From bacc08e5943722570a51e62c9e97b3470484988d Mon Sep 17 00:00:00 2001 From: TheJackiMonster Date: Sat, 22 Apr 2023 01:58:32 +0200 Subject: [PATCH] Add crc32 for checksums and implement sending proper payloads Signed-off-by: TheJackiMonster --- interface_lib/CMakeLists.txt | 1 + interface_lib/include/crc32.h | 40 +++++++++++++ interface_lib/src/crc32.c | 104 ++++++++++++++++++++++++++++++++++ interface_lib/src/device3.c | 97 ++++++++++++++++++++++--------- 4 files changed, 216 insertions(+), 26 deletions(-) create mode 100644 interface_lib/include/crc32.h create mode 100644 interface_lib/src/crc32.c diff --git a/interface_lib/CMakeLists.txt b/interface_lib/CMakeLists.txt index a77daa4..13e5ae2 100644 --- a/interface_lib/CMakeLists.txt +++ b/interface_lib/CMakeLists.txt @@ -8,6 +8,7 @@ pkg_search_module(LIBUSB1 REQUIRED libusb-1.0) add_library( nrealAirLibrary + src/crc32.c src/device3.c src/device4.c ) diff --git a/interface_lib/include/crc32.h b/interface_lib/include/crc32.h new file mode 100644 index 0000000..50be774 --- /dev/null +++ b/interface_lib/include/crc32.h @@ -0,0 +1,40 @@ +#pragma once +// +// Created by thejackimonster on 21.04.23. +// +// Copyright (c) 2023 thejackimonster. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +// THE SOFTWARE. +// + +#ifndef __cplusplus +#include +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +uint32_t crc32_checksum(const uint8_t* buf, uint32_t len); + +#ifdef __cplusplus +} // extern "C" +#endif diff --git a/interface_lib/src/crc32.c b/interface_lib/src/crc32.c new file mode 100644 index 0000000..9cf8809 --- /dev/null +++ b/interface_lib/src/crc32.c @@ -0,0 +1,104 @@ +// +// Created by thejackimonster on 21.04.23. +// +// Copyright (c) 2023 thejackimonster. All rights reserved. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +// THE SOFTWARE. +// + +#include "crc32.h" + +const uint32_t crc32_table [256] = { + 0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, + 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, + 0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, + 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91, + 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, + 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, + 0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, + 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, + 0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, + 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B, + 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, + 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59, + 0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, + 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F, + 0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, + 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D, + 0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, + 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433, + 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, + 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, + 0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, + 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457, + 0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, + 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65, + 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, + 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, + 0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, + 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9, + 0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, + 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F, + 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, + 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD, + 0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, + 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683, + 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, + 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, + 0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, + 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7, + 0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, + 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5, + 0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, + 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, + 0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, + 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79, + 0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, + 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F, + 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, + 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D, + 0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, + 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713, + 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, + 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, + 0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, + 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777, + 0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, + 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45, + 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, + 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, + 0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, + 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9, + 0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, + 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF, + 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, + 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D +}; + +uint32_t crc32_checksum(const uint8_t* buf, uint32_t len) { + uint32_t CRC32_data = 0xFFFFFFFF; + for (uint32_t i = 0; i < len; i++) { + const uint8_t t = (CRC32_data ^ buf[i]) & 0xFF; + CRC32_data = ((CRC32_data >> 8) & 0xFFFFFF) ^ crc32_table[t]; + } + + return ~CRC32_data; +} + + diff --git a/interface_lib/src/device3.c b/interface_lib/src/device3.c index 5d29d64..a8a079b 100644 --- a/interface_lib/src/device3.c +++ b/interface_lib/src/device3.c @@ -31,6 +31,8 @@ #include #include +#include "crc32.h" + struct device3_calibration_t { FusionMatrix gyroscopeMisalignment; FusionVector gyroscopeSensitivity; @@ -44,6 +46,73 @@ struct device3_calibration_t { FusionVector hardIronOffset; }; +static bool send_payload(device3_type* device, uint8_t size, uint8_t* payload) { + if (!device->claimed) { + return false; + } + + int payload_size = size; + if (payload_size > device->max_packet_size_out) { + payload_size = device->max_packet_size_out; + } + + int transferred = 0; + int error = libusb_bulk_transfer( + device->handle, + device->endpoint_address_out, + payload, + payload_size, + &transferred, + 0 + ); + + if ((0 != error) || (transferred != payload_size)) { + perror("ERROR\n"); + return false; + } + + return (transferred == size); +} + +#define DEVICE3_MSG_GET_CAL_DATA_LENGTH 0x14 +#define DEVICE3_MSG_CAL_DATA_GET_NEXT_SEGMENT 0x15 +#define DEVICE3_MSG_ALLOCATE_CAL_DATA_BUFFER 0x16 +#define DEVICE3_MSG_WRITE_CAL_DATA_SEGMENT 0x17 +#define DEVICE3_MSG_FREE_CAL_BUFFER 0x18 +#define DEVICE3_MSG_START_IMU_DATA 0x19 +#define DEVICE3_MSG_GET_STATIC_ID 0x1A +#define DEVICE3_MSG_UNKNOWN 0x1D + +struct __attribute__((__packed__)) device3_payload_packet_t { + uint8_t head; + uint32_t checksum; + uint16_t length; + uint8_t msgid; + uint8_t data [56]; +}; + +typedef struct device3_payload_packet_t device3_payload_packet_type; + +static bool send_payload_msg(device3_type* device, uint8_t msgid, uint8_t len, const uint8_t* data) { + device3_payload_packet_type packet; + + const uint16_t packet_len = 3 + len; + const uint16_t payload_len = 5 + packet_len; + + packet.head = 0xAA; + packet.length = packet_len; + packet.msgid = msgid; + + memcpy(packet.data, data, len); + packet.checksum = crc32_checksum((const uint8_t*) (&packet.length), packet.length); + + return send_payload(device, payload_len, (uint8_t*) (&packet)); +} + +static bool send_payload_msg_signal(device3_type* device, uint8_t msgid, uint8_t signal) { + return send_payload_msg(device, msgid, 1, &signal); +} + device3_type* device3_open(device3_event_callback callback) { device3_type* device = (device3_type*) malloc(sizeof(device3_type)); @@ -140,32 +209,8 @@ device3_type* device3_open(device3_event_callback callback) { device->claimed = true; } - if (device->claimed) { - uint8_t initial_imu_payload [9] = { - 0xaa, 0xc5, 0xd1, 0x21, - 0x42, 0x04, 0x00, 0x19, - 0x01 - }; - - int size = device->max_packet_size_out; - if (sizeof(initial_imu_payload) < size) { - size = sizeof(initial_imu_payload); - } - - int transferred = 0; - int error = libusb_bulk_transfer( - device->handle, - device->endpoint_address_out, - initial_imu_payload, - size, - &transferred, - 0 - ); - - if ((0 != error) || (transferred != sizeof(initial_imu_payload))) { - perror("ERROR\n"); - return device; - } + if (!send_payload_msg_signal(device, DEVICE3_MSG_START_IMU_DATA, 0x1)) { + return device; } const uint32_t SAMPLE_RATE = 1000;