137 lines
3.2 KiB
C++
137 lines
3.2 KiB
C++
/*
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* sent_decoder.h
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*
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* SENT protocol decoder header
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*
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* @date Oct 01, 2022
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* @author Andrey Gusakov <dron0gus@gmail.com>, (c) 2022-2024
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*/
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#pragma once
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#include <stdint.h>
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/* Maximum slow shannel mailboxes */
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#define SENT_SLOW_CHANNELS_MAX 32
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/* collect statistic */
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#define SENT_STATISTIC_COUNTERS 1
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typedef enum
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{
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SENT_STATE_CALIB = 0,
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SENT_STATE_INIT,
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SENT_STATE_SYNC,
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SENT_STATE_STATUS,
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SENT_STATE_SIG1_DATA1,
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SENT_STATE_SIG1_DATA2,
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SENT_STATE_SIG1_DATA3,
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SENT_STATE_SIG2_DATA1,
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SENT_STATE_SIG2_DATA2,
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SENT_STATE_SIG2_DATA3,
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SENT_STATE_CRC,
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} SENT_STATE_enum;
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struct sent_channel_stat {
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uint32_t hwOverflowCnt;
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uint32_t ShortIntervalErr;
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uint32_t LongIntervalErr;
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uint32_t SyncErr;
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uint32_t CrcErrCnt;
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uint32_t FrameCnt;
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uint32_t PauseCnt;
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uint32_t RestartCnt;
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/* Slow channel */
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uint32_t sc12; //12-bit data, 8-bit message ID
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uint32_t sc16; //16-bit data, 4-bit message ID
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uint32_t scCrcErr;
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uint32_t getTotalError() {
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return ShortIntervalErr + LongIntervalErr + SyncErr + CrcErrCnt;
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}
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float getErrorRate() {
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return 1.0 * getTotalError() / (FrameCnt + getTotalError());
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}
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};
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#define SENT_FLAG_HW_OVERFLOW (1 << 0)
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class sent_channel {
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private:
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SENT_STATE_enum state = SENT_STATE_CALIB;
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/* Unit interval in timer clocks - adjusted on SYNC */
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uint32_t tickPerUnit = 0;
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uint32_t pulseCounter = 0;
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/* pulses skipped in init or calibration state while waiting for SYNC */
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uint32_t currentStatePulseCounter = 0;
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bool pausePulseReceived = false;
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/* fast channel shift register*/
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uint32_t rxReg;
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bool hasValidFast = false;
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/* fast channel last received valid message */
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uint32_t rxLast;
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/* slow channel shift registers */
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uint32_t scShift2; /* shift register for bit 2 from status nibble */
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uint32_t scShift3; /* shift register for bit 3 from status nibble */
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uint32_t scCrcShift; /* shift register for special order for CRC6 calculation */
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/* Slow channel decoder and helpers */
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int StoreSlowChannelValue(uint8_t id, uint16_t data);
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int FastChannelDecoder(uint32_t clocks);
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int SlowChannelDecoder();
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void SlowChannelDecoderReset();
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/* CRC */
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uint8_t crc4(uint32_t data);
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uint8_t crc4_gm(uint32_t data);
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uint8_t crc4_gm_v2(uint32_t data);
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/* Slow channel CRC6 */
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uint8_t crc6(uint32_t data);
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/* calc unit tick time from sync pulse */
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void calcTickPerUnit(uint32_t clocks);
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/* check if current pulse looks like sync pulse */
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bool isSyncPulse(uint32_t clocks);
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void restart();
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public:
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/* slow channel data */
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struct {
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uint16_t data;
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uint8_t id;
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bool valid;
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} scMsg[SENT_SLOW_CHANNELS_MAX];
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/* Statistic counters */
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#if SENT_STATISTIC_COUNTERS
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sent_channel_stat statistic;
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#endif // SENT_STATISTIC_COUNTERS
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/* Decoder */
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int Decoder(uint32_t clocks, uint8_t flags = 0);
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/* Get last raw message */
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int GetMsg(uint32_t* rx);
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/* Unpack last valid message to status, signal0 and signal1
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* Note:
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* sig0 is nibbles 0 .. 2, where nibble 0 is MSB
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* sig1 is nibbles 5 .. 3, where nibble 5 is MSB */
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int GetSignals(uint8_t *pStat, uint16_t *pSig0, uint16_t *pSig1);
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/* Get slow channel value for given ID 8*/
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int GetSlowChannelValue(uint8_t id);
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/* Current tick time in CPU/timer clocks */
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float getTickTime();
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/* Show status */
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void Info();
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};
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