import processing.serial.*;

Serial serialport;

void setup() {
  printArray(Serial.list());
  serialport = new Serial(this, Serial.list()[2], 9600);
  println("start");
}

void draw() {
  byte[] inBuffer = new byte[9];
  while(serialport.available()>0) {
    inBuffer = serialport.readBytes();
    serialport.readBytes(inBuffer);
    if (inBuffer!= null) {
      int counter= inBuffer[0];
      int value1= extract_uint16_t(inBuffer,1);
      int value2= extract_int16_t(inBuffer,3);
      float floatvalue = extract_float(inBuffer,5);
      println("counter="+counter);
      println("value1="+value1);
      println("value2="+value2);
      println("floatvalue="+floatvalue);
    }
    
  }
}

public int extract_uint16_t(byte array[], int startbyte) {
  return ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0xff)<<8;
}

public int extract_int16_t(byte array[], int startbyte) {
  if ( ((int)array[startbyte+1] & 0x80) == 0x00 ) { //2's complement, not negative
    return ( ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0x7f)<<8 );
  }else{ //value is negative
    return -32768 + ( ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0x7f)<<8 );
  }
}

public float extract_float(byte array[], int startbyte) {
    int MASK = 0xff;
    int bits = 0;
    int i = startbyte+3; //+3 because goes backwards and has 4 bytes
    for (int shifter = 3; shifter >= 0; shifter--) {
    bits |= ((int) array[i] & MASK) << (shifter * 8);
    i--;
    }
    return Float.intBitsToFloat(bits);
}