Rohit Sant
384 linhas
14 KiB
C++
384 linhas
14 KiB
C++
/** @file dji_open_protocol.hpp
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* @version 3.3
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* @date April 2017
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*
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* @brief
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* OPEN Protocol implementation for DJI Onboard SDK library
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*
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* @copyright 2017 DJI. All right reserved.
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*
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*/
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#ifndef ONBOARDSDK_INTERNAL_DJI_PROTOCOLLAYER_H
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#define ONBOARDSDK_INTERNAL_DJI_PROTOCOLLAYER_H
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#include "dji_ack.hpp"
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#include "dji_aes.hpp"
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#include "dji_hard_driver.hpp"
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#include "dji_log.hpp"
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#include "dji_thread_manager.hpp"
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#include "dji_type.hpp"
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/*! Platform includes:
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* This set of macros figures out which files to include based on your
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* platform.
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*/
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#ifdef __linux__
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//! handle array of characters
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#include "linux_serial_device.hpp"
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#include "posix_thread_manager.hpp"
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#include <cstring>
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#elif STM32
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//! handle array of characters
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#include <STM32F4DataGuard.h>
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#include <STM32F4SerialDriver.h>
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#include <stdlib.h>
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#include <string.h>
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#elif defined(qt)
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#include <QHardDriver.h>
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#endif
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namespace DJI
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{
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namespace OSDK
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{
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/****************************Globals**************************************/
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#define MSG_ENABLE_FLAG_LEN 2
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//----------------------------------------------------------------------
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// App layer function
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//----------------------------------------------------------------------
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typedef struct
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{
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uint16_t sequence_number;
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uint8_t session_id : 5;
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uint8_t need_encrypt : 1;
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uint8_t reserve : 2;
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} req_id_t;
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#define SET_CMD_SIZE (2u)
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//----------------------------------------------------------------------
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// Session Management
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//----------------------------------------------------------------------
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#define ACK_SESSION_IDLE 0
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#define ACK_SESSION_PROCESS 1
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#define ACK_SESSION_USING 2
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#define CMD_SESSION_0 0
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#define CMD_SESSION_1 1
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#define CMD_SESSION_AUTO 32
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#define POLL_TICK 20 // unit is ms
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//----------------------------------------------------------------------
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// Receive Management
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//----------------------------------------------------------------------
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typedef struct RecvContainer
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{
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DJI::OSDK::ACK::Entry recvInfo;
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DJI::OSDK::ACK::TypeUnion recvData;
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DJI::OSDK::DispatchInfo dispatchInfo;
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} RecvContainer;
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//----------------------------------------------------------------------
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// Codec Management
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//----------------------------------------------------------------------
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#define _SDK_U32_SET(_addr, _val) (*((uint32_t*)(_addr)) = (_val))
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#define _SDK_U16_SET(_addr, _val) (*((uint16_t*)(_addr)) = (_val))
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#define _SDK_CALC_CRC_HEAD(_msg, _len) \
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sdk_stream_crc16_calc((const uint8_t*)(_msg), _len)
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#define _SDK_CALC_CRC_TAIL(_msg, _len) \
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sdk_stream_crc32_calc((const uint8_t*)(_msg), _len)
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//----------------------------------------------------------------------
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// CRC Management
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//----------------------------------------------------------------------
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const uint16_t crc_tab16[] = {
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0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241, 0xc601,
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0x06c0, 0x0780, 0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440, 0xcc01, 0x0cc0,
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0x0d80, 0xcd41, 0x0f00, 0xcfc1, 0xce81, 0x0e40, 0x0a00, 0xcac1, 0xcb81,
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0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841, 0xd801, 0x18c0, 0x1980, 0xd941,
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0x1b00, 0xdbc1, 0xda81, 0x1a40, 0x1e00, 0xdec1, 0xdf81, 0x1f40, 0xdd01,
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0x1dc0, 0x1c80, 0xdc41, 0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0,
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0x1680, 0xd641, 0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081,
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0x1040, 0xf001, 0x30c0, 0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240,
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0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501, 0x35c0, 0x3480, 0xf441, 0x3c00,
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0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41, 0xfa01, 0x3ac0,
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0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840, 0x2800, 0xe8c1, 0xe981,
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0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41, 0xee01, 0x2ec0, 0x2f80, 0xef41,
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0x2d00, 0xedc1, 0xec81, 0x2c40, 0xe401, 0x24c0, 0x2580, 0xe541, 0x2700,
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0xe7c1, 0xe681, 0x2640, 0x2200, 0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0,
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0x2080, 0xe041, 0xa001, 0x60c0, 0x6180, 0xa141, 0x6300, 0xa3c1, 0xa281,
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0x6240, 0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480, 0xa441,
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0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41, 0xaa01,
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0x6ac0, 0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840, 0x7800, 0xb8c1,
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0xb981, 0x7940, 0xbb01, 0x7bc0, 0x7a80, 0xba41, 0xbe01, 0x7ec0, 0x7f80,
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0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40, 0xb401, 0x74c0, 0x7580, 0xb541,
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0x7700, 0xb7c1, 0xb681, 0x7640, 0x7200, 0xb2c1, 0xb381, 0x7340, 0xb101,
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0x71c0, 0x7080, 0xb041, 0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0,
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0x5280, 0x9241, 0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481,
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0x5440, 0x9c01, 0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40,
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0x5a00, 0x9ac1, 0x9b81, 0x5b40, 0x9901, 0x59c0, 0x5880, 0x9841, 0x8801,
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0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81, 0x4a40, 0x4e00, 0x8ec1,
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0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41, 0x4400, 0x84c1, 0x8581,
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0x4540, 0x8701, 0x47c0, 0x4680, 0x8641, 0x8201, 0x42c0, 0x4380, 0x8341,
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0x4100, 0x81c1, 0x8081, 0x4040
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};
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const uint32_t crc_tab32[] = {
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0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f,
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0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
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0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2,
