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rc lib: Update code style

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This commit is contained in:
Lorenz Meier
2015-10-19 13:51:57 +02:00
parent 2b8e981a7d
commit 571c4aebac
2 changed files with 111 additions and 65 deletions
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src/lib/rc/sumd.c
+108 -62
View File
@@ -95,9 +95,11 @@ uint16_t sumd_crc16(uint16_t crc, uint8_t value)
{
int i;
crc ^= (uint16_t)value << 8;
for (i = 0; i < 8; i++) {
crc = (crc & 0x8000) ? (crc << 1) ^ 0x1021 : (crc << 1);
}
return crc;
}
@@ -108,15 +110,17 @@ uint8_t sumd_crc8(uint8_t crc, uint8_t value)
}
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)
uint16_t max_chan_count)
{
int ret = 1;
switch (_decode_state) {
case SUMD_DECODE_STATE_UNSYNCED:
if(_debug)
printf( " SUMD_DECODE_STATE_UNSYNCED \n") ;
if (_debug) {
printf(" SUMD_DECODE_STATE_UNSYNCED \n") ;
}
if (byte == SUMD_HEADER_ID) {
_rxpacket.header = byte;
_sumd = true;
@@ -127,9 +131,11 @@ int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channe
_crc16 = sumd_crc16(_crc16, byte);
_crc8 = sumd_crc8(_crc8, byte);
_decode_state = SUMD_DECODE_STATE_GOT_HEADER;
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_HEADER: %x \n", byte) ;
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_HEADER: %x \n", byte) ;
}
} else {
ret = 3;
}
@@ -139,17 +145,23 @@ int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channe
case SUMD_DECODE_STATE_GOT_HEADER:
if (byte == SUMD_ID_SUMD || byte == SUMD_ID_SUMH) {
_rxpacket.status = byte;
if (byte == SUMD_ID_SUMH) {
_sumd = false;
}
if (_sumd) {
_crc16 = sumd_crc16(_crc16, byte);
} else {
_crc8 = sumd_crc8(_crc8, byte);
_crc8 = sumd_crc8(_crc8, byte);
}
_decode_state = SUMD_DECODE_STATE_GOT_STATE;
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_STATE: %x \n", byte) ;
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_STATE: %x \n", byte) ;
}
} else {
_decode_state = SUMD_DECODE_STATE_UNSYNCED;
@@ -160,50 +172,65 @@ int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channe
case SUMD_DECODE_STATE_GOT_STATE:
if (byte >= 2 && byte <= SUMD_MAX_CHANNELS) {
_rxpacket.length = byte;
if (_sumd) {
_crc16 = sumd_crc16(_crc16, byte);
} else {
_crc8 = sumd_crc8(_crc8, byte);
_crc8 = sumd_crc8(_crc8, byte);
}
_rxlen++;
_decode_state = SUMD_DECODE_STATE_GOT_LEN;
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_LEN: %x (%d) \n", byte, byte) ;
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_LEN: %x (%d) \n", byte, byte) ;
}
} else {
_decode_state = SUMD_DECODE_STATE_UNSYNCED;
}
break;
case SUMD_DECODE_STATE_GOT_LEN:
_rxpacket.sumd_data[_rxlen] = byte;
if (_sumd) {
_crc16 = sumd_crc16(_crc16, byte);
} else {
_crc8 = sumd_crc8(_crc8, byte);
_crc8 = sumd_crc8(_crc8, byte);
}
_rxlen++;
if (_rxlen <= ((_rxpacket.length*2) )) {
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_DATA[%d]: %x\n", _rxlen-2, byte) ;
if (_rxlen <= ((_rxpacket.length * 2))) {
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_DATA[%d]: %x\n", _rxlen - 2, byte) ;
}
} else {
_decode_state = SUMD_DECODE_STATE_GOT_DATA;
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_DATA -- finish --\n") ;
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_DATA -- finish --\n") ;
}
}
break;
case SUMD_DECODE_STATE_GOT_DATA:
_rxpacket.crc16_high = byte;
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_CRC16[1]: %x [%x]\n", byte, ((_crc16 >> 8) & 0xff)) ;
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_CRC16[1]: %x [%x]\n", byte, ((_crc16 >> 8) & 0xff)) ;
}
if (_sumd) {
_decode_state = SUMD_DECODE_STATE_GOT_CRC;
} else {
_decode_state = SUMD_DECODE_STATE_GOT_CRC16_BYTE_1;
}
@@ -212,91 +239,108 @@ int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channe
case SUMD_DECODE_STATE_GOT_CRC16_BYTE_1:
_rxpacket.crc16_low = byte;
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_CRC16[2]: %x [%x]\n", byte, (_crc16 & 0xff)) ;
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_CRC16[2]: %x [%x]\n", byte, (_crc16 & 0xff)) ;
}
_decode_state = SUMD_DECODE_STATE_GOT_CRC16_BYTE_2;
break;
case SUMD_DECODE_STATE_GOT_CRC16_BYTE_2:
_rxpacket.telemetry = byte;
