SPI library to the new format and moved Robot_Motor and Robot_Control libraries

libraries/Robot_Control/EasyTransfer2.cpp

@@ -0,0 +1,152 @@
+#include "EasyTransfer2.h"
+
+
+
+
+//Captures address and size of struct
+void EasyTransfer2::begin(HardwareSerial *theSerial){
+	_serial = theSerial;
+	
+	//dynamic creation of rx parsing buffer in RAM
+	//rx_buffer = (uint8_t*) malloc(size);
+	
+	resetData();
+}
+
+void EasyTransfer2::writeByte(uint8_t dat){
+	if(position<20)
+		data[position++]=dat;
+		size++;
+}
+void EasyTransfer2::writeInt(int dat){
+	if(position<19){
+		data[position++]=dat>>8;
+		data[position++]=dat;
+		size+=2;
+	}
+}
+uint8_t EasyTransfer2::readByte(){
+	if(position>=size)return 0;
+	return data[position++];
+}
+int EasyTransfer2::readInt(){
+	if(position+1>=size)return 0;
+	int dat_1=data[position++]<<8;
+	int dat_2=data[position++];
+	int dat= dat_1 | dat_2;
+	return dat;
+}
+
+void EasyTransfer2::resetData(){
+	for(int i=0;i<20;i++){
+		data[i]=0;
+	}
+	size=0;
+	position=0;
+}
+
+//Sends out struct in binary, with header, length info and checksum
+void EasyTransfer2::sendData(){
+  uint8_t CS = size;
+  _serial->write(0x06);
+  _serial->write(0x85);
+  _serial->write(size);
+  for(int i = 0; i<size; i++){
+    CS^=*(data+i);
+    _serial->write(*(data+i));
+	//Serial.print(*(data+i));
+	//Serial.print(",");
+  }
+  //Serial.println("");
+  _serial->write(CS);
+  
+  resetData();
+}
+
+boolean EasyTransfer2::receiveData(){
+  
+  //start off by looking for the header bytes. If they were already found in a previous call, skip it.
+  if(rx_len == 0){
+  //this size check may be redundant due to the size check below, but for now I'll leave it the way it is.
+    if(_serial->available() >= 3){
+	//this will block until a 0x06 is found or buffer size becomes less then 3.
+      while(_serial->read() != 0x06) {
+		//This will trash any preamble junk in the serial buffer
+		//but we need to make sure there is enough in the buffer to process while we trash the rest
+		//if the buffer becomes too empty, we will escape and try again on the next call
+		if(_serial->available() < 3)
+			return false;
+		}
+		//Serial.println("head");
+      if (_serial->read() == 0x85){
+        rx_len = _serial->read();
+		//Serial.print("rx_len:");
+		//Serial.println(rx_len);
+		resetData();
+
+		//make sure the binary structs on both Arduinos are the same size.
+        /*if(rx_len != size){
+          rx_len = 0;
+          return false;
+        }*/
+      }
+    }
+	//Serial.println("nothing");
+  }
+  
+  //we get here if we already found the header bytes, the struct size matched what we know, and now we are byte aligned.
+  if(rx_len != 0){
+	
+    while(_serial->available() && rx_array_inx <= rx_len){
+      data[rx_array_inx++] = _serial->read();
+    }
+    
+    if(rx_len == (rx_array_inx-1)){
+      //seem to have got whole message
+      //last uint8_t is CS
+      calc_CS = rx_len;
+	  //Serial.print("len:");
+	  //Serial.println(rx_len);
+      for (int i = 0; i<rx_len; i++){
+        calc_CS^=data[i];
+		//Serial.print("m");
+		//Serial.print(data[i]);
+		//Serial.print(",");
+      } 
+	  //Serial.println();
+      //Serial.print(data[rx_array_inx-1]);
+	  //Serial.print(" ");
+	  //Serial.println(calc_CS);
+	  
+      if(calc_CS == data[rx_array_inx-1]){//CS good
+		//resetData();
+        //memcpy(data,d,rx_len);
+		for(int i=0;i<20;i++){
+			//Serial.print(data[i]);
+			//Serial.print(",");
+		}
+		//Serial.println("");
+		size=rx_len;
+		rx_len = 0;
+		rx_array_inx = 0;
+		return true;
+		}
+		
+	  else{
+  		//Serial.println("CS");
+		resetData();
+	  //failed checksum, need to clear this out anyway
+		rx_len = 0;
+		rx_array_inx = 0;
+		return false;
+	  }
+        
+    }
+  }
+  //Serial.print(rx_len);
+  //Serial.print(" ");
+  //Serial.print(rx_array_inx);
+  //Serial.print(" ");
+  //Serial.println("Short");
+  return false;
+}