public void AddChar(byte newChar)
{
switch (uART_MsgComposer_State)
{
case UART_MsgComposer_State_t.WAITING_FOR_BC:
if (newChar == 0xBC)
{
actualFrame = new FrameFormat();
actualFrame.Header = 0xBC;
uART_MsgComposer_State = UART_MsgComposer_State_t.WAITING_FOR_MSG_COMPLETE;
}
break;
case UART_MsgComposer_State_t.WAITING_FOR_MSG_COMPLETE:
composeFrame(newChar);
break;
}
}
private void composeFrame(byte newChar)
{
switch (messageIndexes_T)
{
case MessageIndexes_t.FRAMEVERSION:
actualCRC = (byte)(actualCRC ^ newChar);
if (newChar == 0x01)
{
actualFrame.FrameVersion = 0x01;
messageIndexes_T++;
}
else
{
/* caso di errore resetto la macchina a stati */
uART_MsgComposer_State = UART_MsgComposer_State_t.WAITING_FOR_BC;
messageIndexes_T = MessageIndexes_t.FRAMEVERSION;
}
break;
case MessageIndexes_t.MESSAGETYPE:
actualCRC = (byte)(actualCRC ^ newChar);
actualFrame.MessageType = newChar;
messageIndexes_T++;
break;
/*
* 00000000 01111010
* 11111100 00000100
* 11111100 01111110
* */
case MessageIndexes_t.COMMAND_MSB_NIBBLE:
actualCRC = (byte)(actualCRC ^ newChar);
actualFrame.Command = 0;
actualFrame.Command = (UInt16)(actualFrame.Command | newChar << 8);
messageIndexes_T++;
break;
case MessageIndexes_t.COMMAND_LSB_NIBBLE:
actualCRC = (byte)(actualCRC ^ newChar);
actualFrame.Command = (UInt16)(actualFrame.Command | newChar);
messageIndexes_T++;
break;
case MessageIndexes_t.DATALENGTH:
actualCRC = (byte)(actualCRC ^ newChar);
actualFrame.DataLength = newChar;
subBufferIndex = 0;
if (actualFrame.DataLength == 0)
{
messageIndexes_T = MessageIndexes_t.CRC;
}
else
{
messageIndexes_T++;
}
break;
case MessageIndexes_t.OPTIONALDATA:
actualCRC = (byte)(actualCRC ^ newChar);
actualFrame.OptionalData[subBufferIndex++] = newChar;
if (subBufferIndex == actualFrame.DataLength)
{
messageIndexes_T++;
}
break;
case MessageIndexes_t.CRC:
/*
* 101110 ^
* 001010 =
* 100100
*/
actualCRC = (byte)~actualCRC;
actualFrame.IsCRC_ok = ((actualCRC ^ newChar) == 0);
if (OnFrameReceived != null)
{
OnFrameReceived(this, actualFrame);
}
/* Resetto le macchina a stati perchè ho finito */
uART_MsgComposer_State = UART_MsgComposer_State_t.WAITING_FOR_BC;
messageIndexes_T = MessageIndexes_t.FRAMEVERSION;
break;
}
}
