diff options
author | Josh Allen <axlecrusher@gmail.com> | 2017-02-14 06:12:49 -0500 |
---|---|---|
committer | Josh Allen <axlecrusher@gmail.com> | 2017-02-14 06:12:49 -0500 |
commit | 5509a5722af2e00fed5797b038076c0e7b8cc435 (patch) | |
tree | 02f60aae9ab858366f24ef8b645508b306af4fa7 /tools/ootx_decode | |
parent | 712920777d3b914beda78ac381af9541731bc03f (diff) | |
parent | f0e743ccc98397ee011ea10a6068263b5f3dbae7 (diff) | |
download | libsurvive-5509a5722af2e00fed5797b038076c0e7b8cc435.tar.gz libsurvive-5509a5722af2e00fed5797b038076c0e7b8cc435.tar.bz2 |
Merge branch 'ootx_decoder_context_cleanup'
Diffstat (limited to 'tools/ootx_decode')
-rw-r--r-- | tools/ootx_decode/HMD_Datagen.c | 10 | ||||
-rw-r--r-- | tools/ootx_decode/Makefile | 8 | ||||
-rw-r--r-- | tools/ootx_decode/crc32.c | 103 | ||||
-rw-r--r-- | tools/ootx_decode/crc32.h | 13 | ||||
-rw-r--r-- | tools/ootx_decode/ootx_decode.c | 114 | ||||
-rw-r--r-- | tools/ootx_decode/ootx_decoder.c | 183 | ||||
-rw-r--r-- | tools/ootx_decode/ootx_decoder.h | 39 |
7 files changed, 244 insertions, 226 deletions
diff --git a/tools/ootx_decode/HMD_Datagen.c b/tools/ootx_decode/HMD_Datagen.c index f2e8b19..15ed62c 100644 --- a/tools/ootx_decode/HMD_Datagen.c +++ b/tools/ootx_decode/HMD_Datagen.c @@ -1,4 +1,4 @@ -// (C) 2016 Joshua Allen, MIT/x11 License. +// (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. @@ -9,8 +9,9 @@ #include <stdint.h> #include <time.h> #include <stdlib.h> +#include <zlib.h> -#include "crc32.h" +//this program is broken and does not produce useable data. uint32_t time_stamp = -525198892; @@ -33,7 +34,8 @@ int main(int argc, char* argv[]) print_preamble(); uint16_t payload_lenth = strlen(str); - uint32_t crc = crc32(0xffffffff,(uint8_t*)str,payload_lenth); + uint32_t crc = crc32( 0L, Z_NULL, 0 ); + crc = crc32( crc, (uint8_t*)str,payload_lenth); print_uint16(payload_lenth); print_payload(str,payload_lenth); @@ -98,4 +100,4 @@ void print_bit(uint8_t data) { */ //fire off a callback when a full OOTX packet is received -}
\ No newline at end of file +} diff --git a/tools/ootx_decode/Makefile b/tools/ootx_decode/Makefile index 2c0d01a..9170ac4 100644 --- a/tools/ootx_decode/Makefile +++ b/tools/ootx_decode/Makefile @@ -1,7 +1,7 @@ all: ootx_decode hmd_datagen -hmd_datagen: HMD_Datagen.c crc32.c crc32.h - gcc -Wall HMD_Datagen.c crc32.c -o hmd_datagen +hmd_datagen: HMD_Datagen.c + gcc -Wall HMD_Datagen.c -lz -o hmd_datagen -ootx_decode: ootx_decode.c ootx_decoder.c ootx_decoder.h crc32.c crc32.h - gcc -Wall ootx_decode.c ootx_decoder.c crc32.c -o ootx_decode
\ No newline at end of file +ootx_decode: ootx_decode.c ootx_decoder.c ootx_decoder.h + gcc -Wall ootx_decode.c ootx_decoder.c -lz -o ootx_decode diff --git a/tools/ootx_decode/crc32.c b/tools/ootx_decode/crc32.c deleted file mode 100644 index a719cbf..0000000 --- a/tools/ootx_decode/crc32.c +++ /dev/null @@ -1,103 +0,0 @@ -/*- - * COPYRIGHT (C) 1986 Gary S. Brown. You may use this program, or - * code or tables extracted from it, as desired without restriction. - * - * First, the polynomial itself and its table of feedback terms. The - * polynomial is - * X^32+X^26+X^23+X^22+X^16+X^12+X^11+X^10+X^8+X^7+X^5+X^4+X^2+X^1+X^0 - * - * Note that we take it "backwards" and put the highest-order term in - * the lowest-order bit. The X^32 term is "implied"; the LSB is the - * X^31 term, etc. The X^0 term (usually shown as "+1") results in - * the MSB being 1 - * - * Note that the usual hardware shift register implementation, which - * is what we're using (we're merely optimizing it by doing eight-bit - * chunks at a time) shifts bits into the lowest-order term. In our - * implementation, that means shifting towards the right. Why do we - * do it this way? Because the calculated CRC must be transmitted in - * order from highest-order term to lowest-order term. UARTs transmit - * characters in order from LSB to MSB. By storing the CRC this way - * we hand it to the UART in the order low-byte to high-byte; the UART - * sends each low-bit to hight-bit; and the result is transmission bit - * by bit from highest- to lowest-order term without requiring any bit - * shuffling on our