diff options
Diffstat (limited to 'tools/ootx_decode/ootx_decoder.c')
| -rw-r--r-- | tools/ootx_decode/ootx_decoder.c | 183 |
1 files changed, 136 insertions, 47 deletions
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); +}
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