esp-fc

#include "Vtx.hpp"

static const uint8_t dummyByte[] = { 0x00 };

/* CRC8 implementation with polynom = x
7+ x
6+ x
4+ x
2+ x
0 (0xD5) */
static unsigned char crc8tab[256] = 
{
  0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54, 0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D,
  0x52, 0x87, 0x2D, 0xF8, 0xAC, 0x79, 0xD3, 0x06, 0x7B, 0xAE, 0x04, 0xD1, 0x85, 0x50, 0xFA, 0x2F,
  0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0, 0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9,
  0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2, 0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B,
  0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9, 0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0,
  0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B, 0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2,
  0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D, 0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44,
  0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F, 0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16,
  0xEF, 0x3A, 0x90, 0x45, 0x11, 0xC4, 0x6E, 0xBB, 0xC6, 0x13, 0xB9, 0x6C, 0x38, 0xED, 0x47, 0x92,
  0xBD, 0x68, 0xC2, 0x17, 0x43, 0x96, 0x3C, 0xE9, 0x94, 0x41, 0xEB, 0x3E, 0x6A, 0xBF, 0x15, 0xC0,
  0x4B, 0x9E, 0x34, 0xE1, 0xB5, 0x60, 0xCA, 0x1F, 0x62, 0xB7, 0x1D, 0xC8, 0x9C, 0x49, 0xE3, 0x36,
  0x19, 0xCC, 0x66, 0xB3, 0xE7, 0x32, 0x98, 0x4D, 0x30, 0xE5, 0x4F, 0x9A, 0xCE, 0x1B, 0xB1, 0x64,
  0x72, 0xA7, 0x0D, 0xD8, 0x8C, 0x59, 0xF3, 0x26, 0x5B, 0x8E, 0x24, 0xF1, 0xA5, 0x70, 0xDA, 0x0F,
  0x20, 0xF5, 0x5F, 0x8A, 0xDE, 0x0B, 0xA1, 0x74, 0x09, 0xDC, 0x76, 0xA3, 0xF7, 0x22, 0x88, 0x5D,
  0xD6, 0x03, 0xA9, 0x7C, 0x28, 0xFD, 0x57, 0x82, 0xFF, 0x2A, 0x80, 0x55, 0x01, 0xD4, 0x7E, 0xAB,
  0x84, 0x51, 0xFB, 0x2E, 0x7A, 0xAF, 0x05, 0xD0, 0xAD, 0x78, 0xD2, 0x07, 0x53, 0x86, 0x2C, 0xF9
};
static uint8_t crc8(const uint8_t * ptr, uint8_t len)
{
  uint8_t crc = 0;
  for (uint8_t i = 0; i < len; i++) {
    crc = crc8tab[crc ^ *ptr++];
  }
  return crc;
}

namespace Espfc::Connect {

int Vtx::begin(Device::SerialDevice * serial)
{
  _serial = serial;
  _timer.setRate(300);

  _state = State::INIT;
  return 1;
}

int Vtx::update()
{
  if (!_timer.check()) return 1;
  switch (_state)
  {
    case State::INIT:
      _state = State::SET_CHANNEL;
      _model.state.vtx.active = true;
      break;
    case State::SET_POWER:
      setPower();
      _state = State::IDLE;
      break;
    case State::SET_CHANNEL:
      setChannel();
      _state = State::SET_POWER;
      break;
    case State::IDLE:
      if (_model.isModeActive(MODE_ARMED) != _armed)
      {
        _armed = !_armed;
        _state = State::SET_POWER;
      }
      break;
    case State::INACTIVE:
    default:
      break;
  }

  return 1;
}

int Vtx::setChannel()
{
  uint8_t vtxCommand[6] = { 0xAA, 0x55, 0x07, 0x01, (uint8_t)((_model.config.vtx.band -1)*8 + _model.config.vtx.channel - 1) };
  vtxCommand[5] = crc8(vtxCommand, 5);
  _serial->write(dummyByte, 1);
  _serial->write(vtxCommand, 6);
  _serial->flush();

  return 1;
}

int Vtx::setPower()
{
  uint8_t vtxCommand[6] = { 0xAA, 0x55, 0x05, 0x01, (uint8_t)((!_model.config.vtx.lowPowerDisarm || _model.isModeActive(MODE_ARMED)) ? _model.config.vtx.power - 1 : 0) };
  vtxCommand[5] = crc8(vtxCommand, 5);
  _serial->write(dummyByte, 1);
  _serial->write(vtxCommand, 6);
  _serial->flush();

  return 1;
}

}