum += writer->buffer[2] = id;
sum += writer->buffer[3] = len;
sum += writer->buffer[4] = INST_READ;
sum += writer->buffer[5] = reg;
sum += writer->buffer[6] = (uint8_t)size;
writer->buffer[7] = ~sum;
}
else {
writer->size = 0;
}
}
size_t feetech_writer_sync_write_required(feetech_writer_t *writer)
{
if (8 <= writer->size && writer->buffer[4] == INST_SYNC_WRITE) {
return writer->buffer[6];
}
return 0;
}
void feetech_writer_sync_write_end(feetech_writer_t *writer)
{
if (writer->size <= 8) {
writer->size = 0;
}
}
void feetech_writer_sync_write_add(feetech_writer_t *writer, uint8_t id, const uint8_t *buffer, size_t size)
{
if (feetech_writer_sync_write_required(writer) == size &&
size != 0 && writer->size + size + 1 <= writer->buffer_max_size) {
uint8_t sum = ~writer->buffer[writer->size - 1];
sum += writer->buffer[writer->size - 1] = id;
for (size_t i = 0 ; i < size ; i++) {
sum += writer->buffer[writer->size + i] = buffer[i];
}
writer->buffer[3] += size + 1;
writer->buffer[writer->size + size] = ~(sum + size + 1);
writer->size += size + 1;
}
else {
writer->size = 0;
}
}
void feetech_writer_sync_write_add_8bits(feetech_writer_t *writer, uint8_t id, uint8_t value)
{
if (feetech_writer_sync_write_required(writer) == 1 &&
writer->size + 2 <= writer->buffer_max_size) {
uint8_t sum = ~writer->buffer[writer->size - 1];
sum += writer->buffer[writer->size - 1] = id;
sum += writer->buffer[writer->size] = value;
writer->buffer[3] += 2;
writer->buffer[writer->size + 1] = ~(sum + 2);
writer->size += 2;
}
else {
writer->size = 0;
}
}
void feetech_writer_sync_write_add_16bits(feetech_writer_t *writer, uint8_t id, uint16_t value)
{
if (feetech_writer_sync_write_required(writer) == 2 &&
writer->size + 3 <= writer->buffer_max_size) {
uint8_t sum = ~writer->buffer[writer->size - 1];
sum += writer->buffer[writer->size - 1] = id;
sum += writer->buffer[writer->size + 0] = (value >> 8) & 0xFF;
sum += writer->buffer[writer->size + 1] = value & 0xFF;
writer->buffer[3] += 3;
writer->buffer[writer->size + 2] = ~(sum + 3);
writer->size += 3;
}
else {
writer->size = 0;
}
}
void feetech_writer_sync_write_begin(feetech_writer_t *writer, uint8_t reg, size_t size)
{
const size_t len = 4;
if (len + 4 <= writer->buffer_max_size) {
writer->size = len + 4;
uint8_t sum = 0;
writer->buffer[0] = FEETECH_START;
writer->buffer[1] = FEETECH_START;
sum += writer->buffer[2] = 0xFF;
sum += writer->buffer[3] = len;
sum += writer->buffer[4] = INST_SYNC_WRITE;
sum += writer->buffer[5] = reg;
sum += writer->buffer[6] = (uint8_t)size;
writer->buffer[7] = ~sum;
}
}
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