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Diffstat (limited to 'src/lib/rc/sumd.h')
| -rw-r--r-- | src/lib/rc/sumd.h | 108 |
1 files changed, 108 insertions, 0 deletions
diff --git a/src/lib/rc/sumd.h b/src/lib/rc/sumd.h new file mode 100644 index 000000000..f4793edfc --- /dev/null +++ b/src/lib/rc/sumd.h @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * 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 + * + * @author Marco Bauer <marco@wtns.de> + */ + +#pragma once + +#include <stdint.h> + +__BEGIN_DECLS + +#define SUMD_MAX_CHANNELS 32 +#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 + + + + +#pragma pack(push, 1) +typedef struct { + uint8_t header; ///< 0xA8 for a valid packet + uint8_t status; ///< 0x01 valid and live SUMD data frame / 0x00 = SUMH / 0x81 = Failsafe + uint8_t length; ///< Channels + uint8_t sumd_data[SUMD_MAX_CHANNELS*2]; ///< ChannelData (High Byte/ Low Byte) + uint8_t crc16_high; ///< High Byte of 16 Bit CRC + uint8_t crc16_low; ///< Low Byte of 16 Bit CRC + uint8_t telemetry; ///< Telemetry request + uint8_t crc8; ///< SUMH CRC8 +} ReceiverFcPacketHoTT; +#pragma pack(pop) + + +/** + * CRC16 implementation for SUMD protocol + * + * @param crc Initial CRC Value + * @param value to accumulate in the checksum + * @return the checksum + */ +uint16_t sumd_crc16(uint16_t crc, uint8_t value); + +/** + * CRC8 implementation for SUMH protocol + * + * @param crc Initial CRC Value + * @param value to accumulate in the checksum + * @return the checksum + */ +uint8_t sumd_crc8(uint8_t crc, uint8_t value); + +/** + * Decoder for SUMD/SUMH protocol + * + * @param byte current char to read + * @param rssi pointer to a byte where the RSSI value is written back to + * @param rx_count pointer to a byte where the receive count of packets signce last wireless frame is written back to + * @param channels pointer to a datastructure of size max_chan_count where channel values (12 bit) are written back to + * @param max_chan_count maximum channels to decode - if more channels are decoded, the last n are skipped and success (0) is returned + * @return 0 for success (a decoded packet), 1 for no packet yet (accumulating), 2 for unknown packet, 3 for out of sync, 4 for checksum error + */ +/* +__EXPORT int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, + uint16_t *channels, uint16_t max_chan_count); +*/ +int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, + uint16_t *channels, uint16_t max_chan_count); + + +__END_DECLS |