part. Reception works similarly - * - * The feedback terms table consists of 256, 32-bit entries. Notes - * - * The table can be generated at runtime if desired; code to do so - * is shown later. It might not be obvious, but the feedback - * terms simply represent the results of eight shift/xor opera - * tions for all combinations of data and CRC register values - * - * The values must be right-shifted by eight bits by the "updcrc - * logic; the shift must be unsigned (bring in zeroes). On some - * hardware you could probably optimize the shift in assembler by - * using byte-swap instructions - * polynomial $edb88320 - * - * - * CRC32 code derived from work by Gary S. Brown. - */ - -#include <stddef.h> -#include <stdint.h> - -static uint32_t crc32_tab[] = { - 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, - 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, - 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2, - 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, - 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, - 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, - 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c, - 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, - 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, - 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, - 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106, - 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, - 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, - 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, - 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950, - 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, - 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, - 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, - 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa, - 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, - 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, - 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, - 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84, - 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, - 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, - 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, - 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e, - 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, - 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, - 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, - 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28, - 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, - 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, - 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, - 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242, - 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, - 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, - 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, - 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc, - 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, - 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, - 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, - 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d -}; - -uint32_t crc32(uint32_t crc, const void *buf, size_t size) -{ - const uint8_t *p; - - p = buf; - crc = crc ^ ~0U; - - while (size--) - crc = crc32_tab[(crc ^ *p++) & 0xFF] ^ (crc >> 8); - - return crc ^ ~0U; -} diff --git a/tools/ootx_decode/crc32.h b/tools/ootx_decode/crc32.h deleted file mode 100644 index c771d4a..0000000 --- a/tools/ootx_decode/crc32.h +++ /dev/null @@ -1,13 +0,0 @@ -// (C) 2016 Joshua Allen, MIT/x11 License. -// -//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses. - -#ifndef CRC32_H -#define CRC32_H - -#include <stddef.h> -#include <stdint.h> - -uint32_t crc32(uint32_t crc, uint8_t *buf, size_t size); - -#endif
