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hyp0dermik-codehyp0dermik-code
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implement bidir support
fix checksum verification - only affects error msg not calculation
1 parent 01cd970 commit a971515

1 file changed

Lines changed: 72 additions & 108 deletions

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‎pd.py‎

Lines changed: 72 additions & 108 deletions
Original file line numberDiff line numberDiff line change
@@ -97,140 +97,104 @@ def metadata(self, key, value):
9797
if key == srd.SRD_CONF_SAMPLERATE:
9898
self.samplerate = value
9999

100-
# def handle_bits(self, result):
101-
# for thing in results:
102-
# bit, ss, es = thing
103-
104-
# if len(bits) == 16:
105-
# dshot_value = int(reduce(lambda a, b: (a << 1) | b, self.bits[:11]))
106-
# telem_request = self.bits[11]
107-
# received_crc = int(reduce(lambda a, b: (a << 1) | b, self.bits[12:]))
100+
def handle_bits(self, results):
101+
#ss, es, bit
102+
#print(results)
103+
bits = [result[2] for result in results]
104+
# print(bits)
105+
106+
107+
if len(bits) == 16:
108+
dshot_value = int(reduce(lambda a, b: (a << 1) | b, bits[:11]))
109+
telem_request = bits[11]
110+
received_crc = int(reduce(lambda a, b: (a << 1) | b, bits[12:]))
108111

109-
# value_tocrc = int(reduce(lambda a, b: (a << 1) | b, self.bits[:12]))
112+
value_tocrc = int(reduce(lambda a, b: (a << 1) | b, bits[:12]))
110113

111-
# calculated_crc = ((~(value_tocrc ^ (value_tocrc >> 4) ^ (value_tocrc >> 8))) & 0x0F)
114+
calculated_crc = int((~(value_tocrc ^ (value_tocrc >> 4) ^ (value_tocrc >> 8)))&0x0F)
112115

113-
# crc_ok = True if value_tocrc == calculated_crc else False
116+
if received_crc == calculated_crc:
117+
crc_ok = True
118+
else:
119+
crc_ok = False
114120

115-
# # TODO: Align this correctly
116-
# crc_startsample = samplenum-(self.actual_period*5)
121+
# TODO: Align this correctly
122+
crc_startsample = results[12][0]
117123

118-
# # Split annotation based on value type
119-
# if dshot_value < 48:
120-
# # Command
121-
# self.put(self.ss_packet, crc_startsample, self.out_ann,
122-
# [1, ['%04d' % dshot_value]])
123-
# else:
124-
# # Throttle
125-
# self.put(self.ss_packet, crc_startsample, self.out_ann,
126-
# [2, ['%04d' % dshot_value]])
127-
128-
# self.put(crc_startsample, samplenum, self.out_ann, [3, ['Calc CRC: '+('%04d' % calculated_crc)+' TXed CRC:'+('%04d' % received_crc)]])
129-
# if not crc_ok:
130-
# self.put(crc_startsample, samplenum, self.out_ann,
131-
# [4, ['CRC INVALID']])
124+
# Split annotation based on value type
125+
if dshot_value < 48:
126+
# Command
127+
self.put(results[0][0], crc_startsample, self.out_ann,
128+
[1, ['%04d' % dshot_value]])
129+
else:
130+
# Throttle
131+
self.put(results[0][0], crc_startsample, self.out_ann,
132+
[2, ['%04d' % dshot_value]])
133+
134+
self.put(crc_startsample, results[15][1], self.out_ann, [3, ['Calc CRC: '+('%04d' % calculated_crc)+' TXed CRC:'+('%04d' % received_crc)]])
135+
if not crc_ok:
136+
self.put(crc_startsample, results[15][1], self.out_ann,
137+
[4, ['CRC INVALID']])
132138

133139

134-
# self.bits = []
135-
# self.ss_packet = None
136-
# else:
137-
# self.put(self.es, self.samplenum, self.out_ann,
138-
# [1, ['ERROR: INVALID PACKET LENGTH', 'ERR', 'E']])
140+
self.bits = []
141+
self.ss_packet = None
142+
else:
143+
return
144+
# self.put(results[0][0], results[-1::1][1], self.out_ann,
145+
# [1, ['ERROR: INVALID PACKET LENGTH', 'ERR', 'E']])
139146

140147

141148
def handle_bit(self, ss, es, nb_ss):
142149

143-
period = nb_ss - es
150+
period = nb_ss - ss
144151
duty = es - ss
145152
# Ideal duty for T0H: 33%, T1H: 66%.
146153
bit_ = (duty / period) > 0.5
147154

