mirror of https://github.com/ArduPilot/ardupilot
RC_Protocol: add detection of sumd protocol over sigread
This commit is contained in:
Siddharth Purohit
Andrew Tridgell
parent
bff985a9f4
commit
f99bd32b51
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@ -20,6 +20,8 @@
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#include "AP_RCProtocol_DSM.h"
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#include "AP_RCProtocol_DSM.h"
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#include "AP_RCProtocol_SBUS.h"
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#include "AP_RCProtocol_SBUS.h"
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#include "AP_RCProtocol_SBUS_NI.h"
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#include "AP_RCProtocol_SBUS_NI.h"
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#include "AP_RCProtocol_SUMD.h"
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#include "AP_RCProtocol_SUMD_NI.h"
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void AP_RCProtocol::init()
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void AP_RCProtocol::init()
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{
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{
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@ -27,6 +29,7 @@ void AP_RCProtocol::init()
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backend[AP_RCProtocol::SBUS] = new AP_RCProtocol_SBUS(*this);
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backend[AP_RCProtocol::SBUS] = new AP_RCProtocol_SBUS(*this);
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backend[AP_RCProtocol::SBUS_NI] = new AP_RCProtocol_SBUS_NI(*this);
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backend[AP_RCProtocol::SBUS_NI] = new AP_RCProtocol_SBUS_NI(*this);
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backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this);
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backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this);
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backend[AP_RCProtocol::SUMD] = new AP_RCProtocol_SUMD(*this);
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}
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}
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void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
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void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
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@ -55,6 +58,32 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
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}
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}
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}
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}
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void AP_RCProtocol::process_byte(uint8_t byte)
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{
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uint32_t now = AP_HAL::millis();
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// first try current protocol
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if (_detected_protocol != AP_RCProtocol::NONE && now - _last_input_ms < 200) {
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backend[_detected_protocol]->process_byte(byte);
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if (backend[_detected_protocol]->new_input()) {
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_new_input = true;
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_last_input_ms = AP_HAL::millis();
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}
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return;
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}
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// otherwise scan all protocols
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for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
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if (backend[i] != nullptr) {
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backend[i]->process_byte(byte);
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if (backend[i]->new_input()) {
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_new_input = true;
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_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
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_last_input_ms = AP_HAL::millis();
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}
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}
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}
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}
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bool AP_RCProtocol::new_input()
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bool AP_RCProtocol::new_input()
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{
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{
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bool ret = _new_input;
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bool ret = _new_input;
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@ -18,7 +18,7 @@
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Common/AP_Common.h>
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#define MAX_RCIN_CHANNELS 16
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#define MAX_RCIN_CHANNELS 32
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#define MIN_RCIN_CHANNELS 5
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#define MIN_RCIN_CHANNELS 5
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class AP_RCProtocol_Backend;
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class AP_RCProtocol_Backend;
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@ -29,10 +29,13 @@ public:
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SBUS,
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SBUS,
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SBUS_NI,
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SBUS_NI,
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DSM,
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DSM,
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SUMD,
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NONE //last enum always is None
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NONE //last enum always is None
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};