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_SUMH_TELEMETRY: %x\n", byte) ;
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_SUMH_TELEMETRY: %x\n", byte) ;
}
_decode_state = SUMD_DECODE_STATE_GOT_CRC;
break;
case SUMD_DECODE_STATE_GOT_CRC:
if (_sumd) {
_rxpacket.crc16_low = byte;
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_CRC[2]: %x [%x]\n\n", byte, (_crc16 & 0xff)) ;
if (_crc16 == (uint16_t)(_rxpacket.crc16_high<<8)+_rxpacket.crc16_low) {
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_CRC[2]: %x [%x]\n\n", byte, (_crc16 & 0xff)) ;
}
if (_crc16 == (uint16_t)(_rxpacket.crc16_high << 8) + _rxpacket.crc16_low) {
_crcOK = true;
}
} else {
_rxpacket.crc8 = byte;
if(_debug)
printf( " SUMD_DECODE_STATE_GOT_CRC8_SUMH: %x [%x]\n\n", byte, _crc8) ;
if (_debug) {
printf(" SUMD_DECODE_STATE_GOT_CRC8_SUMH: %x [%x]\n\n", byte, _crc8) ;
}
if (_crc8 == _rxpacket.crc8) {
_crcOK = true;
}
}
if (_crcOK) {
if(_debug)
printf( " CRC - OK \n") ;
if (_debug) {
printf(" CRC - OK \n") ;
}
if (_sumd) {
if(_debug)
printf( " Got valid SUMD Packet\n") ;
if (_debug) {
printf(" Got valid SUMD Packet\n") ;
}
} else {
if(_debug)
printf( " Got valid SUMH Packet\n") ;
if (_debug) {
printf(" Got valid SUMH Packet\n") ;
}
}
if (_debug) {
printf(" RXLEN: %d [Chans: %d] \n\n", _rxlen - 1, (_rxlen - 1) / 2) ;
}
if(_debug)
printf( " RXLEN: %d [Chans: %d] \n\n", _rxlen-1, (_rxlen-1)/2) ;
ret = 0;
unsigned i;
uint8_t _cnt = *rx_count + 1;
*rx_count = _cnt;
*rssi = 100;
/* received Channels */
if ((uint16_t)_rxpacket.length > max_chan_count) {
_rxpacket.length = (uint8_t) max_chan_count;
}
*channel_count = (uint16_t)_rxpacket.length;
/* decode the actual packet */
/* reorder first 4 channels */
/* ch1 = roll -> sumd = ch2 */
channels[0] = (uint16_t)((_rxpacket.sumd_data[1*2+1]<<8) | _rxpacket.sumd_data[1*2+2])>>3;
channels[0] = (uint16_t)((_rxpacket.sumd_data[1 * 2 + 1] << 8) | _rxpacket.sumd_data[1 * 2 + 2]) >> 3;
/* ch2 = pitch -> sumd = ch2 */
channels[1] = (uint16_t)((_rxpacket.sumd_data[2*2+1]<<8) | _rxpacket.sumd_data[2*2+2])>>3;
channels[1] = (uint16_t)((_rxpacket.sumd_data[2 * 2 + 1] << 8) | _rxpacket.sumd_data[2 * 2 + 2]) >> 3;
/* ch3 = throttle -> sumd = ch2 */
channels[2] = (uint16_t)((_rxpacket.sumd_data[0*2+1]<<8) | _rxpacket.sumd_data[0*2+2])>>3;
channels[2] = (uint16_t)((_rxpacket.sumd_data[0 * 2 + 1] << 8) | _rxpacket.sumd_data[0 * 2 + 2]) >> 3;
/* ch4 = yaw -> sumd = ch2 */
channels[3] = (uint16_t)((_rxpacket.sumd_data[3*2+1]<<8) | _rxpacket.sumd_data[3*2+2])>>3;
channels[3] = (uint16_t)((_rxpacket.sumd_data[3 * 2 + 1] << 8) | _rxpacket.sumd_data[3 * 2 + 2]) >> 3;
/* we start at channel 5(index 4) */
unsigned chan_index = 4;
for (i = 4; i < _rxpacket.length; i++) {
if(_debug)
printf( "ch[%d] : %x %x [ %x %d ]\n", i+1, _rxpacket.sumd_data[i*2+1], _rxpacket.sumd_data[i*2+2], ((_rxpacket.sumd_data[i*2+1]<<8) | _rxpacket.sumd_data[i*2+2])>>3, ((_rxpacket.sumd_data[i*2+1]<<8) | _rxpacket.sumd_data[i*2+2])>>3);
channels[chan_index] = (uint16_t)((_rxpacket.sumd_data[i*2+1]<<8) | _rxpacket.sumd_data[i*2+2])>>3;
if (_debug) {
printf("ch[%d] : %x %x [ %x %d ]\n", i + 1, _rxpacket.sumd_data[i * 2 + 1], _rxpacket.sumd_data[i * 2 + 2],
((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3,
((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3);
}
channels[chan_index] = (uint16_t)((_rxpacket.sumd_data[i * 2 + 1] << 8) | _rxpacket.sumd_data[i * 2 + 2]) >> 3;
/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
//channels[chan_index] = (uint16_t)(channels[chan_index] * SUMD_SCALE_FACTOR + .5f) + SUMD_SCALE_OFFSET;
@@ -306,8 +350,10 @@ int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channe
} else {
/* decoding failed */
ret = 4;
if(_debug)
printf( " CRC - fail \n") ;
if (_debug) {
printf(" CRC - fail \n") ;
}
}
src/lib/rc/sumd.h
+3 -3
View File
@@ -60,7 +60,7 @@ 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 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
@@ -102,7 +102,7 @@ __EXPORT int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_
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);
uint16_t *channels, uint16_t max_chan_count);
__END_DECLS