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LibrePilot/flight/pios/common/pios_hott.c

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/**
******************************************************************************
* @file pios_hott.c
* @author The LibrePilot Project, http://www.librepilot.org, Copyright (c) 2015
* @author Tau Labs, http://taulabs.org, Copyright (C) 2013-2014
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_HOTT Graupner HoTT receiver functions
* @{
* @brief Graupner HoTT receiver functions for SUMD/H
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios_hott_priv.h"
#if defined(PIOS_INCLUDE_HOTT)
#if !defined(PIOS_INCLUDE_RTC)
#error PIOS_INCLUDE_RTC must be used to use HOTT
#endif
/**
* HOTT protocol documentation
*
* Currently known Graupner HoTT serial port settings:
* 115200bps serial stream, 8 bits, no parity, 1 stop bit
* size of each frame: 11..37 bytes
* data resolution: 14 bit
* frame period: 11ms or 22ms
*
* Currently known SUMD/SUMH frame structure:
* Section Byte_Number Byte_Name Byte_Value Remark
* Header 0 Vendor_ID 0xA8 Graupner
* Header 1 Status 0x00 valid and live SUMH data frame
* 0x01 valid and live SUMD data frame
* 0x81 valid SUMD/H data frame with
* transmitter in fail safe condition
* others invalid frame
* Header 2 N_Channels 0x02..0x20 number of transmitted channels
* Data n*2+1 Channel n MSB 0x00..0xff High Byte of channel n data
* Data n*2+2 Channel n LSB 0x00..0xff Low Byte of channel n data
* SUMD_CRC (N_Channels+1)*2+1 CRC High Byte 0x00..0xff High Byte of 16 Bit CRC
* SUMD_CRC (N_Channels+1)*2+2 CRC Low Byte 0x00..0xff Low Byte of 16 Bit CRC
* SUMH_Telemetry (N_Channels+1)*2+1 Telemetry_Req 0x00..0xff 0x00 no telemetry request
* SUMH_CRC (N_Channels+1)*2+2 CRC Byte 0x00..0xff Low Byte of all added data bytes
* Channel Data Interpretation
* Stick Positon Channel Data Remark
* ext. low (-150%) 0x1c20 900µs
* low (-100%) 0x2260 1100µs
* neutral (0%) 0x2ee0 1500µs
* high (100%) 0x3b60 1900µs
* ext. high(150%) 0x41a0 2100µs
* Channel Mapping (not sure)
* 1 Pitch
* 2 Aileron
* 3 Elevator
* 4 Yaw
* 5 Aux/Gyro on MX-12
* 6 ESC
* 7 Aux/Gyr
*/
/* HOTT frame size and contents definitions */
#define HOTT_HEADER_LENGTH 3
#define HOTT_CRC_LENGTH 2
#define HOTT_MAX_CHANNELS_PER_FRAME 32
#define HOTT_OVERHEAD_LENGTH (HOTT_HEADER_LENGTH + HOTT_CRC_LENGTH)
#define HOTT_MAX_FRAME_LENGTH (HOTT_MAX_CHANNELS_PER_FRAME * 2 + HOTT_OVERHEAD_LENGTH)
#define HOTT_GRAUPNER_ID 0xA8
#define HOTT_STATUS_LIVING_SUMH 0x00
#define HOTT_STATUS_LIVING_SUMD 0x01
#define HOTT_STATUS_FAILSAFE 0x81
#define HOTT_FRAME_TIMEOUT 4
#define HOTT_FAILSAFE_TIMEOUT 64
/* With an Ex.Bus frame rate of 11/22ms (90/45Hz) averaging over 15 samples
* gives about a 165/330ms response.
*/
#define HOTT_FL_WEIGHTED_AVERAGE 20
/* Forward Declarations */
static int32_t PIOS_HOTT_Get(uint32_t rcvr_id, uint8_t channel);
static uint16_t PIOS_HOTT_RxInCallback(uint32_t context,
uint8_t *buf,
uint16_t buf_len,
uint16_t *headroom,
bool *need_yield);
static void PIOS_HOTT_Supervisor(uint32_t hott_id);
static uint8_t PIOS_HOTT_Quality_Get(uint32_t rcvr_id);
/* Local Variables */
const struct pios_rcvr_driver pios_hott_rcvr_driver = {
.read = PIOS_HOTT_Get,
.get_quality = PIOS_HOTT_Quality_Get,
};
enum pios_hott_dev_magic {
PIOS_HOTT_DEV_MAGIC = 0x4853554D,
};
struct pios_hott_state {
uint16_t channel_data[PIOS_HOTT_NUM_INPUTS];
uint8_t received_data[HOTT_MAX_FRAME_LENGTH];
uint8_t receive_timer;
uint8_t failsafe_timer;
uint8_t frame_found;
uint8_t tx_connected;
uint8_t byte_count;
uint8_t frame_length;
float quality;
};
struct pios_hott_dev {
enum pios_hott_dev_magic magic;
const struct pios_hott_cfg *cfg;
enum pios_hott_proto proto;
struct pios_hott_state state;
};
/* Allocate HOTT device descriptor */
static struct pios_hott_dev *PIOS_HOTT_Alloc(void)
{
struct pios_hott_dev *hott_dev;
hott_dev = (struct pios_hott_dev *)pios_malloc(sizeof(*hott_dev));
if (!hott_dev) {
return NULL;
}
hott_dev->magic = PIOS_HOTT_DEV_MAGIC;
return hott_dev;
}
/* Validate HOTT device descriptor */
static bool PIOS_HOTT_Validate(struct pios_hott_dev *hott_dev)
{
return hott_dev->magic == PIOS_HOTT_DEV_MAGIC;
}
/* Reset channels in case of lost signal or explicit failsafe receiver flag */
static void PIOS_HOTT_ResetChannels(struct pios_hott_state *state)
{
for (int i = 0; i < PIOS_HOTT_NUM_INPUTS; i++) {
state->channel_data[i] = PIOS_RCVR_TIMEOUT;
}
}
/* Reset HOTT receiver state */
static void PIOS_HOTT_ResetState(struct pios_hott_state *state)
{
state->receive_timer = 0;
state->failsafe_timer = 0;
state->frame_found = 0;
state->tx_connected = 0;
state->quality = 0.0f;
PIOS_HOTT_ResetChannels(state);
}
/**
* Check and unroll complete frame data.
