OPMobile/cccom.cpp at master · metropt/OPMobile · GitHub

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#include "cccom.h"

const quint8 crc_table[256] = {
    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
    0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
    0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
    0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
    0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
    0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
    0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
    0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
    0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
    0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
    0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
    0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
    0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
    0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
    0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
    0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};

typedef struct {
    quint16 Channel[6];

} __attribute__((packed)) GCSReceiver;

cccom::cccom(QObject *parent) :
    QObject(parent)
{
    socketCCOut = new QUdpSocket;
    //socketCCOut->connectToHost("192.168.1.67", 2000);
    socketCCOut->connectToHost("169.254.1.1", 2000);
    socketCCOut->waitForConnected(1000);
    if (socketCCOut->state()==QUdpSocket::ConnectedState){
        //qDebug() << "Connected";
    }else
        exit(-1);

    QTimer *timer = new QTimer(this);
    QObject::connect(timer,SIGNAL(timeout()),this,SLOT(timerUpdate()));
    //QObject::connect(timer, SIGNAL(timeout()), Joystick, SLOT(timerUpdate()));
    timer->start(20);
}

void cccom::timerUpdate(){

    quint8 headerData[8] = {
        0x3c, 0x20, 0x14, 0x00, 0xbc, 0x2b, 0x7e, 0xcc
    };

    GCSReceiver channels;

    qDebug()<<throttleStick<<yawStick<<pitchStick<<rollStick;

    channels.Channel[0]=throttleStick;
    channels.Channel[1]=rollStick;
    channels.Channel[2]=pitchStick;
    channels.Channel[3]=yawStick;
    channels.Channel[4]=1059;
    channels.Channel[5]=0;

    quint8 packet[21];
    memcpy(&packet,&headerData,8);
    memcpy(&packet[8],&channels,12);
    packet[20]=0xaa;
    quint8 crcTemp=0x00;
    crcTemp = updateCRC(crcTemp,packet,20);
    packet[20] = crcTemp;

    //qDebug()<<"Timer:"<<QByteArray::fromRawData((char*)packet,21).toHex();
    socketCCOut->write((char*)packet,21);

}

quint8 cccom::updateCRC(quint8 crc, const quint8 data)
{
    return crc_table[crc ^ data];
}

quint8 cccom::updateCRC(quint8 crc, const quint8* data, qint32 length)
{
    while (length--)
        crc = crc_table[crc ^ *data++];

    return crc;
}

void cccom::updateSticksTY(int t, int y){
    //throttleStick=mapValues(t,350.0,0.0,1055.0,1600.0);
    throttleStick=mapValues(t,0.0,350.0,1055.0,1600.0);
    if(throttleStick<1056)
        throttleStick=1056;
    //qDebug()<<"t"<<throttleStick<<t;

    //yawStick=mapValues(y,0.0,350.0,1181.0,1781.0);
    yawStick=mapValues(y,350.0,0.0,1181.0,1781.0);
    if(yawStick<1181)
        yawStick=1181;
    if(yawStick>1781)
        yawStick=1781;
    //qDebug()<<"y"<<yawStick<<y;
}

void cccom::updateSticksPR(int p, int r){
    //pitchStick=mapValues(p,0.0,350.0,1173.0,1773.0);
    pitchStick=mapValues(p,350.0,0.0,1173.0,1773.0);
    if(pitchStick<1173)
        pitchStick=1173;
    if(pitchStick>1773)
        pitchStick=1773;
    //qDebug()<<"p"<<pitchStick<<p;

    //rollStick=mapValues(r,0.0,350.0,1060.0,1904.0);
    rollStick=mapValues(r,350.0,0.0,1060.0,1904.0);
    if(rollStick<1061)
        rollStick=1061;
    if(rollStick>1903)
        rollStick=1903 ;
    //qDebug()<<"r"<<rollStick<<r;
}

float cccom::mapValues(float x, float in_min, float in_max, float out_min, float out_max)
{
    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}