fourwayif.cpp

#include "fourwayif.h"

#include <QMessageBox>






FourWayIF::FourWayIF()
{

testVar = 12345;
ack_req = 1;
ack_required = true;
ack_received = false;
passthrough_started = false;
ack_type = 1;
ESC_connected = false;
}



QByteArray FourWayIF::makeFourWayWriteCommand(const QByteArray sendbuffer, int buffer_size, uint16_t address ){
    if (buffer_size == 256){
        buffer_size = 0;
    }
         QByteArray fourWayWriteMsgOut;
     fourWayWriteMsgOut.append((char) 0x2f);
     fourWayWriteMsgOut.append((char) 0x3b);
     fourWayWriteMsgOut.append((char) (address >> 8) & 0xff);     // address high byte
     fourWayWriteMsgOut.append((char) address & 0xff);             // address low byte

     fourWayWriteMsgOut.append((char) buffer_size);      // message length
     fourWayWriteMsgOut.append(sendbuffer);
     uint16_t writeCrc  = makeCRC(fourWayWriteMsgOut);

     uint8_t fourWayCrcHighByte = (writeCrc >> 8) & 0xff;;
     uint8_t fourWayCrcLowByte = writeCrc & 0xff;

     fourWayWriteMsgOut.append((char) fourWayCrcHighByte);
     fourWayWriteMsgOut.append((char) fourWayCrcLowByte);

     return(fourWayWriteMsgOut);

}


bool FourWayIF::checkCRC(const QByteArray data, uint16_t buffer_length){
    uint16_t crc  =0;
    if (buffer_length >2){
    for(int i = 0; i < buffer_length - 2; i++) {


    crc = crc ^ (data[i] << 8);
    for (int i = 0; i < 8; ++i) {
        if (crc & 0x8000){
            crc = (crc << 1) ^ 0x1021;
        }
        else{
            crc = crc << 1;
        }
    }
    crc = crc & 0xffff;
}

    char fourWayCrcHighByte = (crc >> 8) & 0xff;;
    char fourWayCrcLowByte = crc & 0xff;

    qInfo("high low: %d , %d",fourWayCrcHighByte ,fourWayCrcLowByte);
    qInfo("high low: %d , %d",data[buffer_length-2] ,data[buffer_length-1]);


    if((fourWayCrcHighByte == data[buffer_length-2]) &&(fourWayCrcLowByte == data[buffer_length-1])) {
        return(true);
    }else{
        return(false);
    }
}else{
        return(false);
    }

}



QByteArray FourWayIF::makeFourWayReadCommand(int buffer_size, uint16_t address ){
    if (buffer_size == 256){
        buffer_size = 0;
    }



         QByteArray fourWayReadMsgOut;
     fourWayReadMsgOut.append((char) 0x2f);
     fourWayReadMsgOut.append((char) 0x3a);
     fourWayReadMsgOut.append((char) (address >> 8) & 0xff);     // address high byte
     fourWayReadMsgOut.append((char) address & 0xff);             // address low byte
     fourWayReadMsgOut.append((char) 0x01);
     fourWayReadMsgOut.append((char) buffer_size);      // message length
     uint16_t readCrc  = makeCRC(fourWayReadMsgOut);

     uint8_t fourWayCrcHighByte = (readCrc >> 8) & 0xff;
     uint8_t fourWayCrcLowByte = readCrc & 0xff;

     fourWayReadMsgOut.append((char) fourWayCrcHighByte);
     fourWayReadMsgOut.append((char) fourWayCrcLowByte);

     return(fourWayReadMsgOut);

}

QByteArray FourWayIF::makeFourWayReadEEPROMCommand(int buffer_size, uint16_t address ){
    if (buffer_size == 256){
        buffer_size = 0;
    }
         QByteArray fourWayReadMsgOut;
     fourWayReadMsgOut.append((char) 0x2f);
     fourWayReadMsgOut.append((char) 0x3d);
     fourWayReadMsgOut.append((char) (address >> 8) & 0xff);     // address high byte
     fourWayReadMsgOut.append((char) address & 0xff);             // address low byte
     fourWayReadMsgOut.append((char) 0x01);
     fourWayReadMsgOut.append((char) buffer_size);      // message length
     uint16_t readCrc  = makeCRC(fourWayReadMsgOut);

     uint8_t fourWayCrcHighByte = (readCrc >> 8) & 0xff;;
     uint8_t fourWayCrcLowByte = readCrc & 0xff;

     fourWayReadMsgOut.append((char) fourWayCrcHighByte);
     fourWayReadMsgOut.append((char) fourWayCrcLowByte);

     return(fourWayReadMsgOut);

}



uint16_t FourWayIF::makeCRC(const QByteArray data){
    uint16_t crc  =0;
    for(int i = 0; i < data.length(); i++) {


        crc = crc ^ (data[i] << 8);
        for (int i = 0; i < 8; ++i) {
            if (crc & 0x8000){
                crc = (crc << 1) ^ 0x1021;
            }
            else{
                crc = crc << 1;
            }
        }
        crc = crc & 0xffff;
    }
    return crc;
}


QByteArray FourWayIF::makeFourWayCommand(uint8_t cmd, uint8_t device_num){
    QByteArray fourWayMsgOut;
    fourWayMsgOut.append((char) 0x2f);      // escape character PC
    fourWayMsgOut.append((char) cmd);       // 4 way command
    fourWayMsgOut.append((char) 0x00);         // address 0 for single command
    fourWayMsgOut.append((char) 0x00);         //  adress
    fourWayMsgOut.append((char) 0x01);           // payload size
    fourWayMsgOut.append((char) device_num);      // payload  ESC device number

    uint16_t msgCRC = makeCRC(fourWayMsgOut);

    char fourWayCrcHighByte = (msgCRC >> 8) & 0xff;;
    char fourWayCrcLowByte = msgCRC & 0xff;

    fourWayMsgOut.append((char) fourWayCrcHighByte);
    fourWayMsgOut.append((char) fourWayCrcLowByte);

    return(fourWayMsgOut);
}

bool FourWayIF::ACK_required(){
  return(ack_required);
}

void FourWayIF::set_Ack_req(char ackreq){
    ack_req = ackreq;
}

bool FourWayIF::ACK_received(){

}