\ No newline at end of file diff --git a/tools/ootx_decode/ootx_decode.c b/tools/ootx_decode/ootx_decode.c index 735b5fc..1074698 100644 --- a/tools/ootx_decode/ootx_decode.c +++ b/tools/ootx_decode/ootx_decode.c @@ -1,4 +1,4 @@ -// (C) 2016 Joshua Allen, MIT/x11 License. +// (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. @@ -12,9 +12,6 @@ #include "ootx_decoder.h" -//char* fmt_str = "L Y HMD %d 5 1 206230 %d\n"; -//extern std::istream cin; - void my_test(ootx_packet* packet) { packet->data[packet->length] = 0; printf("%d %s 0x%X\n", packet->length, packet->data, packet->crc32); @@ -22,79 +19,91 @@ void my_test(ootx_packet* packet) { void my_test2(ootx_packet* packet) { printf("completed ootx packet\n"); + + lighthouse_info_v6 lhi; + init_lighthouse_info_v6(&lhi,packet->data); + print_lighthouse_info_v6(&lhi); // packet->data[packet->length] = 0; // printf("%d %s 0x%X\n", packet->length, packet->data, packet->crc32); } -ootx_decoder_context ctx[2]; -void hello_world_test() { -// ootx_init_buffer(); - ootx_packet_clbk = my_test; +void print_crc32(uint32_t crc) { +// uint8_t* p = (uint32_t*)&crc; +// uint8_t i = 0; - char* line = NULL; - size_t line_len = 0; - char trash[100] = ""; - uint32_t ticks = 0x00; + printf("%X\n", crc); +} - while (getline(&line,&line_len,stdin)>0) { -// printf("%s\n", line); - sscanf(line,"%s %s %s %s %s %s %s %d", - trash, - trash, - trash, - trash, - trash, - trash, - trash, - &ticks); -// printf("%d\n", ticks); +void write_to_file(uint8_t *d, uint16_t length){ + FILE *fp = fopen("binary.data","w"); + fwrite(d, length, 1, fp); + fclose(fp); +} - ootx_process_bit(ctx, ticks); - } +void bad_crc(ootx_packet* packet, uint32_t crc) { + printf("CRC mismatch\n"); + + printf("r:"); + print_crc32(packet->crc32); + + printf("c:"); + print_crc32(crc); + write_to_file(packet->data,packet->length); } -void raw_test() { +ootx_decoder_context ctx[2]; + +void cnlohr_code_test() { ootx_packet_clbk = my_test2; + ootx_bad_crc_clbk = bad_crc; char* line = NULL; size_t line_len = 0; char trash[100] = ""; - int32_t atime = 0x00; + int8_t lh_id = 0x00; uint32_t ticks = 0x00; - uint32_t delta = 0x00; + int32_t delta = 0x00; - int8_t current_lighthouse = 0; + ootx_decoder_context *c_ctx = ctx; while (getline(&line,&line_len,stdin)>0) { -// printf("%s\n", line); - - //HMD 20 0 5881 765645903 -5 - sscanf(line,"%s %s %s %d %d %d", + //R Y HMD -1575410734 -2 7 19714 6485 + sscanf(line,"%s %s %s %s %hhd %s %d %d", + trash, trash, trash, trash, - &ticks, - &atime, - &delta); -// printf("%d\n", ticks); + &lh_id, + trash, //sensor id? + &delta, + &ticks); - int8_t lh = ootx_decode_lighthouse_number(current_lighthouse, ticks, delta); +// int8_t lh = lighthouse_code=='R'?0:1; +// printf("LH:%d %s\n", lh_id, line); + int8_t lh = (lh_id*-1)-1; + if (lh_id < 0) { +// uint8_t bit = 0x01; //bit for debugging purposes - if (lh > -1) { //change to newly found lighthouse - current_lighthouse = lh; -// printf("%d %d %d\n", ticks, delta, current_lighthouse); - ootx_process_bit(ctx+current_lighthouse, ticks); - printf("%d %d %d\n", current_lighthouse, *(ctx->payload_size), ctx->found_preamble); - } + c_ctx = ctx+lh; + +// uint8_t dbit = ootx_decode_bit(ticks); +// printf("LH:%d ticks:%d bit:%X %s", lh, ticks, dbit, line); + + ootx_process_bit(c_ctx, ticks); + /* - if (current_lighthouse >= 0) { - ootx_process_bit(ctx+current_lighthouse, ticks); + uint16_t s = *(c_ctx->payload_size); + uint16_t fwv = *(c_ctx->buffer+2); + uint16_t pv = 0x3f & fwv; //protocol version + fwv>>=6; //firmware version + + //this will print after any messages from ootx_pump +// if (c_ctx->found_preamble>0) printf("LH:%d s:%d 0x%x fw:%d pv:%d bo:%d bit:%d\t%s", current_lighthouse, s, s, fwv, pv, c_ctx->buf_offset, bit, line); +*/ } - -*/ - } + } } int main(int argc, char* argv[]) @@ -102,7 +111,10 @@ int main(int argc, char* argv[]) ootx_init_decoder_context(ctx); ootx_init_decoder_context(ctx+1); - raw_test(); + cnlohr_code_test(); + + ootx_free_decoder_context(ctx); + ootx_free_decoder_context(ctx+1); return 0; }
