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author | CNLohr <charles@cnlohr.com> | 2017-02-14 10:06:23 -0500 |
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committer | GitHub <noreply@github.com> | 2017-02-14 10:06:23 -0500 |
commit | 23a202f50fc0f9eb9127bebaf34c48d45776a25c (patch) | |
tree | d99f9611314c7a565190570e2c337f8ffc6ae9c3 /src/ootx_decoder.h | |
parent | f782146df94b3b54965c2aed696d49e86870046d (diff) | |
parent | 119a205619632076c7b258eaa6c28dd7bcd2c294 (diff) | |
download | libsurvive-23a202f50fc0f9eb9127bebaf34c48d45776a25c.tar.gz libsurvive-23a202f50fc0f9eb9127bebaf34c48d45776a25c.tar.bz2 |
Merge pull request #27 from cnlohr/cal_with_ootx
Cal with ootx
Diffstat (limited to 'src/ootx_decoder.h')
-rw-r--r-- | src/ootx_decoder.h | 72 |
1 files changed, 72 insertions, 0 deletions
diff --git a/src/ootx_decoder.h b/src/ootx_decoder.h new file mode 100644 index 0000000..8ddf527 --- /dev/null +++ b/src/ootx_decoder.h @@ -0,0 +1,72 @@ +// (C) 2017 Joshua Allen, MIT/x11 License. +// +//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses. + +#ifndef OOTX_DECODER_H +#define OOTX_DECODER_H + +#include <stddef.h> +#include <stdint.h> + +typedef struct { + uint16_t length; + uint8_t* data; + uint32_t crc32; +} ootx_packet; + +typedef struct { + uint8_t* buffer; + uint16_t buf_offset; + uint8_t bits_written; + uint16_t* payload_size; + + uint32_t preamble; + uint8_t bits_processed; + uint8_t found_preamble; + + uint8_t bit_count[2]; + + void * user; + int user1; +} ootx_decoder_context; + + +typedef float float16; + +typedef struct { + uint16_t fw_version;//Firmware version (bit 15..6), protocol version (bit 5..0) + uint32_t id; //Unique identifier of the base station + float16 fcal_0_phase; //"phase" for rotor 0 + float16 fcal_1_phase; //"phase" for rotor 1 + float16 fcal_0_tilt; //"tilt" for rotor 0 + float16 fcal_1_tilt; //"tilt" for rotor 1 + uint8_t sys_unlock_count; //Lowest 8 bits of the rotor desynchronization counter + uint8_t hw_version; //Hardware version + float16 fcal_0_curve; //"curve" for rotor 0 + float16 fcal_1_curve; //"curve" for rotor 1 + int8_t accel_dir_x; //"orientation vector" + int8_t accel_dir_y; //"orientation vector" + int8_t accel_dir_z; //"orientation vector" + float16 fcal_0_gibphase; //"gibbous phase" for rotor 0 (normalized angle) + float16 fcal_1_gibphase; //"gibbous phase" for rotor 1 (normalized angle) + float16 fcal_0_gibmag; //"gibbous magnitude" for rotor 0 + float16 fcal_1_gibmag; //"gibbous magnitude" for rotor 1 + uint8_t mode_current; //Currently selected mode (default: 0=A, 1=B, 2=C) + uint8_t sys_faults; //"fault detect flags" (should be 0) +} lighthouse_info_v6; + +void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data); +void print_lighthouse_info_v6(lighthouse_info_v6* lhi); + +void ootx_init_decoder_context(ootx_decoder_context *ctx); +void ootx_free_decoder_context(ootx_decoder_context *ctx); + +uint8_t ootx_process_bit(ootx_decoder_context *ctx, uint32_t length); +void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit); + +uint8_t ootx_decode_bit(uint32_t length); + +extern void (*ootx_packet_clbk)(ootx_decoder_context *ctx, ootx_packet* packet); +extern void (*ootx_bad_crc_clbk)(ootx_decoder_context *ctx, ootx_packet* packet, uint32_t crc); + +#endif |