mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.5 KiB
C++
70 lines
2.5 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include "AP_RCProtocol.h"
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#define SUMD_MAX_CHANNELS 32
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#define SUMD_FRAME_MAXLEN 40
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class AP_RCProtocol_SUMD : public AP_RCProtocol_Backend {
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public:
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AP_RCProtocol_SUMD(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
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void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
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void process_byte(uint8_t byte) override;
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private:
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static uint16_t sumd_crc16(uint16_t crc, uint8_t value);
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static uint8_t sumd_crc8(uint8_t crc, uint8_t value);
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#pragma pack(push, 1)
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typedef struct {
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uint8_t header; ///< 0xA8 for a valid packet
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uint8_t status; ///< 0x01 valid and live SUMD data frame / 0x00 = SUMH / 0x81 = Failsafe
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uint8_t length; ///< Channels
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uint8_t sumd_data[(SUMD_MAX_CHANNELS+1) * 2]; ///< ChannelData (High Byte/ Low Byte)
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uint8_t crc16_high; ///< High Byte of 16 Bit CRC
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uint8_t crc16_low; ///< Low Byte of 16 Bit CRC
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uint8_t telemetry; ///< Telemetry request
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uint8_t crc8; ///< SUMH CRC8
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} ReceiverFcPacketHoTT;
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#pragma pack(pop)
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enum SUMD_DECODE_STATE {
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SUMD_DECODE_STATE_UNSYNCED = 0,
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SUMD_DECODE_STATE_GOT_HEADER,
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SUMD_DECODE_STATE_GOT_STATE,
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SUMD_DECODE_STATE_GOT_LEN,
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SUMD_DECODE_STATE_GOT_DATA,
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SUMD_DECODE_STATE_GOT_CRC,
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SUMD_DECODE_STATE_GOT_CRC16_BYTE_1,
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SUMD_DECODE_STATE_GOT_CRC16_BYTE_2
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};
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enum SUMD_DECODE_STATE _decode_state = SUMD_DECODE_STATE_UNSYNCED;
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uint8_t _rxlen;
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ReceiverFcPacketHoTT _rxpacket;
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uint8_t _crc8 = 0x00;
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uint16_t _crc16 = 0x0000;
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bool _sumd = true;
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bool _crcOK = false;
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struct {
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uint16_t bytes[40];
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uint16_t bit_ofs;
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bool packet_parsed;
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} sumd_state;
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};
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