From 119a205619632076c7b258eaa6c28dd7bcd2c294 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Tue, 14 Feb 2017 10:03:18 -0500 Subject: integrate josh's new work. It works! #19 is just about solved! --- tools/ootx_decode/ootx_decoder.c | 243 --------------------------------------- tools/ootx_decode/ootx_decoder.h | 68 ----------- 2 files changed, 311 deletions(-) delete mode 100644 tools/ootx_decode/ootx_decoder.c delete mode 100644 tools/ootx_decode/ootx_decoder.h (limited to 'tools') diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c deleted file mode 100644 index b5a7b54..0000000 --- a/tools/ootx_decode/ootx_decoder.c +++ /dev/null @@ -1,243 +0,0 @@ -// (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. - -/* ootx data decoder */ - -#include -#include -#include -#include -#include "ootx_decoder.h" -//#include "crc32.h" - -//char* fmt_str = "L Y HMD %d 5 1 206230 %d\n"; - -#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; - ctx->bits_written = 0; - - ctx->preamble = 0XFFFFFFFF; - ctx->bits_processed = 0; - ctx->found_preamble = 0; - - ctx->buffer = (uint8_t*)malloc(MAX_BUFF_SIZE); - ctx->payload_size = (uint16_t*)ctx->buffer; - *(ctx->payload_size) = 0; -} - -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 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); - ctx->preamble |= dbit; - if ((ctx->preamble & 0x0003ffff) == 0x00000001) return 1; - return 0; -} - -void ootx_reset_buffer(ootx_decoder_context *ctx) { - ctx->buf_offset = 0; - ctx->buffer[ctx->buf_offset] = 0; - ctx->bits_written = 0; - *(ctx->payload_size) = 0; -} - -void ootx_inc_buffer_offset(ootx_decoder_context *ctx) { - ++(ctx->buf_offset); - -// assert(ctx->buf_offsetbuf_offset>=MAX_BUFF_SIZE) { - ctx->buf_offset = 0; - ctx->found_preamble = 0; - } - - ctx->buffer[ctx->buf_offset] = 0; -} - -void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) { - uint8_t *current_byte = ctx->buffer + ctx->buf_offset; - - *current_byte <<= 1; -// *current_byte |= (0x01 & dbit); - *current_byte |= dbit; - - ++(ctx->bits_written); - if (ctx->bits_written>7) { - ctx->bits_written=0; -// printf("%d\n", *current_byte); - ootx_inc_buffer_offset(ctx); - } -} - -uint8_t ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) { - uint8_t dbit = ootx_decode_bit(length); - ootx_pump_bit( ctx, dbit ); - return 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 - always look for preamble bits */ - printf("Preamble found\n"); - ootx_reset_buffer(ctx); - ctx->bits_processed = 0; - ctx->found_preamble = 1; - } - else if(ctx->bits_processed>16) { - //every 17th bit needs to be dropped (sync bit) -// printf("drop %d\n", dbit); - ctx->bits_processed = 0; - } - else if (ctx->found_preamble > 0) - { - /* only write to buffer if the preamble is found. - if the buffer overflows, found_preamble will be cleared - and writing will stop. data would be corrupted, so there is no point in continuing - */ - - ootx_write_to_buffer(ctx, dbit); - - 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*)(op.data+padded_length); - - uint32_t crc = crc32( 0L, Z_NULL, 0 ); - crc = crc32( crc, op.data,op.length); - - if (crc != op.crc32) { - if (ootx_bad_crc_clbk != NULL) ootx_bad_crc_clbk(&op,crc); - } - else if (ootx_packet_clbk != NULL) { - 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 deleted file mode 100644 index c707159..0000000 --- a/tools/ootx_decode/ootx_decoder.h +++ /dev/null @@ -1,68 +0,0 @@ -// (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 -#include - -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]; -} 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); - -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 -- cgit v1.2.3