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};
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void init();
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void init();
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bool valid_serial_prot() { return _valid_serial_prot; }
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void process_pulse(uint32_t width_s0, uint32_t width_s1);
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void process_pulse(uint32_t width_s0, uint32_t width_s1);
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void process_byte(uint8_t byte);
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enum rcprotocol_t protocol_detected() { return _detected_protocol; }
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enum rcprotocol_t protocol_detected() { return _detected_protocol; }
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uint8_t num_channels();
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uint8_t num_channels();
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uint16_t read(uint8_t chan);
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uint16_t read(uint8_t chan);
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@ -44,6 +47,7 @@ private:
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AP_RCProtocol_Backend *backend[NONE];
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AP_RCProtocol_Backend *backend[NONE];
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bool _new_input = false;
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bool _new_input = false;
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uint32_t _last_input_ms;
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uint32_t _last_input_ms;
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bool _valid_serial_prot = false;
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};
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};
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#include "AP_RCProtocol_Backend.h"
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#include "AP_RCProtocol_Backend.h"
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@ -25,7 +25,8 @@ class AP_RCProtocol_Backend
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public:
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public:
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AP_RCProtocol_Backend(AP_RCProtocol &_frontend);
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AP_RCProtocol_Backend(AP_RCProtocol &_frontend);
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virtual void process_pulse(uint32_t width_s0, uint32_t width_s1) = 0;
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virtual void process_pulse(uint32_t width_s0, uint32_t width_s1) {}
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virtual void process_byte(uint8_t byte) {}
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uint16_t read(uint8_t chan);
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uint16_t read(uint8_t chan);
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bool new_input();
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bool new_input();
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uint8_t num_channels();
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uint8_t num_channels();
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@ -35,7 +36,10 @@ public:
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// allow for backends that need regular polling
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// allow for backends that need regular polling
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virtual void update(void) {}
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virtual void update(void) {}
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enum {
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PARSE_TYPE_SIGREAD,
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PARSE_TYPE_SERIAL
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};
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protected:
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protected:
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void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe);
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void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe);
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@ -0,0 +1,384 @@
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/*
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SUMD decoder, based on PX4Firmware/src/rc/lib/rc/sumd.c from PX4Firmware
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modified for use in AP_HAL_* by Andrew Tridgell
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*/
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file sumd.h
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*
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* RC protocol definition for Graupner HoTT transmitter (SUMD/SUMH Protocol)
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*
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* @author Marco Bauer <marco@wtns.de>
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*/
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#include "AP_RCProtocol_SUMD.h"
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#define SUMD_HEADER_LENGTH 3
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#define SUMD_HEADER_ID 0xA8
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#define SUMD_ID_SUMH 0x00
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#define SUMD_ID_SUMD 0x01
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#define SUMD_ID_FAILSAFE 0x81
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/* define range mapping here, -+100% -> 1000..2000 */
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#define SUMD_RANGE_MIN 0.0f
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#define SUMD_RANGE_MAX 4096.0f
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#define SUMD_TARGET_MIN 1000.0f
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#define SUMD_TARGET_MAX 2000.0f
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/* pre-calculate the floating point stuff as far as possible at compile time */
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#define SUMD_SCALE_FACTOR ((SUMD_TARGET_MAX - SUMD_TARGET_MIN) / (SUMD_RANGE_MAX - SUMD_RANGE_MIN))
