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Add crc32 for checksums and implement sending proper payloads

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-04-22 01:58:32 +02:00
parent e451466633
commit bacc08e594
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GPG key ID: D850A5F772E880F9
4 changed files with 216 additions and 26 deletions
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97
interface_lib/src/device3.c
View file

@ -31,6 +31,8 @@
#include <Fusion/Fusion.h>
#include <libusb-1.0/libusb.h>
#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;