Revision 0:8ceeb99b4c21, committed 2013-06-23

Comitter:

suupen

Date:

Sun Jun 23 07:25:04 2013 +0000

Commit message:

IRC Helicpoter "SWIFT" Propo codec(decode only) library

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CodecSwift.h	Sun Jun 23 07:25:04 2013 +0000
@@ -0,0 +1,68 @@
+/**
+ * Codec IR Propo of Swift common class
+ * Version 0.0      130623
+ *
+ * Writer:suupen
+ */
+
+#ifndef _CODECSWIFT_H_
+#define _CODECSWIFT_H_
+
+#include <mbed.h>
+
+
+
+class CodecSwift {
+public:
+
+    typedef struct{
+        uint8_t count;
+        uint8_t band;   // 1 to 255
+        float slottle;  // 0(min) to 1.0(max)
+        float ladder;   // -1.0(Left) to 1.0(Right)
+        float elevator;  // -1.0(backward) to 1.0(forward)
+        float trim;     // -1.0 to 1.0
+    } normalizePropo_t;
+
+
+
+    typedef struct{
+        uint8_t count;      // recive count [1/1 [recive]/count]
+        uint8_t band;       // 0x03:A band  0x02:B 0x01:C
+        uint8_t slottle;    // 0x00 - 0x72
+        int8_t trim;      //  -23 to 29
+        int8_t ladder;      // right:1 to 15,  left:-1 to -15
+        int8_t elevator;    // forward: 1 to 15 , backward -1 to -15
+    } swiftPropo_t;
+
+static const uint8_t BAND_A = 0x03;
+static const uint8_t BAND_B = 0x02;
+static const uint8_t BAND_C = 0x01;
+
+static const uint8_t SLOTTLE_MIN = 0x00;
+static const uint8_t SLOTTLE_MAX = 114;
+
+static const int8_t TRIM_MIN = -23;
+static const int8_t TRIM_MAX = 23;
+
+static const int8_t LADDER_MIN = -15;
+static const int8_t LADDER_MAX = 15;
+
+static const int8_t ELEVATOR_MIN = -15;
+static const int8_t ELEVATOR_MAX = 15;
+
+
+private:
+    
+ CodecSwift();
+
+
+};
+
+#endif
+
+
+
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DecodeSwift.cpp	Sun Jun 23 07:25:04 2013 +0000
@@ -0,0 +1,178 @@
+/**
+ * IR Propo Decode class
+ *  Version 0.0     130623
+ *
+ * Writer:suupen
+ */
+ #include "CodecSwift.h"
+ #include "DecodeSwift.h"
+ 
+ /**
+ * Constructor DecodeSwift
+ *
+ */
+ DecodeSwift::DecodeSwift(){
+    // nothing
+ }
+ 
+ /**
+ * Destructor.
+ */
+ DecodeSwift::~DecodeSwift(){
+    // nothing
+ }
+ 
+
+/**
+ * Get swift controller data.
+ *
+ * @param data Pointer to propo recive data.
+ *
+ * @param swift Pointer to swift.
+ *
+ * @return receive answer : ture:recive ok   false:recive ng.
+ */
+bool DecodeSwift::decode(uint8_t *data, CodecSwift::swiftPropo_t *swift) {
+    bool ans = false;
+    int8_t wk1 = 0;
+    int8_t wk2;
+    
+    int8_t wk3;
+    int8_t trimWork;
+    
+    // parity calculate
+   
+    for(uint8_t c=0; c < 3; c++){
+        wk1 += data[c] & 0x3f;
+    }
+    if(0 != (wk1 & 0x0f)){
+        wk1 = wk1 + 0x10 - 0x01;
+    }
+    else{
+        wk1 |= 0x0f;
+    }
+    
+    wk1 &= 0x3f;    
+    wk2 = data[3] & 0x3f;
+    if(wk1 ==  wk2){
+        // parity ok
+        ans =true;
+        swift->count++;      // recive count [1/1 [recive]/count]
+        swift->band = (data[3] >> 6 ) & 0x03;        // 0x03:A band  0x02:B 0x01:C
+        swift->slottle = data[0] & 0x7f;    // 0x00 - 0x72
+        
+        trimWork = data[2] & 0x1F;
+        if((data[2] & 0x20) == 0x20){
+            trimWork = -trimWork;
+        }
+        else{
+            // nothine
+        }
+        swift->trim = trimWork;
+        
+        // right:1 to 15,  left:-1 to -15
+        wk3 = (data[1] >> 4) & 0x0f;
+        if(0x80 == (data[2] & 0x80)){
+            swift->ladder = wk3;
+        }
+        else{
+            swift->ladder = -wk3;
+        }
+  
+        // forward: 1 to 15 , backward -1 to -15
+        wk3 = (data[1] & 0x0f);
+        if(0x40 == (data[2] & 0x40)){
+            swift->elevator = wk3;
