You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
334 lines
10 KiB
334 lines
10 KiB
/* |
|
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 |
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
* POSSIBILITY OF SUCH DAMAGE. |
|
* |
|
****************************************************************************/ |
|
|
|
/* |
|
* @file sumd.h |
|
* |
|
* RC protocol definition for Graupner HoTT transmitter (SUMD/SUMH Protocol) |
|
* |
|
* @author Marco Bauer <marco@wtns.de> |
|
*/ |
|
#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 range mapping here, -+100% -> 1000..2000 */ |
|
#define SUMD_RANGE_MIN 0.0f |
|
#define SUMD_RANGE_MAX 4096.0f |
|
|
|
#define SUMD_TARGET_MIN 1000.0f |
|
#define SUMD_TARGET_MAX 2000.0f |
|
|
|
/* pre-calculate the floating point stuff as far as possible at compile time */ |
|
#define SUMD_SCALE_FACTOR ((SUMD_TARGET_MAX - SUMD_TARGET_MIN) / (SUMD_RANGE_MAX - SUMD_RANGE_MIN)) |
|
#define SUMD_SCALE_OFFSET (int)(SUMD_TARGET_MIN - (SUMD_SCALE_FACTOR * SUMD_RANGE_MIN + 0.5f)) |
|
|
|
// #define SUMD_DEBUG |
|
extern const AP_HAL::HAL& hal; |
|
|
|
uint8_t AP_RCProtocol_SUMD::sumd_crc8(uint8_t crc, uint8_t value) |
|
{ |
|
crc += value; |
|
return crc; |
|
} |
|
|
|
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) { |
|
_rxpacket.header = byte; |
|
_sumd = true; |
|
_rxlen = 0; |
|
_crc16 = 0x0000; |
|
_crc8 = 0x00; |
|
_crcOK = false; |
|
_crc16 = crc_xmodem_update(_crc16, byte); |
|
_crc8 = sumd_crc8(_crc8, 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_SUMH) { |
|
_rxpacket.status = byte; |
|
|
|
if (byte == SUMD_ID_SUMH) { |
|
_sumd = false; |
|
} |
|
|
|
if (_sumd) { |
|
_crc16 = crc_xmodem_update(_crc16, byte); |
|
|
|
} else { |
|
_crc8 = sumd_crc8(_crc8, 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; |
|
|
|
if (_sumd) { |
|
_crc16 = crc_xmodem_update(_crc16, byte); |
|
|
|
} else { |
|
_crc8 = sumd_crc8(_crc8, 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; |
|
|
|
if (_sumd) { |
|
_crc16 = crc_xmodem_update(_crc16, byte); |
|
|
|
} else { |
|
_crc8 = sumd_crc8(_crc8, 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; |
|
|
|
#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; |
|
} |
|
} |
|
|
|
log_data(AP_RCProtocol::SUMD, timestamp_us, _rxpacket.sumd_data, _rxlen); |
|
|
|
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[%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[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; |
|
} |
|
} |
|
|
|
void AP_RCProtocol_SUMD::process_byte(uint8_t byte, uint32_t baudrate) |
|
{ |
|
if (baudrate != 115200) { |
|
return; |
|
} |
|
_process_byte(AP_HAL::micros(), byte); |
|
}
|
|
|