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#define SUMD_SCALE_OFFSET (int)(SUMD_TARGET_MIN - (SUMD_SCALE_FACTOR * SUMD_RANGE_MIN + 0.5f))
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// #define SUMD_DEBUG
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extern const AP_HAL::HAL& hal;
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uint16_t AP_RCProtocol_SUMD::sumd_crc16(uint16_t crc, uint8_t value)
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{
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int i;
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crc ^= (uint16_t)value << 8;
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for (i = 0; i < 8; i++) {
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crc = (crc & 0x8000) ? (crc << 1) ^ 0x1021 : (crc << 1);
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}
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return crc;
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}
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uint8_t AP_RCProtocol_SUMD::sumd_crc8(uint8_t crc, uint8_t value)
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{
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crc += value;
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return crc;
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}
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void AP_RCProtocol_SUMD::process_pulse(uint32_t width_s0, uint32_t width_s1)
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{
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// convert to bit widths, allowing for up to about 4usec error, assuming 115200 bps
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uint16_t bits_s0 = ((width_s0+4)*(uint32_t)115200) / 1000000;
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uint16_t bits_s1 = ((width_s1+4)*(uint32_t)115200) / 1000000;
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uint8_t bit_ofs, byte_ofs;
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uint16_t nbits;
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if (bits_s0 == 0 || bits_s1 == 0) {
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// invalid data
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goto reset;
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}
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byte_ofs = sumd_state.bit_ofs/10;
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bit_ofs = sumd_state.bit_ofs%10;
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// pull in the high bits
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nbits = bits_s0;
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if (nbits+bit_ofs > 10) {
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nbits = 10 - bit_ofs;
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}
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sumd_state.bytes[byte_ofs] |= ((1U<<nbits)-1) << bit_ofs;
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sumd_state.bit_ofs += nbits;
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bit_ofs += nbits;
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if (bits_s0 - nbits > 10) {
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// we have a full frame
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uint8_t byte;
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uint8_t i;
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for (i=0; i <= byte_ofs; i++) {
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// get raw data
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uint16_t v = sumd_state.bytes[i];
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// check start bit
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if ((v & 1) != 0) {
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break;
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}
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// check stop bits
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if ((v & 0x200) != 0x200) {
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break;
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}
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byte = ((v>>1) & 0xFF);
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process_byte(byte);
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}
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memset(&sumd_state, 0, sizeof(sumd_state));
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}
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byte_ofs = sumd_state.bit_ofs/10;
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bit_ofs = sumd_state.bit_ofs%10;
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if (bits_s1+bit_ofs > 10) {
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// invalid data
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goto reset;
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}
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// pull in the low bits
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sumd_state.bit_ofs += bits_s1;
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return;
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reset:
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memset(&sumd_state, 0, sizeof(sumd_state));
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}
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void AP_RCProtocol_SUMD::process_byte(uint8_t byte)
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{
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switch (_decode_state) {
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case SUMD_DECODE_STATE_UNSYNCED:
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#ifdef SUMD_DEBUG
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hal.console->printf(" SUMD_DECODE_STATE_UNSYNCED \n") ;
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#endif
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if (byte == SUMD_HEADER_ID) {
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_rxpacket.header = byte;
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_sumd = true;
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_rxlen = 0;
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_crc16 = 0x0000;
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_crc8 = 0x00;
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_crcOK = false;
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_crc16 = sumd_crc16(_crc16, byte);