+        }
+        else{
+            swift->elevator = -wk3;
+        }
+    }
+    else{
+        // parity ng
+        
+        ans = false;
+    }
+     
+
+    return ans;
+
+}
+
+
+/**
+ * Normalize Swift data.
+ *
+ * @param buf Pointer to propo recive data.
+ *
+ * @param propo normalize propo data.
+ *
+ * @return receive answer : ture:recive ok   false:recive ng.
+ */
+bool DecodeSwift::normalize(uint8_t *buf, CodecSwift::normalizePropo_t *propo) {
+    bool ans = false;
+    bool decodeCheck =false;
+    
+    CodecSwift::swiftPropo_t swift;
+    decodeCheck = DecodeSwift::decode(buf, &swift);
+    
+    if(decodeCheck == true){
+        ans = true;
+     
+        propo->count++;// = swift.count;
+        
+        switch(swift.band){
+        case CodecSwift::BAND_A:
+            propo->band = 1;
+            break;
+        case CodecSwift::BAND_B:
+            propo->band = 2;
+            break;
+        case CodecSwift::BAND_C:
+            propo->band = 3;
+            break;
+        default:
+            propo->band = 0;
+            break;
+        }
+        
+        if(swift.slottle > CodecSwift::SLOTTLE_MAX){swift.slottle = CodecSwift::SLOTTLE_MAX;}
+        propo->slottle = (float)swift.slottle / CodecSwift::SLOTTLE_MAX;
+        
+        if(swift.ladder >= 0){
+            if(swift.ladder > CodecSwift::LADDER_MAX){swift.ladder = CodecSwift::LADDER_MAX;}
+            propo->ladder = (float)swift.ladder / CodecSwift::LADDER_MAX;
+        }
+        else{
+            if(swift.ladder < CodecSwift::LADDER_MIN){swift.ladder = CodecSwift::LADDER_MIN;}        
+            propo->ladder = -((float)swift.ladder / CodecSwift::LADDER_MIN);
+        }
+        
+        if(swift.elevator >= 0){
+            if(swift.elevator > CodecSwift::ELEVATOR_MAX){swift.elevator = CodecSwift::ELEVATOR_MAX;}       
+            propo->elevator = (float)swift.elevator / CodecSwift::ELEVATOR_MAX;
+        }
+        else{
+            if(swift.elevator < CodecSwift::ELEVATOR_MIN){swift.elevator = CodecSwift::ELEVATOR_MIN;}
+            propo->elevator = -((float)swift.elevator / CodecSwift::ELEVATOR_MIN);
+        }
+        
+        if(swift.trim >=0 ){
+            if(swift.trim > CodecSwift::TRIM_MAX){swift.trim = CodecSwift::TRIM_MAX;}
+            propo->trim = (float)swift.trim / CodecSwift::TRIM_MAX;
+        }
+        else{
+            if(swift.trim < CodecSwift::TRIM_MIN){swift.trim = CodecSwift::TRIM_MIN;}
+            propo->trim = -((float)swift.trim / CodecSwift::TRIM_MIN);
+        }
+    }
+    else{
+        // NG
+        ans = false;
+    }
+
+    return ans;
+}
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DecodeSwift.h	Sun Jun 23 07:25:04 2013 +0000
@@ -0,0 +1,63 @@
+/**
+ * Decode IR Propo Swift class
+ *  Version 0.0     130623
+ *
+ * Writer:suupen
+ */
+
+#ifndef _DECODESWIFT_H_
+#define _DECODESWIFT_H_
+
+#include <mbed.h>
+#include "CodecSwift.h"
+
+
+/**
+ * Decode class.
+ */
+class DecodeSwift {
+public:
+
+
+/**
+ * Constructor
+ */
+  DecodeSwift();
+  
+/**
+ * Destructor.
+ */
+  ~DecodeSwift();
+    
+/**
+ * Get swift propo analysis data.
+ *
+ * @param data IR recive data
+ *
+ * @param swift Pointer to swift.
+ *
+ * @return receive answer : ture:recive ok   false:recive ng.
+ */
+    bool decode(uint8_t *data, CodecSwift::swiftPropo_t *swift);
+
+/**
+ * Normalize Swift data.
+ *
+ * @param buf Pointer to propo recive data.
+ *
+ * @param propo normalize propo data.
+ *
+ * @return receive answer : ture:recive ok   false:recive ng.
+ */
+bool normalize(uint8_t *buf, CodecSwift::normalizePropo_t *propo);
+
+private:
+    
+ 
+
+
+};
+
+#endif
+
+