From 9601e0439fcac806affdf4c95e8d6ca5975af9c0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Phil=C3=A9mon=20Pr=C3=A9vot?= <philemon.prevot@gmail.com>
Date: Mon, 2 Sep 2024 15:37:36 +0200
Subject: [PATCH] Get rid of checksum (there are none on Device Mode samples)
---
src/filewriter.cpp | 55 +++++++++-------------------------------------
src/filewriter.h | 2 +-
2 files changed, 11 insertions(+), 46 deletions(-)
diff --git a/src/filewriter.cpp b/src/filewriter.cpp
index f69c5b8..91b4942 100644
--- a/src/filewriter.cpp
+++ b/src/filewriter.cpp
@@ -150,21 +150,6 @@ float IMUFileWriter::GetFloatSafe(const unsigned char *p, int index) {
return result;
}
-unsigned char IMUFileWriter::CalculateChecksum(int msgFunction,
- int msgPayloadLength, const unsigned char msgPayload[])
-{
- unsigned char checksum = 0;
- checksum ^= static_cast<unsigned char>(0xFE);
- checksum ^= static_cast<unsigned char>(msgFunction >> 8);
- checksum ^= static_cast<unsigned char>(msgFunction >> 0);
- checksum ^= static_cast<unsigned char>(msgPayloadLength >> 8);
- checksum ^= static_cast<unsigned char>(msgPayloadLength >> 0);
- for (int i = 0; i < msgPayloadLength; i++) {
- checksum ^= msgPayload[i];
- }
- return checksum;
-}
-
void IMUFileWriter::DecodeMessage(unsigned char c) {
switch (rcvState) {
case StateReception::Waiting:
@@ -198,7 +183,7 @@ void IMUFileWriter::DecodeMessage(unsigned char c) {
rcvState = StateReception::Waiting;
}
} else
- rcvState = StateReception::CheckSum;
+ rcvState = StateReception::Decode;
break;
case StateReception::Payload:
if (msgDecodedPayloadIndex > msgDecodedPayloadLength)
@@ -210,21 +195,15 @@ void IMUFileWriter::DecodeMessage(unsigned char c) {
msgDecodedPayload[msgDecodedPayloadIndex++] = c;
if (msgDecodedPayloadIndex >= msgDecodedPayloadLength)
{
- rcvState = StateReception::CheckSum;
+ rcvState = StateReception::Decode;
msgDecodedPayloadIndex = 0;
}
break;
- case StateReception::CheckSum:
+ case StateReception::Decode:
{
- unsigned char calculatedChecksum = CalculateChecksum(msgDecodedFunction, msgDecodedPayloadLength, msgDecodedPayload);
- unsigned char receivedChecksum = c;
- if (calculatedChecksum == receivedChecksum) {
- //Lance l'event de fin de decodage
- ProcessDecodedMessage(msgDecodedFunction, msgDecodedPayloadLength, msgDecodedPayload);
- msgDecoded++;
- } else {
- std::cerr << "Checksum error" << std::endl;
- }
+ //Lance l'event de fin de decodage
+ ProcessDecodedMessage(msgDecodedFunction, msgDecodedPayloadLength, msgDecodedPayload);
+ msgDecoded++;
rcvState = StateReception::Waiting;
}
break;
@@ -477,27 +456,13 @@ void IMUFileWriter::ProcessDecodedMessage(int msgFunction, int msgPayloadLength,
void IMUFileWriter::write(uint8_t *sample, size_t size, uint8_t *imu_data) {
uint8_t *imu_data_cur(imu_data);
- uint8_t softwareMajorRev=sample[5];
+ uint8_t softwareMajorRev=sample[0];
uint8_t softwareMinorRev=sample[6];
- std::cerr << "sMR" << static_cast<int>(sample[10]) << std::endl;
+ std::cerr << "sMR" << static_cast<int>(sample[0]) << std::endl;
std::cerr << "Size : " << size << std::endl;
- uint64_t timeStamp100MHzCurrentPacket=0;
- if(true) {
- //On recupere l'instant de fin du paquet courant
- timeStamp100MHzCurrentPacket=BUILD_UINT64(sample[14],
- sample[13],
- sample[12],
- sample[11],
- sample[10],
- sample[9],
- sample[8],
- sample[7]);
- timeStamp100MHzCurrentPacket*=10; //To put the ts in ns
- uint8_t enteteSize=16;
-
- outfile << "PACKET TIMESTAMP: " << static_cast<int>(timeStamp100MHzCurrentPacket) << std::endl;
- for(int i=enteteSize;i<size-enteteSize; i++)
+ if(softwareMajorRev > 2) {
+ for(int i=1; i<size-enteteSize; i++)
{
DecodeMessage(sample[i]);
}
diff --git a/src/filewriter.h b/src/filewriter.h
index 23f85bb..a702af1 100644
--- a/src/filewriter.h
+++ b/src/filewriter.h
@@ -203,7 +203,7 @@ private:
PayloadLengthMSB,
PayloadLengthLSB,
Payload,
- CheckSum
+ Decode
};
StateReception rcvState;
--
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