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parse_packet refactoring

This commit is contained in:
myles-parfeniuk 2024-11-15 18:06:22 -08:00
parent 93d8c837d2
commit 58639579ed
2 changed files with 176 additions and 161 deletions
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2
.clang-format
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@ -33,3 +33,5 @@ BreakBeforeBraces: Allman
IndentAccessModifiers: true IndentAccessModifiers: true
IndentPPDirectives: AfterHash IndentPPDirectives: AfterHash
IndentCaseLabels: true

53
source/BNO08x.cpp
View File

@ -1243,25 +1243,31 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet)
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGW(TAG, "SHTP Header RX'd: 0x%X 0x%X 0x%X 0x%X", packet->header[0], packet->header[1], packet->header[2], packet->header[3]); ESP_LOGW(TAG, "SHTP Header RX'd: 0x%X 0x%X 0x%X 0x%X", packet->header[0], packet->header[1], packet->header[2], packet->header[3]);
#endif #endif
// clang-format on // clang-format on
switch (packet->body[0])
if (packet->body[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) // check to see that product ID matches what it should
{ {
case SHTP_REPORT_PRODUCT_ID_RESPONSE:
return parse_product_id_report(packet); return parse_product_id_report(packet);
} break;
/*if(packet->body[0] == SHTP_REPORT_GET_FEATURE_RESPONSE) case SHTP_REPORT_GET_FEATURE_RESPONSE:
{
}*/ break;
if (packet->body[0] == SHTP_REPORT_FRS_READ_RESPONSE) case SHTP_REPORT_FRS_READ_RESPONSE:
{
return parse_frs_read_response_report(packet); return parse_frs_read_response_report(packet);
break;
default:
break;
} }
// Check to see if this packet is a sensor reporting its data to us switch (packet->header[2])
if (packet->header[2] == CHANNEL_REPORTS && packet->body[0] == SHTP_REPORT_BASE_TIMESTAMP) {
case CHANNEL_REPORTS:
if (packet->body[0] == SHTP_REPORT_BASE_TIMESTAMP)
{ {
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
@ -1269,31 +1275,38 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet)
#endif #endif
// clang-format on // clang-format on
return parse_input_report(packet); // This will update the rawAccelX, etc variables depending on which feature // this will update the rawAccelX, etc variables depending on which feature report is found
// report is found return parse_input_report(packet);
} }
break;
if (packet->header[2] == CHANNEL_CONTROL) case CHANNEL_CONTROL:
{
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGI(TAG, "RX'd packet, channel control"); ESP_LOGI(TAG, "RX'd packet, channel control");
#endif #endif
// clang-format on // clang-format on
return parse_command_report(packet); // This will update responses to commands, calibrationStatus, etc. // this will update responses to commands, calibrationStatus, etc.
} return parse_command_report(packet);
if (packet->header[2] == CHANNEL_GYRO) break;
{
case CHANNEL_GYRO:
// clang-format off // clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGI(TAG, "Rx packet, channel gyro"); ESP_LOGI(TAG, "Rx packet, channel gyro");
#endif #endif
// clang-format on // clang-format on
return parse_input_report(packet); // This will update the rawAccelX, etc variables depending on which feature // this will update the rawAccelX, etc variables depending on which feature report is found
// report is found return parse_input_report(packet);
break;
default:
break;
} }
return 0; return 0;