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@ -42,6 +42,17 @@
@@ -42,6 +42,17 @@
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#pragma once |
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#define RDS02_HEAD1 0x55 |
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#define RDS02_HEAD2 0x55 |
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#define RDS02_END 0xAA |
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#define RDS02_BUFFER_SIZE 50 |
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#define RDS02_DATA_START_INDEX 8 |
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#define RDS02_DATA_Y_INDEX 13 |
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#define RDS02_DATA_FC_INDEX RDS02_DATA_START_INDEX |
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#define RDS02_TARGET_INFO 0x0C |
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// Data Format for Benewake TFmini
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// ===============================
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// 9 bytes total per message:
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@ -56,17 +67,56 @@
@@ -56,17 +67,56 @@
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// 9) Checksum parity bit (low 8bit), Checksum = Byte1 + Byte2 +...+Byte8. This is only a low 8bit though
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enum class RDS02UF_PARSE_STATE { |
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STATE0_UNSYNC = 0, |
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STATE1_SYNC_1, |
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STATE1_SYNC_2, |
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STATE2_GOT_DIST_L, |
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STATE2_GOT_DIST_H, |
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STATE3_GOT_STRENGTH_L, |
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STATE3_GOT_STRENGTH_H, |
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STATE4_GOT_RESERVED, |
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STATE5_GOT_QUALITY, |
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STATE6_GOT_CHECKSUM |
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enum RDS02UF_PARSE_STATE { |
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STATE1_SYNC_1 = 0, |
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STATE2_SYNC_2, |
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STATE3_ADDRESS, |
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STATE4_ERROR_CODE, |
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STATE5_FC_CODE_L, |
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STATE6_FC_CODE_H, |
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STATE7_LENGTH_L, |
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STATE8_LENGTH_H, |
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STATE9_REAL_DATA, |
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STATE10_CRC, |
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STATE11_END_1, |
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STATE12_END_2 |
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}; |
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int rds02uf_parse(char c, char *parserbuf, unsigned *parserbuf_index, RDS02UF_PARSE_STATE *state, float *dist); |
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uint8_t crc8(char* pbuf, int32_t len); |
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void ParseDataFailed(char* data_in, uint8_t datalengh); |
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const uint8_t crc8_table[256] = { |
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0x93,0x98,0xE4,0x46,0xEB,0xBA,0x04,0x4C, |
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0xFA,0x40,0xB8,0x96,0x0E,0xB2,0xB7,0xC0, |
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0x0C,0x32,0x9B,0x80,0xFF,0x30,0x7F,0x9D, |
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0xB3,0x81,0x58,0xE7,0xF1,0x19,0x7E,0xB6, |
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0xCD,0xF7,0xB4,0xCB,0xBC,0x5C,0xD6,0x09, |
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0x20,0x0A,0xE0,0x37,0x51,0x67,0x24,0x95, |
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0xE1,0x62,0xF8,0x5E,0x38,0x15,0x54,0x77, |
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0x63,0x57,0x6D,0xE9,0x89,0x76,0xBE,0x41, |
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0x5D,0xF9,0xB1,0x4D,0x6C,0x53,0x9C,0xA2, |
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0x23,0xC4,0x8E,0xC8,0x05,0x42,0x61,0x71, |
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0xC5,0x00,0x18,0x6F,0x5F,0xFB,0x7B,0x11, |
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0x65,0x2D,0x8C,0xED,0x14,0xAB,0x88,0xD5, |
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0xD9,0xC2,0x36,0x34,0x7C,0x5B,0x3C,0xF6, |
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0x48,0x0B,0xEE,0x02,0x83,0x79,0x17,0xE6, |
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0xA8,0x78,0xF5,0xD3,0x4E,0x50,0x52,0x91, |
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0xD8,0xC6,0x22,0xEC,0x3B,0xE5,0x3F,0x86, |
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0x06,0xCF,0x2B,0x2F,0x3D,0x59,0x1C,0x87, |
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0xEF,0x4F,0x10,0xD2,0x7D,0xDA,0x72,0xA0, |
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0x9F,0xDE,0x6B,0x75,0x56,0xBD,0xC7,0xC1, |
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0x70,0x1D,0x25,0x92,0xA5,0x31,0xE2,0xD7, |
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0xD0,0x9A,0xAF,0xA9,0xC9,0x97,0x08,0x33, |
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0x5A,0x99,0xC3,0x16,0x84,0x82,0x8A,0xF3, |
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0x4A,0xCE,0xDB,0x29,0x0F,0xAE,0x6E,0xE3, |
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0x8B,0x07,0x3A,0x74,0x47,0xB0,0xBB,0xB5, |
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0x7A,0xAA,0x2C,0xD4,0x03,0x3E,0x1A,0xA7, |
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0x27,0x64,0x06,0xBF,0x55,0x73,0x1E,0xFE, |
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0x49,0x01,0x39,0x28,0xF4,0x26,0xDF,0xDD, |
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0x44,0x0D,0x21,0xF2,0x85,0xB9,0xEA,0x4B, |
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0xDC,0x6A,0xCA,0xAC,0x12,0xFC,0x2E,0x2A, |
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0xA3,0xF0,0x66,0xE8,0x60,0x45,0xA1,0x8D, |
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0x68,0x35,0xFD,0x8F,0x9E,0x1F,0x13,0xD1, |
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0xAD,0x69,0xCC,0xA4,0x94,0x90,0x1B,0x43, |
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}; |
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