ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_SUMD.cpp

211 lines
7.4 KiB
C++

/*
SUMD decoder, based on PX4Firmware/src/rc/lib/rc/sumd.c from PX4Firmware
modified for use in AP_HAL_* by Andrew Tridgell
*/
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
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****************************************************************************/
/*
* @file sumd.h
*
* RC protocol definition for Graupner HoTT transmitter (SUMD/SUMH Protocol)
*
* @author Marco Bauer <marco@wtns.de>
*/
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_SUMD_ENABLED
#include "AP_RCProtocol_SUMD.h"
#include <AP_Math/crc.h>
#define SUMD_HEADER_LENGTH 3
#define SUMD_HEADER_ID 0xA8
#define SUMD_ID_SUMH 0x00
#define SUMD_ID_SUMD 0x01
#define SUMD_ID_FAILSAFE 0x81
// #define SUMD_DEBUG
extern const AP_HAL::HAL& hal;
void AP_RCProtocol_SUMD::process_pulse(uint32_t width_s0, uint32_t width_s1)
{
uint8_t b;
if (ss.process_pulse(width_s0, width_s1, b)) {
_process_byte(ss.get_byte_timestamp_us(), b);
}
}
void AP_RCProtocol_SUMD::_process_byte(uint32_t timestamp_us, uint8_t byte)
{
if (timestamp_us - last_packet_us > 5000U) {
_decode_state = SUMD_DECODE_STATE_UNSYNCED;
}
switch (_decode_state) {
case SUMD_DECODE_STATE_UNSYNCED:
#ifdef SUMD_DEBUG
hal.console->printf(" SUMD_DECODE_STATE_UNSYNCED \n") ;
#endif
if (byte == SUMD_HEADER_ID) {
_rxlen = 0;
_crc16 = crc_xmodem_update(0, byte);
_decode_state = SUMD_DECODE_STATE_GOT_HEADER;
#ifdef SUMD_DEBUG
hal.console->printf(" SUMD_DECODE_STATE_GOT_HEADER: %x \n", byte) ;
#endif
last_packet_us = timestamp_us;
}
break;
case SUMD_DECODE_STATE_GOT_HEADER:
if ((byte == SUMD_ID_SUMD) || (byte == SUMD_ID_FAILSAFE)) {
_rxpacket.status = byte;
_crc16 = crc_xmodem_update(_crc16, byte);
_decode_state = SUMD_DECODE_STATE_GOT_STATE;
#ifdef SUMD_DEBUG
hal.console->printf(" SUMD_DECODE_STATE_GOT_STATE: %x \n", byte) ;
#endif
} else {
_decode_state = SUMD_DECODE_STATE_UNSYNCED;
}
break;
case SUMD_DECODE_STATE_GOT_STATE:
if (byte >= 2 && byte <= SUMD_MAX_CHANNELS) {
_rxpacket.length = byte;
_crc16 = crc_xmodem_update(_crc16, byte);
_rxlen++;
_decode_state = SUMD_DECODE_STATE_GOT_LEN;
#ifdef SUMD_DEBUG
hal.console->printf(" SUMD_DECODE_STATE_GOT_LEN: %x (%d) \n", byte, byte) ;
#endif
} else {
_decode_state = SUMD_DECODE_STATE_UNSYNCED;
}
break;
case SUMD_DECODE_STATE_GOT_LEN:
_rxpacket.sumd_data[_rxlen] = byte;
_crc16 = crc_xmodem_update(_crc16, byte);
_rxlen++;
if (_rxlen <= ((_rxpacket.length * 2))) {
#ifdef SUMD_DEBUG
hal.console->printf(" SUMD_DECODE_STATE_GOT_DATA[%d]: %x\n", _rxlen - 2, byte) ;
#endif
} else {
_decode_state = SUMD_DECODE_STATE_GOT_DATA;
#ifdef SUMD_DEBUG
hal.console->printf(" SUMD_DECODE_STATE_GOT_DATA -- finish --\n") ;
#endif
}
break;
case SUMD_DECODE_STATE_GOT_DATA:
_rxpacket.crc16_high = byte;
_decode_state = SUMD_DECODE_STATE_GOT_CRC;
#ifdef SUMD_DEBUG
hal.console->printf(" SUMD_DECODE_STATE_GOT_CRC16[1]: %x [%x]\n", byte, ((_crc16 >> 8) & 0xff)) ;
#endif
break;
case SUMD_DECODE_STATE_GOT_CRC:
#ifdef SUMD_DEBUG
hal.console->printf(" SUMD_DECODE_STATE_GOT_CRC[2]: %x [%x]\n\n", byte, (_crc16 & 0xff)) ;
#endif
log_data(AP_RCProtocol::SUMD, timestamp_us, _rxpacket.sumd_data, _rxlen);
if (_crc16 == (uint16_t)(_rxpacket.crc16_high << 8) + byte) {
#ifdef SUMD_DEBUG
hal.console->printf(" CRC - OK \n") ;
hal.console->printf(" Got valid SUMD Packet\n") ;
hal.console->printf(" RXLEN: %d [Chans: %d] \n\n", _rxlen - 1, (_rxlen - 1) / 2) ;
#endif
uint16_t values[SUMD_MAX_CHANNELS];
/* received Channels */
if ((uint16_t)_rxpacket.length > SUMD_MAX_CHANNELS) {
_rxpacket.length = (uint8_t) SUMD_MAX_CHANNELS;
}
/* 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) */
for (uint8_t i = 4; i < _rxpacket.length; i++) {
#ifdef SUMD_DEBUG
hal.console->printf("ch[%u] : %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[i] = (uint16_t)((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3;
}
add_input(_rxpacket.length, values, (_rxpacket.status == SUMD_ID_FAILSAFE));
#ifdef SUMD_DEBUG
} else {
hal.console->printf(" CRC - fail 0x%X 0x%X\n", _crc16, (uint16_t)(_rxpacket.crc16_high << 8) + byte);
#endif
}
_decode_state = SUMD_DECODE_STATE_UNSYNCED;
break;
}
}
void AP_RCProtocol_SUMD::process_byte(uint8_t byte, uint32_t baudrate)
{
if (baudrate != 115200) {
return;
}
_process_byte(AP_HAL::micros(), byte);
}
#endif // AP_RCPROTOCOL_SUMD_ENABLED