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  1. #define _CRT_SECURE_NO_WARNINGS
  2.  
  3. #include <cstdio>
  4. #include <cstdint>
  5.  
  6. using namespace std;
  7.  
  8. enum State { idle, sync, determ, origin_data, signal };
  9.  
  10. const uint16_t crc16tab[256] = {
  11.     0x0000,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7,
  12.     0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef,
  13.     0x1231,0x0210,0x3273,0x2252,0x52b5,0x4294,0x72f7,0x62d6,
  14.     0x9339,0x8318,0xb37b,0xa35a,0xd3bd,0xc39c,0xf3ff,0xe3de,
  15.     0x2462,0x3443,0x0420,0x1401,0x64e6,0x74c7,0x44a4,0x5485,
  16.     0xa56a,0xb54b,0x8528,0x9509,0xe5ee,0xf5cf,0xc5ac,0xd58d,
  17.     0x3653,0x2672,0x1611,0x0630,0x76d7,0x66f6,0x5695,0x46b4,
  18.     0xb75b,0xa77a,0x9719,0x8738,0xf7df,0xe7fe,0xd79d,0xc7bc,
  19.     0x48c4,0x58e5,0x6886,0x78a7,0x0840,0x1861,0x2802,0x3823,
  20.     0xc9cc,0xd9ed,0xe98e,0xf9af,0x8948,0x9969,0xa90a,0xb92b,
  21.     0x5af5,0x4ad4,0x7ab7,0x6a96,0x1a71,0x0a50,0x3a33,0x2a12,
  22.     0xdbfd,0xcbdc,0xfbbf,0xeb9e,0x9b79,0x8b58,0xbb3b,0xab1a,
  23.     0x6ca6,0x7c87,0x4ce4,0x5cc5,0x2c22,0x3c03,0x0c60,0x1c41,
  24.     0xedae,0xfd8f,0xcdec,0xddcd,0xad2a,0xbd0b,0x8d68,0x9d49,
  25.     0x7e97,0x6eb6,0x5ed5,0x4ef4,0x3e13,0x2e32,0x1e51,0x0e70,
  26.     0xff9f,0xefbe,0xdfdd,0xcffc,0xbf1b,0xaf3a,0x9f59,0x8f78,
  27.     0x9188,0x81a9,0xb1ca,0xa1eb,0xd10c,0xc12d,0xf14e,0xe16f,
  28.     0x1080,0x00a1,0x30c2,0x20e3,0x5004,0x4025,0x7046,0x6067,
  29.     0x83b9,0x9398,0xa3fb,0xb3da,0xc33d,0xd31c,0xe37f,0xf35e,
  30.     0x02b1,0x1290,0x22f3,0x32d2,0x4235,0x5214,0x6277,0x7256,
  31.     0xb5ea,0xa5cb,0x95a8,0x8589,0xf56e,0xe54f,0xd52c,0xc50d,
  32.     0x34e2,0x24c3,0x14a0,0x0481,0x7466,0x6447,0x5424,0x4405,
  33.     0xa7db,0xb7fa,0x8799,0x97b8,0xe75f,0xf77e,0xc71d,0xd73c,
  34.     0x26d3,0x36f2,0x0691,0x16b0,0x6657,0x7676,0x4615,0x5634,
  35.     0xd94c,0xc96d,0xf90e,0xe92f,0x99c8,0x89e9,0xb98a,0xa9ab,
  36.     0x5844,0x4865,0x7806,0x6827,0x18c0,0x08e1,0x3882,0x28a3,
  37.     0xcb7d,0xdb5c,0xeb3f,0xfb1e,0x8bf9,0x9bd8,0xabbb,0xbb9a,
  38.     0x4a75,0x5a54,0x6a37,0x7a16,0x0af1,0x1ad0,0x2ab3,0x3a92,
  39.     0xfd2e,0xed0f,0xdd6c,0xcd4d,0xbdaa,0xad8b,0x9de8,0x8dc9,
  40.     0x7c26,0x6c07,0x5c64,0x4c45,0x3ca2,0x2c83,0x1ce0,0x0cc1,
  41.     0xef1f,0xff3e,0xcf5d,0xdf7c,0xaf9b,0xbfba,0x8fd9,0x9ff8,
  42.     0x6e17,0x7e36,0x4e55,0x5e74,0x2e93,0x3eb2,0x0ed1,0x1ef0
  43. };
  44.  
  45. uint16_t crc16(const uint8_t *buf, int len) {
  46.     register int counter;
  47.     register uint16_t crc = 0;
  48.  
  49.     for (counter = 0; counter < len; counter++) {
  50.         crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ *(uint8_t *)buf++) & 0x00FF];
  51.     }
  52.  
  53.     return crc;
  54. }
  55.  
