Line data Source code
1 : /*
2 : SUMD decoder, based on PX4Firmware/src/rc/lib/rc/sumd.c from PX4Firmware
3 : modified for use in AP_HAL_* by Andrew Tridgell
4 : */
5 : /****************************************************************************
6 : *
7 : * Copyright (c) 2015 PX4 Development Team. All rights reserved.
8 : *
9 : * Redistribution and use in source and binary forms, with or without
10 : * modification, are permitted provided that the following conditions
11 : * are met:
12 : *
13 : * 1. Redistributions of source code must retain the above copyright
14 : * notice, this list of conditions and the following disclaimer.
15 : * 2. Redistributions in binary form must reproduce the above copyright
16 : * notice, this list of conditions and the following disclaimer in
17 : * the documentation and/or other materials provided with the
18 : * distribution.
19 : * 3. Neither the name PX4 nor the names of its contributors may be
20 : * used to endorse or promote products derived from this software
21 : * without specific prior written permission.
22 : *
23 : * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 : * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 : * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 : * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 : * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 : * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 : * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
30 : * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
31 : * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 : * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 : * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 : * POSSIBILITY OF SUCH DAMAGE.
35 : *
36 : ****************************************************************************/
37 :
38 : /*
39 : * @file sumd.h
40 : *
41 : * RC protocol definition for Graupner HoTT transmitter (SUMD/SUMH Protocol)
42 : *
43 : * @author Marco Bauer <[email protected]>
44 : */
45 : #include "AP_RCProtocol_config.h"
46 :
47 : #if AP_RCPROTOCOL_SUMD_ENABLED
48 :
49 : #include "AP_RCProtocol_SUMD.h"
50 :
51 : #include <AP_Math/crc.h>
52 :
53 : #define SUMD_HEADER_LENGTH 3
54 : #define SUMD_HEADER_ID 0xA8
55 : #define SUMD_ID_SUMH 0x00
56 : #define SUMD_ID_SUMD 0x01
57 : #define SUMD_ID_FAILSAFE 0x81
58 :
59 : // #define SUMD_DEBUG
60 : extern const AP_HAL::HAL& hal;
61 :
62 0 : void AP_RCProtocol_SUMD::process_pulse(uint32_t width_s0, uint32_t width_s1)
63 : {
64 : uint8_t b;
65 0 : if (ss.process_pulse(width_s0, width_s1, b)) {
66 0 : _process_byte(ss.get_byte_timestamp_us(), b);
67 : }
68 0 : }
69 :
70 0 : void AP_RCProtocol_SUMD::_process_byte(uint32_t timestamp_us, uint8_t byte)
71 : {
72 0 : if (timestamp_us - last_packet_us > 5000U) {
73 0 : _decode_state = SUMD_DECODE_STATE_UNSYNCED;
74 : }
75 0 : switch (_decode_state) {
76 0 : case SUMD_DECODE_STATE_UNSYNCED:
77 : #ifdef SUMD_DEBUG
78 : hal.console->printf(" SUMD_DECODE_STATE_UNSYNCED \n") ;
79 : #endif
80 0 : if (byte == SUMD_HEADER_ID) {
81 0 : _rxlen = 0;
82 0 : _crc16 = crc_xmodem_update(0, byte);
83 0 : _decode_state = SUMD_DECODE_STATE_GOT_HEADER;
84 :
85 : #ifdef SUMD_DEBUG
86 : hal.console->printf(" SUMD_DECODE_STATE_GOT_HEADER: %x \n", byte) ;
87 : #endif
88 0 : last_packet_us = timestamp_us;
89 : }
90 0 : break;
91 :
92 0 : case SUMD_DECODE_STATE_GOT_HEADER:
93 0 : if ((byte == SUMD_ID_SUMD) || (byte == SUMD_ID_FAILSAFE)) {
94 0 : _rxpacket.status = byte;
95 0 : _crc16 = crc_xmodem_update(_crc16, byte);
96 0 : _decode_state = SUMD_DECODE_STATE_GOT_STATE;
97 : #ifdef SUMD_DEBUG
98 : hal.console->printf(" SUMD_DECODE_STATE_GOT_STATE: %x \n", byte) ;
99 : #endif
100 : } else {
101 0 : _decode_state = SUMD_DECODE_STATE_UNSYNCED;
102 : }
103 :
104 0 : break;
105 :
106 0 : case SUMD_DECODE_STATE_GOT_STATE:
