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60 lines
1.5 KiB
C
60 lines
1.5 KiB
C
/*
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* Copyright (C) 2017 Inria
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*
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* This file is subject to the terms and conditions of the GNU Lesser General
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* Public License v2.1. See the file LICENSE in the top level directory for more
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* details.
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*/
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/**
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* @ingroup drivers_feetech
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* @{
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*
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* @file
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* @brief Feetech messages reader
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*
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* @author Loïc Dauphin <loic.dauphin@inria.fr>
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*
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* @}
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*/
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#include "feetech_reader.h"
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static uint8_t _compute_sum(const feetech_reader_t *reader)
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{
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uint8_t sum = 0;
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for (size_t i = 2 ; i < reader->size-1 ; i++) {
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sum += reader->buffer[i];
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}
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return sum;
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}
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uint8_t feetech_reader_compute_sum(const feetech_reader_t *reader)
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{
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return ~_compute_sum(reader);
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}
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bool feetech_reader_is_valid(const feetech_reader_t *reader)
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{
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return
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feetech_reader_check_minsize(reader) &&
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feetech_reader_check_start(reader) &&
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feetech_reader_check_size(reader) &&
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feetech_reader_check_sum(reader);
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}
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size_t feetech_reader_sync_write_get_items_count(const feetech_reader_t *reader)
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{
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return (reader->buffer[3] - 4) / (reader->buffer[6] + 1);
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}
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uint8_t feetech_reader_sync_write_item_get_id(const feetech_reader_t *reader, uint8_t index)
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{
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return reader->buffer[7 + index * (feetech_reader_sync_write_get_payload_size(reader) + 1)];
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}
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const uint8_t *feetech_reader_sync_write_item_get_payload(const feetech_reader_t *reader, uint8_t index)
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{
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return &reader->buffer[7 + index * (feetech_reader_sync_write_get_payload_size(reader) + 1) + 1];
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}
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