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86 lines
2.9 KiB
C++
86 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "AM32Settings.h"
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#include "../DShotCommon.h"
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#include <px4_platform_common/log.h>
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static constexpr int EEPROM_SIZE = 48; // AM32 sends raw eeprom data
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static constexpr int RESPONSE_SIZE = 49; // 48B data + 1B CRC
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uORB::Publication<am32_eeprom_read_s> AM32Settings::_am32_eeprom_read_pub{ORB_ID(am32_eeprom_read)};
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AM32Settings::AM32Settings(int index)
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: _esc_index(index)
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{}
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int AM32Settings::getExpectedResponseSize()
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{
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return RESPONSE_SIZE;
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}
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void AM32Settings::publish_latest()
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{
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// PX4_INFO("publish_latest()");
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am32_eeprom_read_s data = {};
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data.timestamp = hrt_absolute_time();
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data.index = _esc_index;
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memcpy(data.data, &_eeprom_data, sizeof(data.data));
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_am32_eeprom_read_pub.publish(data);
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}
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bool AM32Settings::decodeInfoResponse(const uint8_t *buf, int size)
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{
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if (size != RESPONSE_SIZE) {
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return false;
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}
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uint8_t checksum = crc8(buf, EEPROM_SIZE);
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uint8_t checksum_data = buf[EEPROM_SIZE];
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if (checksum != checksum_data) {
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PX4_WARN("Command Response checksum failed!");
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return false;
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}
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// PX4_INFO("Successfully received AM32 settings from ESC%d", _esc_index + 1);
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// Store data for retrieval later if requested
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memcpy(&_eeprom_data, buf, EEPROM_SIZE);
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// Publish data immedietly
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publish_latest();
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return true;
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}
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