107 0 : if (byte >= 4 && byte <= SUMD_MAX_CHANNELS) { // need at least 4 for reordering
108 0 : _rxpacket.length = byte;
109 0 : _crc16 = crc_xmodem_update(_crc16, byte);
110 0 : _rxlen++;
111 0 : _decode_state = SUMD_DECODE_STATE_GOT_LEN;
112 :
113 : #ifdef SUMD_DEBUG
114 : hal.console->printf(" SUMD_DECODE_STATE_GOT_LEN: %x (%d) \n", byte, byte) ;
115 : #endif
116 : } else {
117 0 : _decode_state = SUMD_DECODE_STATE_UNSYNCED;
118 : }
119 :
120 0 : break;
121 :
122 0 : case SUMD_DECODE_STATE_GOT_LEN:
123 0 : _rxpacket.sumd_data[_rxlen] = byte;
124 0 : _crc16 = crc_xmodem_update(_crc16, byte);
125 0 : _rxlen++;
126 0 : if (_rxlen <= ((_rxpacket.length * 2))) {
127 : #ifdef SUMD_DEBUG
128 : hal.console->printf(" SUMD_DECODE_STATE_GOT_DATA[%d]: %x\n", _rxlen - 2, byte) ;
129 : #endif
130 : } else {
131 0 : _decode_state = SUMD_DECODE_STATE_GOT_DATA;
132 : #ifdef SUMD_DEBUG
133 : hal.console->printf(" SUMD_DECODE_STATE_GOT_DATA -- finish --\n") ;
134 : #endif
135 : }
136 :
137 0 : break;
138 :
139 0 : case SUMD_DECODE_STATE_GOT_DATA:
140 0 : _rxpacket.crc16_high = byte;
141 0 : _decode_state = SUMD_DECODE_STATE_GOT_CRC;
142 : #ifdef SUMD_DEBUG
143 : hal.console->printf(" SUMD_DECODE_STATE_GOT_CRC16[1]: %x [%x]\n", byte, ((_crc16 >> 8) & 0xff)) ;
144 : #endif
145 0 : break;
146 :
147 0 : case SUMD_DECODE_STATE_GOT_CRC:
148 : #ifdef SUMD_DEBUG
149 : hal.console->printf(" SUMD_DECODE_STATE_GOT_CRC[2]: %x [%x]\n\n", byte, (_crc16 & 0xff)) ;
150 : #endif
151 :
152 0 : log_data(AP_RCProtocol::SUMD, timestamp_us, _rxpacket.sumd_data, _rxlen);
153 :
154 0 : if (_crc16 == (uint16_t)(_rxpacket.crc16_high << 8) + byte) {
155 : #ifdef SUMD_DEBUG
156 : hal.console->printf(" CRC - OK \n") ;
157 : hal.console->printf(" Got valid SUMD Packet\n") ;
158 : hal.console->printf(" RXLEN: %d [Chans: %d] \n\n", _rxlen - 1, (_rxlen - 1) / 2) ;
159 : #endif
160 :
161 : uint16_t values[SUMD_MAX_CHANNELS];
162 :
163 : /* received Channels */
164 0 : if ((uint16_t)_rxpacket.length > SUMD_MAX_CHANNELS) {
165 0 : _rxpacket.length = (uint8_t) SUMD_MAX_CHANNELS;
166 : }
167 :
168 : /* decode the actual packet */
169 : /* reorder first 4 channels */
170 :
171 : /* ch1 = roll -> sumd = ch2 */
172 0 : values[0] = (uint16_t)((_rxpacket.sumd_data[1 * 2 + 1] << 8) | _rxpacket.sumd_data[1 * 2 + 2]) >> 3;
173 : /* ch2 = pitch -> sumd = ch2 */
174 0 : values[1] = (uint16_t)((_rxpacket.sumd_data[2 * 2 + 1] << 8) | _rxpacket.sumd_data[2 * 2 + 2]) >> 3;
175 : /* ch3 = throttle -> sumd = ch2 */
176 0 : values[2] = (uint16_t)((_rxpacket.sumd_data[0 * 2 + 1] << 8) | _rxpacket.sumd_data[0 * 2 + 2]) >> 3;
177 : /* ch4 = yaw -> sumd = ch2 */
178 0 : values[3] = (uint16_t)((_rxpacket.sumd_data[3 * 2 + 1] << 8) | _rxpacket.sumd_data[3 * 2 + 2]) >> 3;
179 :
180 : /* we start at channel 5(index 4) */
181 0 : for (uint8_t i = 4; i < _rxpacket.length; i++) {
182 : #ifdef SUMD_DEBUG
183 : hal.console->printf("ch[%u] : %x %x [ %x %d ]\n", i + 1, _rxpacket.sumd_data[i * 2 + 1], _rxpacket.sumd_data[i * 2 + 2],
184 : ((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3,
185 : ((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3);
186 : #endif
187 :
188 0 : values[i] = (uint16_t)((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3;
189 : }
190 0 : add_input(_rxpacket.length, values, (_rxpacket.status == SUMD_ID_FAILSAFE));
191 : #ifdef SUMD_DEBUG
192 : } else {
193 : hal.console->printf(" CRC - fail 0x%X 0x%X\n", _crc16, (uint16_t)(_rxpacket.crc16_high << 8) + byte);
194 : #endif
195 : }
196 :
197 0 : _decode_state = SUMD_DECODE_STATE_UNSYNCED;
198 0 : break;
199 : }
200 0 : }
201 :
202 0 : void AP_RCProtocol_SUMD::process_byte(uint8_t byte, uint32_t baudrate)
203 : {
204 0 : if (baudrate != 115200) {
205 0 : return;
206 : }
207 0 : _process_byte(AP_HAL::micros(), byte);
208 : }
209 :
210 : #endif // AP_RCPROTOCOL_SUMD_ENABLED
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