* \output 0 frame data accepted
* \output -1 frame error found
*/
static int PIOS_HOTT_UnrollChannels(struct pios_hott_dev *hott_dev)
{
struct pios_hott_state *state = &(hott_dev->state);
/* check the header and crc for a valid HoTT SUM stream */
uint8_t vendor = state->received_data[0];
uint8_t status = state->received_data[1];
if (vendor != HOTT_GRAUPNER_ID) {
/* Graupner ID was expected */
goto stream_error;
}
switch (status) {
case HOTT_STATUS_LIVING_SUMH:
case HOTT_STATUS_LIVING_SUMD:
case HOTT_STATUS_FAILSAFE:
/* check crc before processing */
if (hott_dev->proto == PIOS_HOTT_PROTO_SUMD) {
/* SUMD has 16 bit CCITT CRC */
uint16_t crc = 0;
uint8_t *s = &(state->received_data[0]);
int len = state->byte_count - 2;
for (int n = 0; n < len; n++) {
crc ^= (uint16_t)s[n] << 8;
for (int i = 0; i < 8; i++) {
crc = (crc & 0x8000) ? (crc << 1) ^ 0x1021 : (crc << 1);
}
}
if (crc ^ (((uint16_t)s[len] << 8) | s[len + 1])) {
/* wrong crc checksum found */
goto stream_error;
}
}
if (hott_dev->proto == PIOS_HOTT_PROTO_SUMH) {
/* SUMH has only 8 bit added CRC */
uint8_t crc = 0;
uint8_t *s = &(state->received_data[0]);
int len = state->byte_count - 1;
for (int n = 0; n < len; n++) {
crc += s[n];
}
if (crc ^ s[len]) {
/* wrong crc checksum found */
goto stream_error;
}
}
/* check for a living connect */
state->tx_connected |= (status != HOTT_STATUS_FAILSAFE);
break;
default:
/* wrong header format */
goto stream_error;
}
/* check initial connection since reset or timeout */
if (!(state->tx_connected)) {
/* these are failsafe data without a first connect. ignore it */
PIOS_HOTT_ResetChannels(state);
return 0;
}
/* unroll channels */
uint8_t n_channels = state->received_data[2];
uint8_t *s = &(state->received_data[3]);
uint16_t word;
for (int i = 0; i < HOTT_MAX_CHANNELS_PER_FRAME; i++) {
if (i < n_channels) {
word = ((uint16_t)s[0] << 8) | s[1];
s += sizeof(uint16_t);
/* save the channel value */
if (i < PIOS_HOTT_NUM_INPUTS) {
/* floating version. channel limits from -100..+100% are mapped to 1000..2000 */
state->channel_data[i] = (uint16_t)(word / 6.4f - 375);
}
} else {
/* this channel was not received */
state->channel_data[i] = PIOS_RCVR_INVALID;
}
}
/* all channels processed */
return 0;
stream_error:
/* either SUMD selected with SUMH stream found, or vice-versa */
return -1;
}
/* Update decoder state processing input byte from the HoTT stream */
static void PIOS_HOTT_UpdateState(struct pios_hott_dev *hott_dev, uint8_t byte)
{
struct pios_hott_state *state = &(hott_dev->state);
if (state->frame_found) {
/* receiving the data frame */
if (state->byte_count < HOTT_MAX_FRAME_LENGTH) {
/* store next byte */
state->received_data[state->byte_count++] = byte;
if (state->byte_count == HOTT_HEADER_LENGTH) {
/* 3rd byte contains the number of channels. calculate frame size */
state->frame_length = HOTT_OVERHEAD_LENGTH + 2 * byte;
}
if (state->byte_count == state->frame_length) {
uint8_t quality_trend = 0;
/* full frame received - process and wait for new one */
if (!PIOS_HOTT_UnrollChannels(hott_dev)) {
/* data looking good */
state->failsafe_timer = 0;
quality_trend = 100;
}
// Calculate quality trend using weighted average of good frames
state->quality = ((state->quality * (HOTT_FL_WEIGHTED_AVERAGE - 1)) +
quality_trend) / HOTT_FL_WEIGHTED_AVERAGE;
/* prepare for the next frame */
state->frame_found = 0;
}
}
}
}
/* Initialise HoTT receiver interface */
int32_t PIOS_HOTT_Init(uint32_t *hott_id,
const struct pios_com_driver *driver,
uint32_t lower_id,
enum pios_hott_proto proto)
{
PIOS_DEBUG_Assert(hott_id);
