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bizhang_-obav/src/drivers/distance_sensor/airlango/isl2950_parser.cpp
Claudio Micheli dd300dca0a Solved frequency rate issue. Now driver publish at ~10Hz. 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
2019-01-15 09:17:24 +01:00

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/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file isl2950_parser.cpp
* @author Claudio Micheli
* claudio@auterion.com
*
*/
#include "isl2950_parser.h"
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include "isl2950_parser.h"
#include <string.h>
#include <stdlib.h>
typedef unsigned char UCHAR;
typedef unsigned short USHORT;
// Note : No clue what those static variables are
static const UCHAR aucCRCHi[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40
};
static const UCHAR aucCRCLo[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
0x41, 0x81, 0x80, 0x40
};
// TOF frame format
//
// 1B 1B 1B 1B 2B
// | 0xA5 | 0x5A | distance-MSB | distance-LSB | crc-16 |
//
// Frame data saved for CRC calculation
const static int TOF_DISTANCE_MSB_POS = 2;
const static int TOF_DISTANCE_LSB_POS = 3;
const static int TOF_CRC_CALC_DATA_LEN = 4;
USHORT usMBCRC16(UCHAR* pucFrame, USHORT usLen) {
UCHAR ucCRCHi = 0xFF;
UCHAR ucCRCLo = 0xFF;
int iIndex;
while (usLen--) {
iIndex = ucCRCLo ^ *(pucFrame++);
ucCRCLo = (UCHAR)(ucCRCHi ^ aucCRCHi[iIndex]);
ucCRCHi = aucCRCLo[iIndex];
}
return (USHORT)(ucCRCHi << 8 | ucCRCLo);
}
int isl2950_parser(uint8_t c, uint8_t *parserbuf, ISL2950_PARSE_STATE *state, uint16_t *crc16, int *dist)
{
int ret = -1;
// int bytes_processed = 0;
// uint8_t b = buffer[bytes_processed++]; // Can be removed
// printf("parse byte 0x%02X \n", b);
switch (*state) {
case TFS_NOT_STARTED:
if (c == TOF_SFD1) {
*state = TFS_GOT_SFD1;
//printf("Got SFD1 \n");
}
break;
case TFS_GOT_SFD1:
if (c == TOF_SFD2) {
*state = TFS_GOT_SFD2;
//printf("Got SFD2 \n");
}
// @NOTE (claudio@auterion.com): Strange thing, if second byte is wrong we skip all the frame !!
else if (c == TOF_SFD1) {
*state = TFS_GOT_SFD1;
// printf("Discard previous SFD1, Got new SFD1 \n");
} else {
*state = TFS_NOT_STARTED;
}
break;
case TFS_GOT_SFD2:
*state = TFS_GOT_DATA1;
parserbuf[TOF_DISTANCE_MSB_POS] = c; // MSB Data
//printf("Got DATA1 0x%02X \n", c);
break;
case TFS_GOT_DATA1:
*state = TFS_GOT_DATA2;
parserbuf[TOF_DISTANCE_LSB_POS] = c; // LSB Data
//printf("Got DATA2 0x%02X \n", c);
// do crc calculation
*crc16 = usMBCRC16(parserbuf, TOF_CRC_CALC_DATA_LEN);
// convert endian
*crc16 = (*crc16 >> 8) | (*crc16 << 8);
break;
case TFS_GOT_DATA2:
if (c == (*crc16 >> 8)) {
*state = TFS_GOT_CHECKSUM1;
} else {
printf("Checksum invalid on high byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
//*state = TFS_NOT_STARTED;
*state = TFS_GOT_CHECKSUM1; // Forcing to print the value anyway
}
break;
case TFS_GOT_CHECKSUM1:
// Here, reset state to `NOT-STARTED` no matter crc ok or not
*state = TFS_NOT_STARTED;
/*if (c == (*crc16 & 0xFF)) {
//printf("Checksum verified \n");
*dist = (parserbuf[TOF_DISTANCE_MSB_POS] << 8) | parserbuf[TOF_DISTANCE_LSB_POS];
return OK;
}*/
*dist = (parserbuf[TOF_DISTANCE_MSB_POS] << 8) | parserbuf[TOF_DISTANCE_LSB_POS];
return OK;
break;
default:
printf("This should never happen. \n");
break;
}
// SOME STUFFS
return ret;
}
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