148155
self.put(ss, nb_ss, self.out_ann,
149156
[0, ['%d' % bit_]])
150-
return ss,nb_ss,bit_
151-
152-
# def handle_notbit(self):
153-
# self.inreset = False
154-
# self.es = self.samplenum
155-
156-
# def check_reset(self):
157-
# # Decode last bit value.
158-
# tH = (self.es - self.ss) / self.samplerate
159-
160-
# # High if greater than half the period
161-
# bit_ = True if tH >= (self.dshot_period/2) else False
162-
163-
# self.bits.append(bit_)
164-
# self.handle_bits(self.es)
157+
return [ss,nb_ss,bit_]
165158

166-
# self.put(self.ss, self.es, self.out_ann, [0, ['%d' % bit_]])
167-
# # self.put(self.es, self.samplenum, self.out_ann,
168-
# # [1, ['RESET', 'RST', 'R']])
169-
170-
# self.inreset = True
171-
# self.bits = []
172-
# self.ss_packet = None
173-
# self.ss = None
159+
174160
def decode(self):
175161
if not self.samplerate:
176162
raise SamplerateError('Cannot decode without samplerate.')
177163

178164
results = []
179165
while True:
180-
# TODO: Come up with more appropriate self.wait() conditions.
181-
# (pin,) = self.wait()
182-
183-
# if self.oldpin is None:
184-
# self.oldpin = pin
185-
# continue
186-
187-
# Check idle condition if longer is greater than 2x max period
188-
# TODO: Confirm this with spec
189166
if not self.bidirectional:
190-
191-
192167
pins = self.wait([{0: 'r'},{0: 'f'},{'skip':self.samples_toreset}])
193-
if self.currbit_ss and self.currbit_es and self.matched[2]:
194-
# Have seen start and end of a potential bit but no further change within 3 periods
195-
results += self.handle_bit(self.currbit_ss,self.currbit_es,(self.currbit_ss+self.samples_pp))
196-
self.currbit_ss = None
197-
self.currbit_es = None
198-
199-
if self.matched[0] and self.currbit_ss is None:
200-
# Start of bit
201-
self.currbit_ss = self.samplenum
202-
elif self.matched[1] and self.currbit_es is None:
203-
# End of bit
204-
self.currbit_es = self.samplenum
205-
206-
elif self.matched[0]:
207-
# Have complete bit, can handle bit now
208-
results += self.handle_bit(self.currbit_ss,self.currbit_es,self.samplenum)
209-
self.currbit_ss = self.samplenum
210-
self.currbit_es = None
211-
# print(results)
212-
#print(self.samplerate*self.dshot_period*2)
213-
# Start of next bit
214-
215-
# if not self.inreset and not pin and self.es is not None and \
216-
# self.ss is not None and \
217-
# (self.samplenum - self.es) / self.samplerate > self.dshot_period*2:
218-
# self.check_reset()
219-
# if not self.oldpin and pin:
220-
# # Rising edge
221-
# self.handle_bit()
222-
# elif self.oldpin and not pin:
223-
# # Falling edge
224-
# self.handle_notbit()
225-
# else:
226-
# if self.oldpin and not pin:
227-
# # Falling edge.
228-
# self.handle_bit()
229-
# elif not self.oldpin and pin:
230-
# # Rising edge.
231-
# self.handle_notbit()
232-
233-
# self.oldpin = pin
168+
else:
169+
pins = self.wait([{0: 'f'},{0: 'r'},{'skip':self.samples_toreset}])
170+
171+
if self.currbit_ss and self.currbit_es and self.matched[2]:
172+
# Assume end of packet if have seen start and end of a potential bit but no further change within 3 periods
173+
# TODO: Confirm wait period this works with spec
174+
results += [self.handle_bit(self.currbit_ss,self.currbit_es,(self.currbit_ss+self.samples_pp))]
175+
self.currbit_ss = None
176+
self.currbit_es = None
177+
178+
# Pass results to decoder
179+
self.handle_bits(results)
180+
results = []
181+
182+
183+
if self.matched[0] and not self.currbit_ss and not self.currbit_es:
184+
# Start of bit
185+
self.currbit_ss = self.samplenum
186+
elif self.matched[1] and self.currbit_ss and not self.currbit_es:
187+
# End of bit
188+
self.currbit_es = self.samplenum
189+
elif self.matched[0] and self.currbit_es and self.currbit_ss:
190+
# Have complete bit, can handle bit now
191+
result = [self.handle_bit(self.currbit_ss,self.currbit_es,self.samplenum)]
192+
# print(result)
193+
results += result
194+
self.currbit_ss = self.samplenum
195+
self.currbit_es = None
196+
197+
234198

235199

236200

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