mirror of https://github.com/ArduPilot/ardupilot
244 lines
8.1 KiB
C++
244 lines
8.1 KiB
C++
/*
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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_config.h"
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#if AP_RCPROTOCOL_ST24_ENABLED
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#include "AP_RCProtocol_ST24.h"
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// #define SUMD_DEBUG
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extern const AP_HAL::HAL& hal;
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uint8_t AP_RCProtocol_ST24::st24_crc8(uint8_t *ptr, uint8_t len)
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{
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uint8_t i, crc ;
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crc = 0;
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while (len--) {
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for (i = 0x80; i != 0; i >>= 1) {
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if ((crc & 0x80) != 0) {
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crc <<= 1;
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crc ^= 0x07;
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} else {
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crc <<= 1;
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}
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if ((*ptr & i) != 0) {
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crc ^= 0x07;
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}
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}
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ptr++;
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}
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return (crc);
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}
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void AP_RCProtocol_ST24::process_pulse(uint32_t width_s0, uint32_t width_s1)
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{
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uint8_t b;
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if (ss.process_pulse(width_s0, width_s1, b)) {
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_process_byte(b);
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}
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}
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void AP_RCProtocol_ST24::_process_byte(uint8_t byte)
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{
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switch (_decode_state) {
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case ST24_DECODE_STATE_UNSYNCED:
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if (byte == ST24_STX1) {
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_decode_state = ST24_DECODE_STATE_GOT_STX1;
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}
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break;
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case ST24_DECODE_STATE_GOT_STX1:
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if (byte == ST24_STX2) {
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_decode_state = ST24_DECODE_STATE_GOT_STX2;
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} else {
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_decode_state = ST24_DECODE_STATE_UNSYNCED;
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}
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break;
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case ST24_DECODE_STATE_GOT_STX2:
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/* ensure no data overflow failure or hack is possible */
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if (byte > 8 && (unsigned)byte <= sizeof(_rxpacket.length) + sizeof(_rxpacket.type) + sizeof(_rxpacket.st24_data)) {
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_rxpacket.length = byte;
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_rxlen = 0;
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_decode_state = ST24_DECODE_STATE_GOT_LEN;
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} else {
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_decode_state = ST24_DECODE_STATE_UNSYNCED;
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}
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break;
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case ST24_DECODE_STATE_GOT_LEN:
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_rxpacket.type = byte;
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_rxlen++;
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_decode_state = ST24_DECODE_STATE_GOT_TYPE;
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break;
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case ST24_DECODE_STATE_GOT_TYPE:
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_rxpacket.st24_data[_rxlen - 1] = byte;
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_rxlen++;
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if (_rxlen == (_rxpacket.length - 1)) {
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_decode_state = ST24_DECODE_STATE_GOT_DATA;
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}
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break;
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case ST24_DECODE_STATE_GOT_DATA:
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_rxpacket.crc8 = byte;
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_rxlen++;
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log_data(AP_RCProtocol::ST24, AP_HAL::micros(), (const uint8_t *)&_rxpacket, _rxlen+3);
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if (st24_crc8((uint8_t *) & (_rxpacket.length), _rxlen) == _rxpacket.crc8) {
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/* decode the actual packet */
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switch (_rxpacket.type) {
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case ST24_PACKET_TYPE_CHANNELDATA12: {
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uint16_t values[12];
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uint8_t num_values;
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ChannelData12 *d = (ChannelData12 *)_rxpacket.st24_data;
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//TBD: add support for RSSI
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// *rssi = d->rssi;
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//*rx_count = d->packet_count;
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/* this can lead to rounding of the strides */
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num_values = (MAX_RCIN_CHANNELS < 12) ? MAX_RCIN_CHANNELS : 12;
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unsigned stride_count = (num_values * 3) / 2;
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unsigned chan_index = 0;
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for (unsigned i = 0; i < stride_count; i += 3) {
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values[chan_index] = ((uint16_t)d->channel[i] << 4);
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values[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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values[chan_index] = (uint16_t)(values[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
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chan_index++;
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values[chan_index] = ((uint16_t)d->channel[i + 2]);
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values[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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values[chan_index] = (uint16_t)(values[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
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chan_index++;
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}
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add_input(num_values, values, false);//AP_RCProtocol: Fix the issue of ST24 receiver not working
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}
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break;
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case ST24_PACKET_TYPE_CHANNELDATA24: {
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uint16_t values[24];
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uint8_t num_values;
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ChannelData24 *d = (ChannelData24 *)&_rxpacket.st24_data;
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//*rssi = d->rssi;
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//*rx_count = d->packet_count;
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/* this can lead to rounding of the strides */
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num_values = (MAX_RCIN_CHANNELS < 24) ? MAX_RCIN_CHANNELS : 24;
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unsigned stride_count = (num_values * 3) / 2;
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unsigned chan_index = 0;
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for (unsigned i = 0; i < stride_count; i += 3) {
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values[chan_index] = ((uint16_t)d->channel[i] << 4);
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values[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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values[chan_index] = (uint16_t)(values[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
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chan_index++;
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values[chan_index] = ((uint16_t)d->channel[i + 2]);
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values[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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values[chan_index] = (uint16_t)(values[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
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chan_index++;
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}
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add_input(num_values, values, false);//AP_RCProtocol: Fix the issue of ST24 receiver not working
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}
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break;
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case ST24_PACKET_TYPE_TRANSMITTERGPSDATA: {
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// ReceiverFcPacket* d = (ReceiverFcPacket*)&_rxpacket.st24_data;
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/* we silently ignore this data for now, as it is unused */
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}
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break;
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default:
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break;
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}
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} else {
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/* decoding failed */
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}
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_decode_state = ST24_DECODE_STATE_UNSYNCED;
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break;
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}
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}
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void AP_RCProtocol_ST24::process_byte(uint8_t byte, uint32_t baudrate)
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{
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if (baudrate != 115200) {
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return;
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}
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_process_byte(byte);
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}
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#endif // AP_RCPROTOCOL_ST24_ENABLED
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