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0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
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0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9,
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0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
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0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c,
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0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
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0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423,
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0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
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0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106,
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0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
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0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d,
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0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
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0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
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0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
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0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7,
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0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
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0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa,
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0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
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0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81,
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0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
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0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84,
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0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
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0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb,
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0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
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0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e,
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0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
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0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55,
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0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
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0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28,
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0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
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0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f,
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0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
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0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242,
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0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
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0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69,
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0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
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0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc,
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0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
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0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693,
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0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
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0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
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};
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const uint16_t CRC_INIT = 0x3AA3;
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// const uint8_t encrypt = 0;
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/*
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#else
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uint8_t encrypt = 0;
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*/
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//! @todo template Protocol for V1 V2 and SDK
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//! more abstaction
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class Protocol
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{
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public:
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//! Constructor
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Protocol(const char* device, uint32_t baudRate);
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//! Destructor
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~Protocol()
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{
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delete (this->serialDevice);
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}
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/************************Public Interfaces**********************************/
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//! Send - callers are from above the ProtocolLayer
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/*
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void send(uint8_t session_mode, uint8_t is_enc, DJI_CONTROLLER_CMD
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cmd_set,
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uint8_t cmd_id, void *pdata, int len, bool isCallback, int
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callbackID,
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/** @note Compatible for DJI_APP_Pro_send
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int timeout = 0, int retry_time = 1);
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*/
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void send(uint8_t session_mode, bool is_enc, const uint8_t cmd[], void* pdata,
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size_t len, int timeout = 0, int retry_time = 1,
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bool hasCallback = false, int callbackID = 0
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/** @note Better interface entrance*/
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);
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/** @note Main interface*/
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void send(Command* parameter);
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//! SendPoll:
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void sendPoll();
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/************************Receive Management********************************/
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RecvContainer receive();
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/************************Getters and setters*******************************/
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/**
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* Get serial device handler.
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*/
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HardDriver* getDriver() const;
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/**
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* Get handler to thread data.
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*/
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ThreadAbstract* getThreadHandle() const;
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/**********************************Fitlered******************************/
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void setKey(const char* key);
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/************************Useful frame-related constants*******************/
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public:
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static const int BUFFER_SIZE = 1024;
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static const int ACK_SIZE = 10;
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static const uint8_t SOF = 0xAA;
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static const int maxRecv = BUFFER_SIZE;
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static const int CRCHead = sizeof(uint16_t);
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static const int CRCData = sizeof(uint32_t);
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static const int CRCHeadLen = sizeof(Header) - CRCHead;
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static const int PackageMin = sizeof(Header) + CRCData;
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uint8_t buf[BUFFER_SIZE];
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private:
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/***************************Init*******************************************/
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void init(HardDriver* Driver, MMU* mmuPtr, bool userCallbackThread = false);
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/***************************Receive Pipeline*******************************/
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typedef struct SDKFilter
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{
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uint16_t reuseIndex;
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uint16_t reuseCount;
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uint16_t recvIndex;
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uint8_t recvBuf[BUFFER_SIZE];
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// for encrypt
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uint8_t sdkKey[32];
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uint8_t encode;
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} SDKFilter;
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//! Lowest-level function interfaces with SerialDevice
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bool readPoll(RecvContainer* allocatedRecvObject);
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//! Handle incoming data - byte level
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//! STM32 uses it directly
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public:
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bool byteHandler(const uint8_t in_data, RecvContainer* allocatedRecvObject);
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private:
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//! Integrity checks for incoming data.
