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71 lines
2.5 KiB
71 lines
2.5 KiB
/* |
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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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#include "SoftSerial.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, uint32_t baudrate) override; |
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private: |
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void _process_byte(uint32_t timestamp_us, uint8_t byte); |
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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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uint32_t last_packet_us; |
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SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1}; |
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};
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