thoneflow_parser.h
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <uORB/topics/optical_flow.h>
// Data Format for ThoneFlow 3901U
// ===============================
// 9 bytes total per message:
// 1) Header (0xFE)
// 2) Number of data bytes (0x04)
// 3) X motion low byte
// 4) X motion high byte
// 5) Y motion low byte
// 6) Y motion high byte
// 7) Checksum (byte3+...+byte6)
// 8) Quality
// 9) Footer (0xAA)
enum THONEFLOW_PARSE_STATE {
THONEFLOW_PARSE_STATE0_UNSYNC = 0,
THONEFLOW_PARSE_STATE1_HEADER,
THONEFLOW_PARSE_STATE2_NBYTES,
THONEFLOW_PARSE_STATE3_XM_L,
THONEFLOW_PARSE_STATE4_XM_H,
THONEFLOW_PARSE_STATE5_YM_L,
THONEFLOW_PARSE_STATE6_YM_H,
THONEFLOW_PARSE_STATE7_CHECKSUM,
THONEFLOW_PARSE_STATE8_QUALITY,
THONEFLOW_PARSE_STATE9_FOOTER
};
bool thoneflow_parse(char c, char *parserbuf, unsigned *parserbuf_index, enum THONEFLOW_PARSE_STATE *state,
optical_flow_s *report);