PIOS_DEBUG_Assert(driver);
struct pios_hott_dev *hott_dev;
hott_dev = (struct pios_hott_dev *)PIOS_HOTT_Alloc();
if (!hott_dev) {
return -1;
}
/* Bind the configuration to the device instance */
hott_dev->proto = proto;
PIOS_HOTT_ResetState(&(hott_dev->state));
*hott_id = (uint32_t)hott_dev;
/* Set comm driver parameters */
PIOS_DEBUG_Assert(driver->set_config);
driver->set_config(lower_id, PIOS_COM_Word_length_8b, PIOS_COM_Parity_No, PIOS_COM_StopBits_1, 115200);
/* Set irq priority */
if (driver->ioctl) {
uint8_t irq_prio = PIOS_IRQ_PRIO_HIGH;
driver->ioctl(lower_id, PIOS_IOCTL_USART_SET_IRQ_PRIO, &irq_prio);
}
/* Set comm driver callback */
(driver->bind_rx_cb)(lower_id, PIOS_HOTT_RxInCallback, *hott_id);
if (!PIOS_RTC_RegisterTickCallback(PIOS_HOTT_Supervisor, *hott_id)) {
PIOS_DEBUG_Assert(0);
}
return 0;
}
/* Comm byte received callback */
static uint16_t PIOS_HOTT_RxInCallback(uint32_t context,
uint8_t *buf,
uint16_t buf_len,
uint16_t *headroom,
bool *need_yield)
{
struct pios_hott_dev *hott_dev = (struct pios_hott_dev *)context;
bool valid = PIOS_HOTT_Validate(hott_dev);
PIOS_Assert(valid);
/* process byte(s) and clear receive timer */
for (uint8_t i = 0; i < buf_len; i++) {
PIOS_HOTT_UpdateState(hott_dev, buf[i]);
hott_dev->state.receive_timer = 0;
}
/* Always signal that we can accept more data */
if (headroom) {
*headroom = HOTT_MAX_FRAME_LENGTH;
}
/* We never need a yield */
*need_yield = false;
/* Always indicate that all bytes were consumed */
return buf_len;
}
/**
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_HOTT_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_hott_dev *hott_dev = (struct pios_hott_dev *)rcvr_id;
if (!PIOS_HOTT_Validate(hott_dev)) {
return PIOS_RCVR_INVALID;
}
/* return error if channel is not available */
if (channel >= PIOS_HOTT_NUM_INPUTS) {
return PIOS_RCVR_INVALID;
}
/* may also be PIOS_RCVR_TIMEOUT set by other function */
return hott_dev->state.channel_data[channel];
}
static uint8_t PIOS_HOTT_Quality_Get(uint32_t hott_id)
{
struct pios_hott_dev *hott_dev = (struct pios_hott_dev *)hott_id;
bool valid = PIOS_HOTT_Validate(hott_dev);
PIOS_Assert(valid);
struct pios_hott_state *state = &(hott_dev->state);
return (uint8_t)(state->quality + 0.5f);
}
/**
* Input data supervisor is called periodically and provides
* two functions: frame syncing and failsafe triggering.
*
* HOTT frames come at 11ms or 22ms rate at 115200bps.
* RTC timer is running at 625Hz (1.6ms). So with divider 5 it gives
* 8ms pause between frames which is good for both HOTT frame rates.
*
* Data receive function must clear the receive_timer to confirm new
* data reception. If no new data received in 100ms, we must call the
* failsafe function which clears all channels.
*/
static void PIOS_HOTT_Supervisor(uint32_t hott_id)
{
struct pios_hott_dev *hott_dev = (struct pios_hott_dev *)hott_id;
bool valid = PIOS_HOTT_Validate(hott_dev);
PIOS_Assert(valid);
struct pios_hott_state *state = &(hott_dev->state);
/* waiting for new frame if no bytes were received in 8ms */
if (++state->receive_timer > HOTT_FRAME_TIMEOUT) {
state->frame_found = 1;
state->byte_count = 0;
state->receive_timer = 0;
state->frame_length = HOTT_MAX_FRAME_LENGTH;
}
/* activate failsafe if no frames have arrived in 102.4ms */
if (++state->failsafe_timer > HOTT_FAILSAFE_TIMEOUT) {
PIOS_HOTT_ResetChannels(state);
state->failsafe_timer = 0;
state->tx_connected = 0;
state->quality = 0.0f;
}
}
#endif /* PIOS_INCLUDE_HOTT */
/**
* @}
* @}
*/
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