eive/eive-obsw
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fixed some bugs
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This commit is contained in:
Robin Müller
2023-02-16 17:57:21 +01:00
parent c29d7e6f3e
commit cfad85c6c5
7 changed files with 31 additions and 26 deletions
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12
mission/devices/RwHandler.cpp
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@ -125,8 +125,9 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
uint8_t* currentCmdBuf = commandBuffer + 1;
rwSpeedActuationSet.serialize(&currentCmdBuf, &rawPacketLen, sizeof(commandBuffer),
SerializeIF::Endianness::MACHINE);
commandBuffer[rawPacketLen] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
break;
commandBuffer[rawPacketLen++] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
rawPacket = commandBuffer;
return returnvalue::OK;
}
case (rws::RESET_MCU): {
commandBuffer[0] = false;
@ -236,7 +237,10 @@ void RwHandler::fillCommandAndReplyMap() {
ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
// uint8_t replyByte = *start;
if (getMode() == _MODE_WAIT_OFF) {
return IGNORE_FULL_PACKET;
}
// sif::debug << "base mode: " << baseMode << std::endl;
if (remainingSize > 0) {
*foundLen = remainingSize;
*foundId = rws::REPLY_ID;
@ -293,7 +297,7 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
auto packetLen = rws::idToPacketLen(id);
uint16_t replyCrc = (*(packet + packetLen - 1) << 8) | *(packet + packetLen - 2);
if (CRC::crc16ccitt(packet, packetLen - 2, 0xFFFF) != replyCrc) {
sif::error << "RwHandler::interpretDeviceReply: CRC error for ID " << id << std::endl;
// sif::error << "RwHandler::interpretDeviceReply: CRC error for ID " << id << std::endl;
return CRC_ERROR;
}
if (packetPtr[1] == rws::STATE_ERROR) {