/* st24 decoder, based on PX4Firmware/src/rc/lib/rc/st24.c from PX4Firmware modified for use in AP_HAL_* by Andrew Tridgell */ /**************************************************************************** * * Copyright (c) 2014 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 st24.cpp * * RC protocol implementation for Yuneec ST24 transmitter. * * @author Lorenz Meier */ #include #include #include "st24.h" #define ST24_DATA_LEN_MAX 64 #define ST24_STX1 0x55 #define ST24_STX2 0x55 enum ST24_PACKET_TYPE { ST24_PACKET_TYPE_CHANNELDATA12 = 0, ST24_PACKET_TYPE_CHANNELDATA24, ST24_PACKET_TYPE_TRANSMITTERGPSDATA }; #pragma pack(push, 1) typedef struct { uint8_t header1; ///< 0x55 for a valid packet uint8_t header2; ///< 0x55 for a valid packet uint8_t length; ///< length includes type, data, and crc = sizeof(type)+sizeof(data[payload_len])+sizeof(crc8) uint8_t type; ///< from enum ST24_PACKET_TYPE uint8_t st24_data[ST24_DATA_LEN_MAX]; uint8_t crc8; ///< crc8 checksum, calculated by st24_common_crc8 and including fields length, type and st24_data } ReceiverFcPacket; /** * RC Channel data (12 channels). * * This is incoming from the ST24 */ typedef struct { uint16_t t; ///< packet counter or clock uint8_t rssi; ///< signal strength uint8_t packet_count; ///< Number of UART packets sent since reception of last RF frame (this tells something about age / rate) uint8_t channel[18]; ///< channel data, 12 channels (12 bit numbers) } ChannelData12; /** * RC Channel data (12 channels). * */ typedef struct { uint16_t t; ///< packet counter or clock uint8_t rssi; ///< signal strength uint8_t packet_count; ///< Number of UART packets sent since reception of last RF frame (this tells something about age / rate) uint8_t channel[36]; ///< channel data, 24 channels (12 bit numbers) } ChannelData24; /** * Telemetry packet * * This is outgoing to the ST24 * * imuStatus: * 8 bit total * bits 0-2 for status * - value 0 is FAILED * - value 1 is INITIALIZING * - value 2 is RUNNING * - values 3 through 7 are reserved * bits 3-7 are status for sensors (0 or 1) * - mpu6050 * - accelerometer * - primary gyro x * - primary gyro y * - primary gyro z * * pressCompassStatus * 8 bit total * bits 0-3 for compass status * - value 0 is FAILED * - value 1 is INITIALIZING * - value 2 is RUNNING * - value 3 - 15 are reserved * bits 4-7 for pressure status * - value 0 is FAILED * - value 1 is INITIALIZING * - value 2 is RUNNING * - value 3 - 15 are reserved * */ typedef struct { uint16_t t; ///< packet counter or clock int32_t lat; ///< lattitude (degrees) +/- 90 deg int32_t lon; ///< longitude (degrees) +/- 180 deg int32_t alt; ///< 0.01m resolution, altitude (meters) int16_t vx, vy, vz; ///< velocity 0.01m res, +/-320.00 North-East- Down uint8_t nsat; /// 1000..2000 */ #define ST24_RANGE_MIN 0.0f #define ST24_RANGE_MAX 4096.0f #define ST24_TARGET_MIN 1000.0f #define ST24_TARGET_MAX 2000.0f /* pre-calculate the floating point stuff as far as possible at compile time */ #define ST24_SCALE_FACTOR ((ST24_TARGET_MAX - ST24_TARGET_MIN) / (ST24_RANGE_MAX - ST24_RANGE_MIN)) #define ST24_SCALE_OFFSET (int)(ST24_TARGET_MIN - (ST24_SCALE_FACTOR * ST24_RANGE_MIN + 0.5f)) static enum ST24_DECODE_STATE _decode_state = ST24_DECODE_STATE_UNSYNCED; static uint8_t _rxlen; static ReceiverFcPacket _rxpacket; static uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len) { uint8_t i, crc ; crc = 0; while (len--) { for (i = 0x80; i != 0; i >>= 1) { if ((crc & 0x80) != 0) { crc <<= 1; crc ^= 0x07; } else { crc <<= 1; } if ((*ptr & i) != 0) { crc ^= 0x07; } } ptr++; } return (crc); } int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, uint16_t *channels, uint16_t max_chan_count) { int ret = 1; switch (_decode_state) { case ST24_DECODE_STATE_UNSYNCED: if (byte == ST24_STX1) { _decode_state = ST24_DECODE_STATE_GOT_STX1; } else { ret = 3; } break; case ST24_DECODE_STATE_GOT_STX1: if (byte == ST24_STX2) { _decode_state = ST24_DECODE_STATE_GOT_STX2; } else { _decode_state = ST24_DECODE_STATE_UNSYNCED; } break; case ST24_DECODE_STATE_GOT_STX2: /* ensure no data overflow failure or hack is possible */ if ((unsigned)byte <= sizeof(_rxpacket.length) + sizeof(_rxpacket.type) + sizeof(_rxpacket.st24_data)) { _rxpacket.length = byte; _rxlen = 0; _decode_state = ST24_DECODE_STATE_GOT_LEN; } else { _decode_state = ST24_DECODE_STATE_UNSYNCED; } break; case ST24_DECODE_STATE_GOT_LEN: _rxpacket.type = byte; _rxlen++; _decode_state = ST24_DECODE_STATE_GOT_TYPE; break; case ST24_DECODE_STATE_GOT_TYPE: _rxpacket.st24_data[_rxlen - 1] = byte; _rxlen++; if (_rxlen == (_rxpacket.length - 1)) { _decode_state = ST24_DECODE_STATE_GOT_DATA; } break; case ST24_DECODE_STATE_GOT_DATA: _rxpacket.crc8 = byte; _rxlen++; if (st24_common_crc8((uint8_t *) & (_rxpacket.length), _rxlen) == _rxpacket.crc8) { ret = 0; /* decode the actual packet */ switch (_rxpacket.type) { case ST24_PACKET_TYPE_CHANNELDATA12: { ChannelData12 *d = (ChannelData12 *)_rxpacket.st24_data; *rssi = d->rssi; *rx_count = d->packet_count; /* this can lead to rounding of the strides */ *channel_count = (max_chan_count < 12) ? max_chan_count : 12; unsigned stride_count = (*channel_count * 3) / 2; unsigned chan_index = 0; for (unsigned i = 0; i < stride_count; i += 3) { channels[chan_index] = ((uint16_t)d->channel[i] << 4); channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4); /* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */ channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET; chan_index++; channels[chan_index] = ((uint16_t)d->channel[i + 2]); channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8); /* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */ channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET; chan_index++; } } break; case ST24_PACKET_TYPE_CHANNELDATA24: { ChannelData24 *d = (ChannelData24 *)&_rxpacket.st24_data; *rssi = d->rssi; *rx_count = d->packet_count; /* this can lead to rounding of the strides */ *channel_count = (max_chan_count < 24) ? max_chan_count : 24; unsigned stride_count = (*channel_count * 3) / 2; unsigned chan_index = 0; for (unsigned i = 0; i < stride_count; i += 3) { channels[chan_index] = ((uint16_t)d->channel[i] << 4); channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4); /* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */ channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET; chan_index++; channels[chan_index] = ((uint16_t)d->channel[i + 2]); channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8); /* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */ channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET; chan_index++; } } break; case ST24_PACKET_TYPE_TRANSMITTERGPSDATA: { // ReceiverFcPacket* d = (ReceiverFcPacket*)&_rxpacket.st24_data; /* we silently ignore this data for now, as it is unused */ ret = 2; } break; default: ret = 2; break; } } else { /* decoding failed */ ret = 4; } _decode_state = ST24_DECODE_STATE_UNSYNCED; break; } return ret; }