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bool streamHandler(SDKFilter* p_filter, uint8_t in_data,
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RecvContainer* allocatedRecvObject);
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void storeData(SDKFilter* p_filter, uint8_t in_data);
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bool checkStream(SDKFilter* p_filter, RecvContainer* allocatedRecvObject);
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bool verifyHead(SDKFilter* p_filter, RecvContainer* allocatedRecvObject);
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bool verifyData(SDKFilter* p_filter, RecvContainer* allocatedRecvObject);
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//! Once checks are done, find out which branch of the receive pipeline to go
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//! to
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bool callApp(SDKFilter* p_filter, RecvContainer* allocatedRecvObject);
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//! For CMD-Frame data (push data) handling
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bool recvReqData(Header* protocolHeader, RecvContainer* allocatedRecvObject);
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//! A lot of ACK parsing logic is implemented here! It shouldn't be. @todo:
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//! Update the function
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bool appHandler(Header* protocolHeader, RecvContainer* allocatedRecvObject);
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//! CMD receive
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uint8_t getCmdCode(Header* protocolHeader);
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uint8_t getCmdSet(Header* protocolHeader);
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/*******************************Send Pipeline*****************************/
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int sendInterface(Command* cmdContainer);
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void sendData(uint8_t* buf);
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/****************************Multithreading support***********************/
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//! Thread sync for ACK
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ACK::TypeUnion allocateACK(Header* protocolHeader);
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void setACKFrameStatus(uint32_t usageFlag);
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/****************************Session Management***************************/
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void setup(void);
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void setupSession(void);
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void freeSession(CMDSession* session);
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CMDSession* allocSession(uint16_t session_id, uint16_t size);
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void freeACK(ACKSession* session);
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ACKSession* allocACK(uint16_t session_id, uint16_t size);
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/*******************************Encryption*******************************/
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uint16_t encrypt(uint8_t* pdest, const uint8_t* psrc, uint16_t w_len,
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uint8_t is_ack, uint8_t is_enc, uint8_t session_id,
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uint16_t seq_num);
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void encodeData(SDKFilter* p_filter, Header* p_head,
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ptr_aes256_codec codec_func);
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/*******************************Utility Functions************************/
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uint16_t calculateLength(uint16_t size, uint16_t encrypt_flag);
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void transformTwoByte(const char* pstr, uint8_t* pdata);
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/***********************************CRC***********************************/
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void calculateCRC(void* p_data);
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uint16_t crc16_update(uint16_t crc, uint8_t ch);
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uint32_t crc32_update(uint32_t crc, uint8_t ch);
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uint16_t sdk_stream_crc16_calc(const uint8_t* pMsg, size_t nLen);
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uint32_t sdk_stream_crc32_calc(const uint8_t* pMsg, size_t nLen);
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void sdk_stream_prepare_lambda(SDKFilter* p_filter);
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void sdk_stream_shift_data_lambda(SDKFilter* p_filter);
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void sdk_stream_update_reuse_part_lambda(SDKFilter* p_filter);
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private:
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/********************************Member variables*************************/
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//! Serial driver pointer
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HardDriver* serialDevice;
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//! Memory management
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MMU* mmu;
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//! Session Management
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CMDSession CMDSessionTab[SESSION_TABLE_NUM];
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ACKSession ACKSessionTab[SESSION_TABLE_NUM - 1];
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//! Serial filter
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SDKFilter filter;
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//! Encode buffers
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uint8_t encodeSendData[BUFFER_SIZE];
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uint8_t encodeACK[ACK_SIZE];
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//! Thread data
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bool stopCond;
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ThreadAbstract* threadHandle;
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//! Frame-related.
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uint16_t seq_num;
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uint32_t ackFrameStatus;
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bool broadcastFrameStatus;
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//! Buffer management
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int buf_read_pos;
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int read_len;
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};
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} // namespace OSDK
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} // namespace DJI
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#endif // ONBOARDSDK_INTERNAL_DJI_PROTOCOLLAYER_H
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