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_crc8 = sumd_crc8(_crc8, byte);
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_decode_state = SUMD_DECODE_STATE_GOT_HEADER;
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#ifdef SUMD_DEBUG
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hal.console->printf(" SUMD_DECODE_STATE_GOT_HEADER: %x \n", byte) ;
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#endif
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}
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break;
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case SUMD_DECODE_STATE_GOT_HEADER:
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if (byte == SUMD_ID_SUMD || byte == SUMD_ID_SUMH) {
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_rxpacket.status = byte;
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if (byte == SUMD_ID_SUMH) {
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_sumd = false;
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}
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if (_sumd) {
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_crc16 = sumd_crc16(_crc16, byte);
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} else {
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_crc8 = sumd_crc8(_crc8, byte);
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}
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_decode_state = SUMD_DECODE_STATE_GOT_STATE;
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#ifdef SUMD_DEBUG
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hal.console->printf(" SUMD_DECODE_STATE_GOT_STATE: %x \n", byte) ;
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#endif
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} else {
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_decode_state = SUMD_DECODE_STATE_UNSYNCED;
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}
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break;
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case SUMD_DECODE_STATE_GOT_STATE:
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if (byte >= 2 && byte <= SUMD_MAX_CHANNELS) {
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_rxpacket.length = byte;
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if (_sumd) {
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_crc16 = sumd_crc16(_crc16, byte);
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} else {
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_crc8 = sumd_crc8(_crc8, byte);
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}
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_rxlen++;
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_decode_state = SUMD_DECODE_STATE_GOT_LEN;
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#ifdef SUMD_DEBUG
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hal.console->printf(" SUMD_DECODE_STATE_GOT_LEN: %x (%d) \n", byte, byte) ;
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#endif
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} else {
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_decode_state = SUMD_DECODE_STATE_UNSYNCED;
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}
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break;
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case SUMD_DECODE_STATE_GOT_LEN:
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_rxpacket.sumd_data[_rxlen] = byte;
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if (_sumd) {
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_crc16 = sumd_crc16(_crc16, byte);
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} else {
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_crc8 = sumd_crc8(_crc8, byte);
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}
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_rxlen++;
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if (_rxlen <= ((_rxpacket.length * 2))) {
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#ifdef SUMD_DEBUG
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hal.console->printf(" SUMD_DECODE_STATE_GOT_DATA[%d]: %x\n", _rxlen - 2, byte) ;
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#endif
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} else {
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_decode_state = SUMD_DECODE_STATE_GOT_DATA;
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#ifdef SUMD_DEBUG
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hal.console->printf(" SUMD_DECODE_STATE_GOT_DATA -- finish --\n") ;
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#endif
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}
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break;
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case SUMD_DECODE_STATE_GOT_DATA:
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||||||
|
_rxpacket.crc16_high = byte;
|
||||||
|
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" SUMD_DECODE_STATE_GOT_CRC16[1]: %x [%x]\n", byte, ((_crc16 >> 8) & 0xff)) ;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if (_sumd) {
|
||||||
|
_decode_state = SUMD_DECODE_STATE_GOT_CRC;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
_decode_state = SUMD_DECODE_STATE_GOT_CRC16_BYTE_1;
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SUMD_DECODE_STATE_GOT_CRC16_BYTE_1:
|
||||||
|
_rxpacket.crc16_low = byte;
|
||||||
|
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" SUMD_DECODE_STATE_GOT_CRC16[2]: %x [%x]\n", byte, (_crc16 & 0xff)) ;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
_decode_state = SUMD_DECODE_STATE_GOT_CRC16_BYTE_2;
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SUMD_DECODE_STATE_GOT_CRC16_BYTE_2:
|
||||||
|
_rxpacket.telemetry = byte;
|
||||||
|
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" SUMD_DECODE_STATE_GOT_SUMH_TELEMETRY: %x\n", byte) ;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
_decode_state = SUMD_DECODE_STATE_GOT_CRC;
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SUMD_DECODE_STATE_GOT_CRC:
|
||||||
|
if (_sumd) {
|
||||||
|
_rxpacket.crc16_low = byte;
|
||||||
|
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" SUMD_DECODE_STATE_GOT_CRC[2]: %x [%x]\n\n", byte, (_crc16 & 0xff)) ;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if (_crc16 == (uint16_t)(_rxpacket.crc16_high << 8) + _rxpacket.crc16_low) {
|
||||||
|
_crcOK = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
} else {
|
||||||
|
_rxpacket.crc8 = byte;