\ No newline at end of file diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c index b386132..b5a7b54 100644 --- a/tools/ootx_decode/ootx_decoder.c +++ b/tools/ootx_decode/ootx_decoder.c @@ -1,4 +1,4 @@ -// (C) 2016 Joshua Allen, MIT/x11 License. +// (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. @@ -6,16 +6,19 @@ #include <stdio.h> #include <stdlib.h> - +#include <zlib.h> #include <assert.h> #include "ootx_decoder.h" -#include "crc32.h" +//#include "crc32.h" //char* fmt_str = "L Y HMD %d 5 1 206230 %d\n"; -#define MAX_BUFF_SIZE 1024 +#define MAX_BUFF_SIZE 64 void (*ootx_packet_clbk)(ootx_packet* packet) = NULL; +void (*ootx_bad_crc_clbk)(ootx_packet* packet, uint32_t crc) = NULL; + +void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit); void ootx_init_decoder_context(ootx_decoder_context *ctx) { ctx->buf_offset = 0; @@ -29,42 +32,24 @@ void ootx_init_decoder_context(ootx_decoder_context *ctx) { ctx->payload_size = (uint16_t*)ctx->buffer; *(ctx->payload_size) = 0; } -/* -void ootx_init_buffer() { - buffer = (uint8_t*)malloc(MAX_BUFF_SIZE); - payload_size = (uint16_t*)buffer; - *payload_size = 0; -} -*/ - -/* - how to decode pulses - ticks>2000 && delta>100000== master lighthouse - ticks>2000 && delta>10000 == slave lighthouse -*/ - -int8_t ootx_decode_lighthouse_number(uint8_t last_num, uint32_t ticks, int32_t delta) { - if (ticks<2000) return -1; //sweep - if ((ticks > 2000) & (delta>100000)) return 0; //master - if ((ticks > 2000) & (delta>10000)) return last_num+1; //a slave - return -1; -} +void ootx_free_decoder_context(ootx_decoder_context *ctx) { + free(ctx->buffer); + ctx->buffer = NULL; + ctx->payload_size = NULL; +} -uint8_t ootx_decode_bit(uint32_t ticks) { - ticks = ((ticks/500)*500)+500; - - ticks-=3000; - if (ticks>=2000) { ticks-=2000; } - if (ticks>=1000) { return 0xFF; } - - return 0x00; +uint8_t ootx_decode_bit(uint32_t length) { + uint8_t t = (length - 2750) / 500; //why 2750? +// return ((t & 0x02)>0)?0xFF:0x00; //easier if we need to bitshift right + return ((t & 0x02)>>1); } uint8_t ootx_detect_preamble(ootx_decoder_context *ctx, uint8_t dbit) { ctx->preamble <<= 1; - ctx->preamble |= (0x01 & dbit); - if ((ctx->preamble & 0x0001ffff) == 0x01) return 1; +// ctx->preamble |= (0x01 & dbit); + ctx->preamble |= dbit; + if ((ctx->preamble & 0x0003ffff) == 0x00000001) return 1; return 0; } @@ -91,9 +76,11 @@ void ootx_inc_buffer_offset(ootx_decoder_context *ctx) { void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) { uint8_t *current_byte = ctx->buffer + ctx->buf_offset; -// printf("%d\n", dbit); - *current_byte >>= 1; - *current_byte |= (0x80 & dbit); + + *current_byte <<= 1; +// *current_byte |= (0x01 & dbit); + *current_byte |= dbit; + ++(ctx->bits_written); if (ctx->bits_written>7) { ctx->bits_written=0; @@ -102,12 +89,15 @@ void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) { } } -void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) { +uint8_t ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) { uint8_t dbit = ootx_decode_bit(length); - ++(ctx->bits_processed); + ootx_pump_bit( ctx, dbit ); + return dbit; +} -// printf("z %d %d\n", bits_processed,dbit); -// printf("d %d\n", bits_processed,dbit); +void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) { +// uint8_t dbit = ootx_decode_bit(length); + ++(ctx->bits_processed); if ( ootx_detect_preamble(ctx, dbit) ) { /* data stream can start over at any time so we must @@ -131,24 +121,123 @@ void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) { ootx_write_to_buffer(ctx, dbit); - if (ctx->buf_offset >= (*(ctx->payload_size)+6)) { + uint16_t padded_length = *(ctx->payload_size); + padded_length += (padded_length&0x01); //extra null byte if odd + + if (ctx->buf_offset >= (padded_length+6)) { /* once we have a complete ootx packet, send it out in the callback */ ootx_packet op; op.length = *(ctx->payload_size); op.data = ctx->buffer+2; - op.crc32 = *(uint32_t*)(ctx->buffer+2+op.length); + op.crc32 = *(uint32_t*)(op.data+padded_length); - uint32_t crc = crc32(0xffffffff,op.data,op.length); + uint32_t crc = crc32( 0L, Z_NULL, 0 ); + crc = crc32( crc, op.data,op.length); if (crc != op.crc32) { - printf("CRC mismatch\n"); + if (ootx_bad_crc_clbk != NULL) ootx_bad_crc_clbk(&op,crc); + } + else if (ootx_packet_clbk != NULL) { + ootx_packet_clbk(&op); } - - if ((crc == op.crc32) && ootx_packet_clbk) ootx_packet_clbk(&op); ootx_reset_buffer(ctx); } } } +uint8_t* get_ptr(uint8_t* data, uint8_t bytes, uint16_t* idx) { + uint8_t* x = data + *idx; + *idx += bytes; + return