Created generic Tramp protocol interface (#5527)
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39904a3065
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@ -58,6 +58,7 @@ COMMON_SRC = \
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fc/runtime_config.c \
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fc/runtime_config.c \
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interface/msp.c \
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interface/msp.c \
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interface/msp_box.c \
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interface/msp_box.c \
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interface/tramp_protocol.c \
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io/beeper.c \
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io/beeper.c \
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io/piniobox.c \
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io/piniobox.c \
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io/serial.c \
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io/serial.c \
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@ -0,0 +1,94 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <string.h>
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#include "platform.h"
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#include "common/utils.h"
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#include "interface/tramp_protocol.h"
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#define TRAMP_SYNC_START 0x0F
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#define TRAMP_SYNC_STOP 0x00
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#define TRAMP_COMMAND_SET_FREQ 'F' // 0x46
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#define TRAMP_COMMAND_SET_POWER 'P' // 0x50
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#define TRAMP_COMMAND_ACTIVE_STATE 'I' // 0x49
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#define TRAMP_COMMAND_GET_CONFIG 'v' // 0x76
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static uint8_t trampCrc(const trampFrame_t *frame)
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{
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uint8_t crc = 0;
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const uint8_t *p = (const uint8_t *)frame;
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const uint8_t *pEnd = p + (TRAMP_HEADER_LENGTH + TRAMP_PAYLOAD_LENGTH);
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for (; p != pEnd; p++) {
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crc += *p;
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}
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return crc;
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}
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static void trampFrameInit(uint8_t frameType, trampFrame_t *frame)
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{
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frame->header.syncStart = TRAMP_SYNC_START;
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frame->header.command = frameType;
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const uint8_t emptyPayload[TRAMP_PAYLOAD_LENGTH] = { 0 };
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memcpy(frame->payload.buf, emptyPayload, sizeof(frame->payload.buf));
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}
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static void trampFrameClose(trampFrame_t *frame)
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{
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frame->footer.crc = trampCrc(frame);
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frame->footer.syncStop = TRAMP_SYNC_STOP;
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}
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void trampFrameGetSettings(trampFrame_t *frame)
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{
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trampFrameInit(TRAMP_COMMAND_GET_CONFIG, frame);
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trampFrameClose(frame);
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}
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void trampFrameSetFrequency(trampFrame_t *frame, const uint16_t frequency)
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{
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trampFrameInit(TRAMP_COMMAND_SET_FREQ, frame);
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frame->payload.frequency = frequency;
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trampFrameClose(frame);
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}
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void trampFrameSetPower(trampFrame_t *frame, const uint16_t power)
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{
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trampFrameInit(TRAMP_COMMAND_SET_POWER, frame);
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frame->payload.power = power;
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trampFrameClose(frame);
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}
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void trampFrameSetActiveState(trampFrame_t *frame, const bool active)
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{
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trampFrameInit(TRAMP_COMMAND_ACTIVE_STATE, frame);
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frame->payload.active = (uint8_t) active;
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trampFrameClose(frame);
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}
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bool trampParseResponseBuffer(trampSettings_t *settings, const uint8_t *buffer, size_t bufferLen)
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{
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if (bufferLen != TRAMP_FRAME_LENGTH) {
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return false;
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}
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const trampFrame_t *frame = (const trampFrame_t *)buffer;
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const uint8_t crc = trampCrc(frame);
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if (crc != frame->footer.crc) {
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return false;
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}
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memcpy(settings, &frame->payload.settings, sizeof(*settings));
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return true;
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}
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@ -0,0 +1,68 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "drivers/serial.h"
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#define TRAMP_SERIAL_OPTIONS SERIAL_NOT_INVERTED | SERIAL_BIDIR
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#define TRAMP_BAUD 9600
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#define TRAMP_PAYLOAD_LENGTH 12
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typedef struct trampSettings_s {
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uint16_t frequency;
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uint16_t power;
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uint8_t raceModeEnabled;
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uint8_t pitModeEnabled;
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} __attribute__((packed)) trampSettings_t;
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typedef struct trampFrameHeader_s {
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uint8_t syncStart;
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uint8_t command;
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} __attribute__((packed)) trampFrameHeader_t;
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#define TRAMP_HEADER_LENGTH sizeof(trampFrameHeader_t)
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typedef struct trampFrameFooter_s {
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uint8_t crc;
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uint8_t syncStop;
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} __attribute__((packed)) trampFrameFooter_t;
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typedef union trampPayload_u {
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uint8_t buf[TRAMP_PAYLOAD_LENGTH];
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trampSettings_t settings;
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uint16_t frequency;
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uint16_t power;
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uint8_t active;
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} trampPayload_t;
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typedef struct trampFrame_s {
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trampFrameHeader_t header;
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trampPayload_t payload;
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trampFrameFooter_t footer;
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} __attribute__((packed)) trampFrame_t;
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#define TRAMP_FRAME_LENGTH sizeof(trampFrame_t)
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STATIC_ASSERT(sizeof(trampFrameHeader_t) == 2, trampInterface_headerSizeMismatch);
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STATIC_ASSERT(sizeof(trampFrame_t) == 16, trampInterface_frameSizeMismatch);
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void trampFrameGetSettings(trampFrame_t *frame);
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void trampFrameSetFrequency(trampFrame_t *frame, const uint16_t frequency);
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void trampFrameSetPower(trampFrame_t *frame, const uint16_t power);
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void trampFrameSetActiveState(trampFrame_t *frame, const bool active);
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bool trampParseResponseBuffer(trampSettings_t *settings, const uint8_t *buffer, size_t bufferLen);
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