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Fixed major UART Issue, I hate it

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This commit is contained in:
AlexanderHD27
2025-01-03 12:33:51 +01:00
parent cbf702c6d5
commit 1fd8737fe4
22 changed files with 665 additions and 222 deletions
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25
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/protocol_base.cpp Normal file
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#include "protocol.hpp"
#include <stdint.h>
#include "pico/stdlib.h"
#include "crc16.hpp"
void assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes type, size_t len) {
buffer[0] = ((number & 0b1111) << 4) | ((type & 0b11) << 2);
buffer[1] = (len + 4) & 0xff;
}
GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer) {
GobotRPCHeaderInfo info;
info.number = (GobotRPCNumber)((buffer[0] >> 4) & 0b1111);
info.type = (GobotRPCTypes)((buffer[0] >> 2) & 0b11);
info.len = buffer[1];
return info;
}
void assembleCRC(char * buffer, size_t data_len) {
unsigned short crc = crc16(buffer, data_len + GobotRPC_Package_DATA_OFFSET);
buffer[GobotRPC_Package_DATA_OFFSET + data_len + 1] = crc & 0xff;
buffer[GobotRPC_Package_DATA_OFFSET + data_len + 0] = (crc >> 8) & 0xff;
}