x; +} + +float _half_to_float(uint8_t* data) { + //this will not handle infinity, NaN, or denormalized floats + + uint16_t x = *(uint16_t*)data; + float f = 0; + + uint32_t *ftmp = (uint32_t*)&f; //use the allocated floating point memory + + if ((x & 0x7FFF) == 0) return f; //zero + + //sign + *ftmp = x & 0x8000; + *ftmp <<= 16; + + *ftmp += ((((uint32_t)(x & 0x7fff)) + 0x1c000) << 13); + + return f; +} + +void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data) { + uint16_t idx = 0; + /* + uint16_t fw_version;//Firmware version (bit 15..6), protocol version (bit 5..0) + uint32_t id; //Unique identifier of the base station + float fcal_0_phase; //"phase" for rotor 0 + float fcal_1_phase; //"phase" for rotor 1 + float fcal_0_tilt; //"tilt" for rotor 0 + float 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 + float fcal_0_curve; //"curve" for rotor 0 + float 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" + float fcal_0_gibphase; //"gibbous phase" for rotor 0 (normalized angle) + float fcal_1_gibphase; //"gibbous phase" for rotor 1 (normalized angle) + float fcal_0_gibmag; //"gibbous magnitude" for rotor 0 + float 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) + */ + + lhi->fw_version = *(uint16_t*)get_ptr(data,sizeof(uint16_t),&idx); + lhi->id = *(uint32_t*)get_ptr(data,sizeof(uint32_t),&idx); + lhi->fcal_0_phase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->fcal_1_phase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->fcal_0_tilt = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->fcal_1_tilt = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->sys_unlock_count = *get_ptr(data,sizeof(uint8_t),&idx); + lhi->hw_version = *get_ptr(data,sizeof(uint8_t),&idx); + lhi->fcal_0_curve = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->fcal_1_curve = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->accel_dir_x = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx); + lhi->accel_dir_y = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx); + lhi->accel_dir_z = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx); + lhi->fcal_0_gibphase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->fcal_1_gibphase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->fcal_0_gibmag = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->fcal_1_gibmag = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) ); + lhi->mode_current = *get_ptr(data,sizeof(uint8_t),&idx); + lhi->sys_faults = *get_ptr(data,sizeof(uint8_t),&idx); + +} + +void print_lighthouse_info_v6(lighthouse_info_v6* lhi) { + + printf("\t%X\n\t%X\n\t%f\n\t%f\n\t%f\n\t%f\n\t%d\n\t%d\n\t%f\n\t%f\n\t%d\n\t%d\n\t%d\n\t%f\n\t%f\n\t%f\n\t%f\n\t%d\n\t%d\n", + lhi->fw_version, + lhi->id, + lhi->fcal_0_phase, + lhi->fcal_1_phase, + lhi->fcal_0_tilt, + lhi->fcal_1_tilt, + lhi->sys_unlock_count, + lhi->hw_version, + lhi->fcal_0_curve, + lhi->fcal_1_curve, + lhi->accel_dir_x, + lhi->accel_dir_y, + lhi->accel_dir_z, + lhi->fcal_0_gibphase, + lhi->fcal_1_gibphase, + lhi->fcal_0_gibmag, + lhi->fcal_1_gibmag, + lhi->mode_current, + lhi->sys_faults); +}
\ No newline at end of file diff --git a/tools/ootx_decode/ootx_decoder.h b/tools/ootx_decode/ootx_decoder.h index 696fecb..c707159 100644 --- a/tools/ootx_decode/ootx_decoder.h +++ b/tools/ootx_decode/ootx_decoder.h @@ -1,4 +1,4 @@ -// (C) 2016 Joshua Allen, MIT/x11 License. +// (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. @@ -23,15 +23,46 @@ typedef struct { uint32_t preamble; uint8_t bits_processed; uint8_t found_preamble; + + uint8_t bit_count[2]; } ootx_decoder_context; -//void ootx_init_buffer(); -void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length); +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); -int8_t ootx_decode_lighthouse_number(uint8_t last_num, uint32_t ticks, int32_t delta); +void ootx_free_decoder_context(ootx_decoder_context *ctx); + +uint8_t ootx_process_bit(ootx_decoder_context *ctx, uint32_t length); +uint8_t ootx_decode_bit(uint32_t length); extern void (*ootx_packet_clbk)(ootx_packet* packet); +extern void (*ootx_bad_crc_clbk)(ootx_packet* packet, uint32_t crc); #endif
\ No newline at end of file |