Datasheet

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/**************************************************************************/

/*!

@brief Waits for incoming data and parses it

/**************************************************************************/

uint8_t readPacket(BLEUart *ble_uart, uint16_t timeout)

{

uint16_t origtimeout = timeout, replyidx = 0;

memset(packetbuffer, 0, READ_BUFSIZE);

while (timeout--) {

if (replyidx >= 20) break;

if ((packetbuffer[1] == 'A') && (replyidx == PACKET_ACC_LEN))

break;

if ((packetbuffer[1] == 'G') && (replyidx == PACKET_GYRO_LEN))

break;

if ((packetbuffer[1] == 'M') && (replyidx == PACKET_MAG_LEN))

break;

if ((packetbuffer[1] == 'Q') && (replyidx == PACKET_QUAT_LEN))

break;

if ((packetbuffer[1] == 'B') && (replyidx == PACKET_BUTTON_LEN))

break;

if ((packetbuffer[1] == 'C') && (replyidx == PACKET_COLOR_LEN))

break;

if ((packetbuffer[1] == 'L') && (replyidx == PACKET_LOCATION_LEN))

break;

while (ble_uart->available()) {

char c = ble_uart->read();

if (c == '!') {

replyidx = 0;

}

packetbuffer[replyidx] = c;

replyidx++;

timeout = origtimeout;

}

if (timeout == 0) break;

delay(1);

}

packetbuffer[replyidx] = 0; // null term

if (!replyidx) // no data or timeout

return 0;

if (packetbuffer[0] != '!') // doesn't start with '!' packet beginning

return 0;

// check checksum!

uint8_t xsum = 0;

uint8_t checksum = packetbuffer[replyidx-1];

for (uint8_t i=0; i<replyidx-1; i++) {

xsum += packetbuffer[i];

}

xsum = ~xsum;

// Throw an error message if the checksum's don't match

if (xsum != checksum)