Method ProcessReceivedData

src/Accelerometers/Accelerometers.cpp:567–664

Process accelerometer data received over CAN

// Process accelerometer data received over CAN
void Accelerometers::ProcessReceivedData(CanAddress src, const CanMessageAccelerometerData& msg, size_t msgLen) noexcept
{
# ifdef DUET3_ATE
	if (Duet3Ate::ProcessAccelerometerData(src, msg, msgLen))
	{
		return;								// ATE has processed the data
	}
# endif

	FileStore * const f = accelerometerFile;
	if (f != nullptr)
	{
		if (msgLen < msg.GetActualDataLength())
		{
			f->Write("Received bad data\n");
			f->Truncate();				// truncate the file in case we didn't write all the preallocated space
			f->Close();
			accelerometerFile = nullptr;
			reprap.GetExpansion().AddAccelerometerRun(src, 0);
		}
		else if (msg.axes != expectedRemoteAxes || msg.firstSampleNumber != expectedRemoteSampleNumber || src != expectedRemoteBoardAddress)
		{
			f->Write("Received mismatched data\n");
			f->Truncate();				// truncate the file in case we didn't write all the preallocated space
			f->Close();
			accelerometerFile = nullptr;
			reprap.GetExpansion().AddAccelerometerRun(src, 0);
		}
		else
		{
			unsigned int numSamples = msg.numSamples;
			const unsigned int numAxes = (expectedRemoteAxes & 1u) + ((expectedRemoteAxes >> 1) & 1u) + ((expectedRemoteAxes >> 2) & 1u);
			size_t dataIndex = 0;
			uint16_t currentBits = 0;
			unsigned int bitsLeft = 0;
			const unsigned int receivedResolution = msg.bitsPerSampleMinusOne + 1;
			const uint16_t mask = (1u << receivedResolution) - 1;
			const int decimalPlaces = GetDecimalPlaces(receivedResolution);
			if (msg.overflowed)
			{
				++numRemoteOverflows;
			}

			while (numSamples != 0)
			{
				String<StringLength50> temp;
				temp.printf("%u", expectedRemoteSampleNumber);
				++expectedRemoteSampleNumber;

				for (unsigned int axis = 0; axis < numAxes; ++axis)
				{
					// Extract one value from the message. A value spans at most two words in the buffer.
					uint16_t val = currentBits;
					if (bitsLeft >= receivedResolution)
					{
						bitsLeft -= receivedResolution;
						currentBits >>= receivedResolution;
					}