|
||||||
|
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" SUMD_DECODE_STATE_GOT_CRC8_SUMH: %x [%x]\n\n", byte, _crc8) ;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if (_crc8 == _rxpacket.crc8) {
|
||||||
|
_crcOK = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (_crcOK) {
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" CRC - OK \n") ;
|
||||||
|
#endif
|
||||||
|
if (_sumd) {
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" Got valid SUMD Packet\n") ;
|
||||||
|
#endif
|
||||||
|
} else {
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" Got valid SUMH Packet\n") ;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" RXLEN: %d [Chans: %d] \n\n", _rxlen - 1, (_rxlen - 1) / 2) ;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
|
||||||
|
unsigned i;
|
||||||
|
uint8_t num_values;
|
||||||
|
uint16_t values[SUMD_MAX_CHANNELS];
|
||||||
|
|
||||||
|
/* received Channels */
|
||||||
|
if ((uint16_t)_rxpacket.length > SUMD_MAX_CHANNELS) {
|
||||||
|
_rxpacket.length = (uint8_t) SUMD_MAX_CHANNELS;
|
||||||
|
}
|
||||||
|
|
||||||
|
num_values = (uint16_t)_rxpacket.length;
|
||||||
|
|
||||||
|
/* decode the actual packet */
|
||||||
|
/* reorder first 4 channels */
|
||||||
|
|
||||||
|
/* ch1 = roll -> sumd = ch2 */
|
||||||
|
values[0] = (uint16_t)((_rxpacket.sumd_data[1 * 2 + 1] << 8) | _rxpacket.sumd_data[1 * 2 + 2]) >> 3;
|
||||||
|
/* ch2 = pitch -> sumd = ch2 */
|
||||||
|
values[1] = (uint16_t)((_rxpacket.sumd_data[2 * 2 + 1] << 8) | _rxpacket.sumd_data[2 * 2 + 2]) >> 3;
|
||||||
|
/* ch3 = throttle -> sumd = ch2 */
|
||||||
|
values[2] = (uint16_t)((_rxpacket.sumd_data[0 * 2 + 1] << 8) | _rxpacket.sumd_data[0 * 2 + 2]) >> 3;
|
||||||
|
/* ch4 = yaw -> sumd = ch2 */
|
||||||
|
values[3] = (uint16_t)((_rxpacket.sumd_data[3 * 2 + 1] << 8) | _rxpacket.sumd_data[3 * 2 + 2]) >> 3;
|
||||||
|
|
||||||
|
/* we start at channel 5(index 4) */
|
||||||
|
unsigned chan_index = 4;
|
||||||
|
|
||||||
|
for (i = 4; i < _rxpacket.length; i++) {
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf("ch[%d] : %x %x [ %x %d ]\n", i + 1, _rxpacket.sumd_data[i * 2 + 1], _rxpacket.sumd_data[i * 2 + 2],
|
||||||
|
((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3,
|
||||||
|
((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
values[chan_index] = (uint16_t)((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3;
|
||||||
|
/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
|
||||||
|
//channels[chan_index] = (uint16_t)(channels[chan_index] * SUMD_SCALE_FACTOR + .5f) + SUMD_SCALE_OFFSET;
|
||||||
|
|
||||||
|
chan_index++;
|
||||||
|
}
|
||||||
|
if (_rxpacket.status == 0x01) {
|
||||||
|
add_input(num_values, values, false);
|
||||||
|
} else if (_rxpacket.status == 0x81) {
|
||||||
|
add_input(num_values, values, true);
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
#ifdef SUMD_DEBUG
|
||||||
|
hal.console->printf(" CRC - fail 0x%X 0x%X\n", _crc16, (uint16_t)(_rxpacket.crc16_high << 8) + _rxpacket.crc16_low);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
_decode_state = SUMD_DECODE_STATE_UNSYNCED;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,69 @@
|
||||||
|
/*
|
||||||
|
* This file is free software: you can redistribute it and/or modify it
|
||||||
|
* under the terms of the GNU General Public License as published by the
|
||||||
|
* Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This file is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||||||
|
* See the GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "AP_RCProtocol.h"
|
||||||
|
#define SUMD_MAX_CHANNELS 32
|
||||||
|
|
||||||
|
class AP_RCProtocol_SUMD : public AP_RCProtocol_Backend {
|
||||||
|
public:
|
||||||
|
AP_RCProtocol_SUMD(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
|
||||||
|
void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
|
||||||
|
void process_byte(uint8_t byte) override;
|
||||||
|
private:
|
||||||
|
static uint16_t sumd_crc16(uint16_t crc, uint8_t value);
|
||||||
|
static uint8_t sumd_crc8(uint8_t crc, uint8_t value);
|
||||||
|
|
||||||
|
#pragma pack(push, 1)
|
||||||
|
typedef struct {
|
||||||
|
uint8_t header; ///< 0xA8 for a valid packet
|
||||||
|
uint8_t status; ///< 0x01 valid and live SUMD data frame / 0x00 = SUMH / 0x81 = Failsafe
|
||||||
|
uint8_t length; ///< Channels
|
||||||
|
uint8_t sumd_data[SUMD_MAX_CHANNELS * 2]; ///< ChannelData (High Byte/ Low Byte)
|
||||||
|
uint8_t crc16_high; ///< High Byte of 16 Bit CRC
|
||||||
|
uint8_t crc16_low; ///< Low Byte of 16 Bit CRC
|
||||||
|
uint8_t telemetry; ///< Telemetry request
|
||||||
|
uint8_t crc8; ///< SUMH CRC8
|
||||||
|
} ReceiverFcPacketHoTT;
|
||||||
|
#pragma pack(pop)
|
||||||
|
|
||||||
|
|
||||||
|
enum SUMD_DECODE_STATE {
|
||||||
|
SUMD_DECODE_STATE_UNSYNCED = 0,
|
||||||
|
SUMD_DECODE_STATE_GOT_HEADER,
|
||||||
|
SUMD_DECODE_STATE_GOT_STATE,
|
||||||
|
SUMD_DECODE_STATE_GOT_LEN,
|
||||||
|
SUMD_DECODE_STATE_GOT_DATA,
|
||||||
|
SUMD_DECODE_STATE_GOT_CRC,
|
||||||
|
SUMD_DECODE_STATE_GOT_CRC16_BYTE_1,
|
||||||
|
SUMD_DECODE_STATE_GOT_CRC16_BYTE_2
|
||||||
|
};
|
||||||
|
|
||||||
|
enum SUMD_DECODE_STATE _decode_state = SUMD_DECODE_STATE_UNSYNCED;
|
||||||
|
uint8_t _rxlen;
|
||||||
|
ReceiverFcPacketHoTT _rxpacket;
|
||||||
|
uint8_t _crc8 = 0x00;
|
||||||
|
uint16_t _crc16 = 0x0000;
|
||||||
|
bool _sumd = true;
|
||||||
|
bool _crcOK = false;
|
||||||
|
struct {
|
||||||
|
uint16_t bytes[40];
|
||||||
|
uint8_t bit_ofs;
|
||||||
|
bool packet_parsed;
|
||||||
|
} sumd_state;
|
||||||
|
};
|
||||||
|
|
@ -0,0 +1,31 @@
|
||||||
|
/*
|
||||||
|
* This file is free software: you can redistribute it and/or modify it
|
||||||
|
* under the terms of the GNU General Public License as published by the
|
||||||
|
* Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This file is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||||||
|
* See the GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "AP_RCProtocol.h"
|
||||||
|
#include "AP_RCProtocol_SUMD.h"
|
||||||
|
|
||||||
|
class AP_RCProtocol_SUMD_NI : public AP_RCProtocol_SUMD {
|
||||||
|
public:
|
||||||
|
AP_RCProtocol_SUMD_NI(AP_RCProtocol &_frontend) : AP_RCProtocol_SUMD(_frontend), saved_width(0) {}
|
||||||
|
void process_pulse(uint32_t width_s0, uint32_t width_s1) override {
|
||||||
|
AP_RCProtocol_SUMD::process_pulse(saved_width, width_s0);
|
||||||
|
saved_width = width_s1;
|
||||||
|
}
|
||||||
|
private:
|
||||||
|
uint32_t saved_width;
|
||||||
|
};
|
||||||
Loading…
Reference in New Issue