Line data    Source code

       1             : /*
       2             :  * This file is free software: you can redistribute it and/or modify it
       3             :  * under the terms of the GNU General Public License as published by the
       4             :  * Free Software Foundation, either version 3 of the License, or
       5             :  * (at your option) any later version.
       6             :  *
       7             :  * This file is distributed in the hope that it will be useful, but
       8             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      10             :  * See the GNU General Public License for more details.
      11             :  *
      12             :  * You should have received a copy of the GNU General Public License along
      13             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  *
      15             :  * Code by Andrew Tridgell and Siddharth Bharat Purohit
      16             :  */
      17             : 
      18             : #pragma once
      19             : 
      20             : #include "AP_RCProtocol_config.h"
      21             : 
      22             : #if AP_RCPROTOCOL_SUMD_ENABLED
      23             : 
      24             : #include "AP_RCProtocol_Backend.h"
      25             : #include "SoftSerial.h"
      26             : 
      27             : #define SUMD_MAX_CHANNELS       32
      28             : #define SUMD_FRAME_MAXLEN   40
      29             : class AP_RCProtocol_SUMD : public AP_RCProtocol_Backend {
      30             : public:
      31        2094 :     AP_RCProtocol_SUMD(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
      32             :     void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
      33             :     void process_byte(uint8_t byte, uint32_t baudrate) override;
      34             : 
      35             : private:
      36             :     void _process_byte(uint32_t timestamp_us, uint8_t byte);
      37             : 
      38             :     typedef struct {
      39             :         uint8_t status;                                                 ///< 0x01 valid and live SUMD data frame / 0x00 = SUMH / 0x81 = Failsafe
      40             :         uint8_t length;                                                 ///< Channels
      41             :         uint8_t sumd_data[(SUMD_MAX_CHANNELS+1) * 2];   ///< ChannelData (High Byte/ Low Byte)
      42             :         uint8_t crc16_high;                                             ///< High Byte of 16 Bit CRC
      43             :     } ReceiverFcPacketHoTT;
      44             : 
      45             : 
      46             :     enum SUMD_DECODE_STATE {
      47             :         SUMD_DECODE_STATE_UNSYNCED = 0,
      48             :         SUMD_DECODE_STATE_GOT_HEADER,
      49             :         SUMD_DECODE_STATE_GOT_STATE,
      50             :         SUMD_DECODE_STATE_GOT_LEN,
      51             :         SUMD_DECODE_STATE_GOT_DATA,
      52             :         SUMD_DECODE_STATE_GOT_CRC,
      53             :     };
      54             : 
      55             :     enum SUMD_DECODE_STATE _decode_state = SUMD_DECODE_STATE_UNSYNCED;
      56             :     uint8_t _rxlen;
      57             :     ReceiverFcPacketHoTT _rxpacket;
      58             :     uint16_t    _crc16;
      59             :     uint32_t last_packet_us;
      60             : 
      61             :     SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
      62             : };
      63             : 
      64             : #endif  // AP_RCPROTOCOL_SUMD_ENABLED