sent_logic.h

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/**
 * sent_logic.h
 */
 
#pragma once
 
#ifndef SENT_CHANNELS_NUM
#define SENT_CHANNELS_NUM       4 // Number of sent channels
#endif
 
/* Maximum slow shannel mailboxes, DO NOT CHANGE */
#define SENT_SLOW_CHANNELS_MAX  16
 
/* collect statistic */
#define SENT_STATISTIC_COUNTERS 1
 
typedef enum
{
    SENT_STATE_CALIB = 0,
    SENT_STATE_INIT,
    SENT_STATE_SYNC,
    SENT_STATE_STATUS,
    SENT_STATE_SIG1_DATA1,
    SENT_STATE_SIG1_DATA2,
    SENT_STATE_SIG1_DATA3,
    SENT_STATE_SIG2_DATA1,
    SENT_STATE_SIG2_DATA2,
    SENT_STATE_SIG2_DATA3,
    SENT_STATE_CRC,
} SENT_STATE_enum;
 
struct sent_channel_stat {
    uint32_t hwOverflowCnt;
 
    uint32_t ShortIntervalErr;
    uint32_t LongIntervalErr;
    uint32_t SyncErr;
    uint32_t CrcErrCnt;
    uint32_t FrameCnt;
    uint32_t PauseCnt;
    uint32_t RestartCnt;
 
    /* Slow channel */
    uint32_t sc;
    uint32_t scCrcErr;
uint32_t getTotalError() {
    return ShortIntervalErr + LongIntervalErr + SyncErr + CrcErrCnt;
}
 
float getErrorRate() {
    return 1.0 * getTotalError() / (FrameCnt + getTotalError());
}
 
};
 
class sent_channel {
private:
    SENT_STATE_enum state = SENT_STATE_CALIB;
 
    /* Unit interval in timer clocks - adjusted on SYNC */
    uint32_t tickPerUnit = 0;
    uint32_t pulseCounter = 0;
    /* pulses skipped in init or calibration state while waiting for SYNC */
    uint32_t currentStatePulseCounter = 0;
    bool pausePulseReceived = false;
 
    /* fast channel shift register*/
    uint32_t rxReg;
    bool hasValidFast = false;
    /* fast channel last received valid message */
    uint32_t rxLast;
 
    /* slow channel shift registers and flags */
    uint16_t scMsgFlags;
    uint32_t scShift2;  /* shift register for bit 2 from status nibble */
    uint32_t scShift3;  /* shift register for bit 3 from status nibble */
    uint32_t scCrcShift;    /* shift register for special order for CRC6 calculation */
    /* Slow channel decoder and helpers */
    int StoreSlowChannelValue(uint8_t id, uint16_t data);
    int FastChannelDecoder(uint32_t clocks);
    int SlowChannelDecoder();
    void SlowChannelDecoderReset();
 
    /* CRC */
    uint8_t crc4(uint32_t data);
    uint8_t crc4_gm(uint32_t data);
    uint8_t crc4_gm_v2(uint32_t data);
    /* Slow channel CRC6 */
    uint8_t crc6(uint32_t data);
 
    /* calc unit tick time from sync pulse */
    void calcTickPerUnit(uint32_t clocks);
 
    /* check if current pulse looks like sync pulse */
    bool isSyncPulse(uint32_t clocks);
 
    void restart();
 
public:
    /* slow channel data */
    struct {
        uint16_t data;
        uint8_t id;
    } scMsg[SENT_SLOW_CHANNELS_MAX];
 
    /* Statistic counters */
#if SENT_STATISTIC_COUNTERS
    sent_channel_stat statistic;
#endif // SENT_STATISTIC_COUNTERS
 
    /* Decoder */
    int Decoder(uint32_t clocks, uint8_t flags = 0);
 
    /* Get last raw message */
    int GetMsg(uint32_t* rx);
    /* Unpack last valid message to status, signal0 and signal1
     * Note:
     * sig0 is nibbles 0 .. 2, where nibble 0 is MSB
     * sig1 is nibbles 5 .. 3, where nibble 5 is MSB */
    int GetSignals(uint8_t *pStat, uint16_t *pSig0, uint16_t *pSig1);
 
    /* Get slow channel value for given ID 8*/
    int GetSlowChannelValue(uint8_t id);
 
    /* Current tick time in CPU/timer clocks */
    float getTickTime();
 
    /* Show status */
    void Info();
};