mirror of https://github.com/ArduPilot/ardupilot
294 lines
7.4 KiB
C++
294 lines
7.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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SRXL protocol decoder, tested against AR7700 SRXL port
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Andrew Tridgell, September 2016
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*/
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#include <stdio.h>
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#include <stdint.h>
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#include <string.h>
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#include "srxl.h"
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/*
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there are other SRXL varients, but we need some sample data before accepting them
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*/
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#define SRXL_MAX_CHANNELS 20
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#define SRXL_HEAD_MARKER 0xA5
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#define SRXL_NUM_BYTES 18
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static uint8_t buffer[SRXL_NUM_BYTES];
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static uint8_t buflen;
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static uint64_t last_data_us;
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static uint16_t channels[SRXL_MAX_CHANNELS];
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static uint16_t max_channels;
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/*
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get SRXL crc16 for a set of bytes
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*/
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static uint16_t srxl_crc16(const uint8_t *bytes, uint8_t nbytes)
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{
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uint16_t crc = 0;
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while (nbytes--) {
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int i;
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crc ^= (uint16_t)(*bytes++) << 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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}
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return crc;
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}
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/*
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decode a SRXL packet
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*/
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int srxl_decode(uint64_t timestamp_us, uint8_t byte, uint8_t *num_values, uint16_t *values, uint16_t max_values, bool *failsafe_state)
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{
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if (timestamp_us - last_data_us > 5000U || buflen == SRXL_NUM_BYTES) {
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// we've seen a frame gap
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if (buflen != 0) {
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buflen = 0;
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}
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}
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last_data_us = timestamp_us;
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buffer[buflen++] = byte;
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switch (buffer[0]) {
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case SRXL_HEAD_MARKER:
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break;
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default:
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// invalid packet, we don't support this format yet
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return 2;
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}
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uint8_t expected_bytes = SRXL_NUM_BYTES;
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if (buflen < expected_bytes) {
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// more bytes pending
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return 1;
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}
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uint16_t crc = srxl_crc16(buffer, buflen-2);
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uint64_t crc2 = buffer[buflen-1] | (buffer[buflen-2]<<8);
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if (crc != crc2) {
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// bad CRC
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return 4;
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}
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// up to 7 channel values per packet. Each channel value is 16
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// bits, with 11 bits of data and 4 bits of channel number. The
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// top bit indicates a special X-Plus channel
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for (uint8_t i=0; i<7; i++) {
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uint16_t b = buffer[i*2+2] << 8 | buffer[i*2+3];
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uint16_t c = b >> 11; // channel number
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int32_t v = b & 0x7FF;
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if (b & 0x8000) {
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//printf("bad data 0x%04x\n", b);
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// bad data
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return 2;
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}
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if (c == 12) {
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// special handling for channel 12, this contains the XPlus channels
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// see http://www.deviationtx.com/forum/protocol-development/2088-18-channels-for-dsm2-dsmx?start=40
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//printf("c12: 0x%x %02x %02x\n", (unsigned)(b>>9), (unsigned)buffer[0], (unsigned)buffer[1]);
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v = (b & 0x1FF) << 2;
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c = 10 + ((b >> 9) & 0x7);
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if (buffer[1] & 1) {
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c += 4;
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}
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#if 0
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printf("b=0x%04x v=%u c=%u b[1]=0x%02x\n",
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(unsigned)b, (unsigned)v, (unsigned)c, (unsigned)buffer[1]);
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#endif
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} else if (c > 12) {
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// invalid
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v = 0;
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}
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if (c < SRXL_MAX_CHANNELS) {
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v = (((v - 0x400) * 500) / 876) + 1500;
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channels[c] = v;
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if (c >= max_channels) {
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max_channels = c+1;
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}
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}
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//printf("%u:%u ", (unsigned)c, (unsigned)v);
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}
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//printf("\n");
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*num_values = max_channels;
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if (*num_values > max_values) {
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*num_values = max_values;
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}
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memcpy(values, channels, (*num_values)*2);
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// check failsafe bit, this goes low when connection to the
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// transmitter is lost
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*failsafe_state = ((buffer[1] & 2) == 0);
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#if 0
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for (uint8_t i=0; i<buflen; i++) {
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printf("%02x ", (unsigned)buffer[i]);
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}
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printf("\n");
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#endif
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buflen = 0;
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// success
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return 0;
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}
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#ifdef TEST_MAIN_PROGRAM
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/*
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test harness for use under Linux with USB serial adapter
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*/
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <time.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <termios.h>
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static uint64_t micros64(void)
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{
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)));
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}
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int main(int argc, const char *argv[])
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{
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int fd = open(argv[1], O_RDONLY);
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if (fd == -1) {
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perror(argv[1]);
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exit(1);
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}
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struct termios options;
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tcgetattr(fd, &options);
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cfsetispeed(&options, B115200);
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cfsetospeed(&options, B115200);
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options.c_cflag &= ~(PARENB|CSTOPB|CSIZE);
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options.c_cflag |= CS8;
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options.c_lflag &= ~(ICANON|ECHO|ECHOE|ISIG);
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options.c_iflag &= ~(IXON|IXOFF|IXANY);
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options.c_oflag &= ~OPOST;
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if (tcsetattr(fd, TCSANOW, &options) != 0) {
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perror("tcsetattr");
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exit(1);
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}
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tcflush(fd, TCIOFLUSH);
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while (true) {
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uint8_t b;
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uint8_t num_values = 0;
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uint16_t values[20];
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bool failsafe_state;
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fd_set fds;
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struct timeval tv;
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FD_ZERO(&fds);
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FD_SET(fd, &fds);
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tv.tv_sec = 1;
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tv.tv_usec = 0;
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// check if any bytes are available
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if (select(fd+1, &fds, NULL, NULL, &tv) != 1) {
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break;
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}
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if (read(fd, &b, 1) != 1) {
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break;
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}
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if (srxl_decode(micros64(), b, &num_values, values, sizeof(values)/sizeof(values[0]), &failsafe_state) == 0) {
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#if 1
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printf("%u: ", num_values);
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for (uint8_t i=0; i<num_values; i++) {
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printf("%u:%4u ", i+1, values[i]);
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}
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printf("%s\n", failsafe_state?"FAIL":"OK");
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#endif
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}
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}
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}
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#endif
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#ifdef TEST_HEX_PROGRAM
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/*
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test harness for use under Linux with hex dump in a file
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*/
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <time.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <termios.h>
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int main(int argc, const char *argv[])
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{
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FILE *f = fopen(argv[1], "r");
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if (!f) {
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perror(argv[1]);
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exit(1);
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}
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uint64_t t=0;
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while (true) {
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uint8_t b;
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uint8_t num_values = 0;
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uint16_t values[20];
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bool failsafe_state;
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unsigned u[18];
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if (fscanf(f, "%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x",
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&u[0], &u[1], &u[2], &u[3], &u[4], &u[5], &u[6], &u[7], &u[8], &u[9],
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&u[10], &u[11], &u[12], &u[13], &u[14], &u[15], &u[16], &u[17]) != 18) {
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break;
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}
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t += 11000;
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for (uint8_t i=0; i<18; i++) {
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b = u[i];
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if (srxl_decode(t, b, &num_values, values, sizeof(values)/sizeof(values[0]), &failsafe_state) == 0) {
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#if 1
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printf("%u: ", num_values);
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for (uint8_t i=0; i<num_values; i++) {
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printf("%u:%4u ", i+1, values[i]);
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}
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printf("%s\n", failsafe_state?"FAIL":"OK");
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#endif
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}
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}
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}
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}
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#endif
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