  56. void printData(uint8_t* data, uint8_t len, FILE* out) {
  57.     //Ax
  58.     if (len >= 4) {
  59.         fprintf(out, "%d ", *(int32_t*)(data));
  60.     }
  61.     //Ay
  62.     if (len >= 8) {
  63.         fprintf(out, "%d ", *(int32_t*)(data + 4));
  64.     }
  65.     //Az
  66.     if (len >= 12) {
  67.         fprintf(out, "%d ", *(int32_t*)(data + 8));
  68.     }
  69.     //Wx
  70.     if (len >= 16) {
  71.         fprintf(out, "%d ", *(int32_t*)(data + 12));
  72.     }
  73.     //Wy
  74.     if (len >= 20) {
  75.         fprintf(out, "%d ", *(int32_t*)(data + 16));
  76.     }
  77.     //Wz
  78.     if (len >= 24) {
  79.         fprintf(out, "%d ", *(int32_t*)(data + 20));
  80.     }
  81.     //Tax
  82.     if (len >= 26) {
  83.         fprintf(out, "%d ", *(int16_t*)(data + 24));
  84.     }
  85.     //Tay
  86.     if (len >= 28) {
  87.         fprintf(out, "%d ", *(int16_t*)(data + 26));
  88.     }
  89.     //Taz
  90.     if (len >= 30) {
  91.         fprintf(out, "%d ", *(int16_t*)(data + 28));
  92.     }
  93.     //Twx
  94.     if (len >= 32) {
  95.         fprintf(out, "%d ", *(int16_t*)(data + 30));
  96.     }
  97.     //Twy
  98.     if (len >= 34) {
  99.         fprintf(out, "%d ", *(int16_t*)(data + 32));
  100.     }
  101.     //Twz
  102.     if (len >= 36) {
  103.         fprintf(out, "%d ", *(int16_t*)(data + 34));
  104.     }
  105.     //S
  106.     if (len >= 38) {
  107.         fprintf(out, "%d ", *(int16_t*)(data + 36));
  108.     }
  109.     //Timestamp
  110.     if (len >= 40) {
  111.         fprintf(out, "%d ", *(int16_t*)(data + 38));
  112.     }
  113.     //Status
  114.     if (len >= 41) {
  115.         fprintf(out, "%d ", *(uint8_t*)(data + 40));
  116.     }
  117.     //Number
  118.     if (len == 42) {
  119.         fprintf(out, "%d ", *(uint8_t*)(data + 41));
  120.     }
  121.  
  122.     fprintf(out, "\n");
  123. }
  124.  
  125. State state = idle;
  126. int received = 0, broken = 0;
  127.  
  128. int main() {
  129.     char s [20];
  130.     printf("Input the name of a file\n");
  131.     scanf("%s", s);
  132.     FILE* in = fopen(s, "rb");
  133.     FILE* dataOut = fopen("data.txt", "w");
  134.     FILE* signals = fopen("signals.txt", "w");
  135.  
  136.     FILE* DBG_headers = fopen("headers.txt", "w");
  137.  
  138.     uint8_t byteBuff[2];
  139.     uint8_t buff[44];
  140.  
  141.     fprintf(dataOut, "Ax Ay Az Wx Wy Wz Tax Tay Taz Twx Twy Twz S Timestamp Status Number\n");
  142.  
  143.     while (!feof(in)) {
  144.         switch (state) {
  145.         case idle:
  146.             fread(&byteBuff, sizeof(uint8_t), 1, in);
  147.  
  148.             if (byteBuff[0] == 0xAA)
  149.                 state = sync;
  150.             break;
  151.         case sync:
  152.             fread(&byteBuff, sizeof(uint8_t), 1, in);
  153.  
  154.             if (byteBuff[0] == 0xAA) {
  155.                 state = determ;
  156.             }
  157.             else {
  158.                 state = idle;
  159.             }
  160.             break;
  161.         case determ:
  162.             fread(&byteBuff, sizeof(uint16_t), 1, in);
  163.  
  164.             switch (byteBuff[1]) {
  165.             case 0x87:
  166.                 state = origin_data;
  167.                 break;
  168.             case 0x98:
  169.                 if (byteBuff[0] == 2) {
  170.                     state = signal;
  171.                 }
  172.                 else {
  173.                     state = idle;
  174.                     ++broken;
  175.                 }
  176.                 break;
  177.             default:
  178.                 state = idle;
  179.                 break;
  180.             }
  181.             break;
  182.         case origin_data:
  183.             fseek(in, -2, SEEK_CUR);
  184.             fread(buff, sizeof(uint8_t), byteBuff[0] - 1, in);
  185.  
  186.             fread(byteBuff, sizeof(uint16_t), 1, in);
  187.  
  188.             if (buff[0] <= 45 && *(uint16_t*)byteBuff == crc16(buff + 1, buff[0] - 2)) {
  189.                 printData(buff + 2, buff[0], dataOut);
  190.                 ++received;
  191.                 //DBG
  192.                 fprintf(DBG_headers, "%d %d\n", buff[0], buff[1]);
  193.             }
  194.             else {
  195.                 ++broken;
  196.             }
  197.  
  198.             state = idle;
  199.             break;
  200.         case signal:
  201.             fread(&byteBuff, sizeof(uint8_t), 1, in);
  202.             fwrite(byteBuff, sizeof(uint8_t), 1, signals);
  203.  
  204.             state = idle;
  205.             break;
  206.         }
  207.     }
  208.  
  209.     fclose(in);
  210.     fclose(dataOut);
  211.     fclose(signals);
  212.     fclose(DBG_headers);
  213.  
  214.     printf("Broken: %d / whole: %d / All: %d\n", broken, received, broken + received);
  215.     //getc(stdin);
  216. }
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