uv-k5-firmware-custom/mdc1200.c

#include <string.h>

#include "bsp/dp32g030/crc.h"
#include "driver/crc.h"
#include "driver/uart.h"
#include "mdc1200.h"
#include "misc.h"

#define FEC_K   7

// **********************************************************

// pre-amble and sync pattern
//
// >= 24-bit pre-amble
//    40-bit sync
//
static const uint8_t pre_amble[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0xCC};
static const uint8_t sync[]      = {0x07, 0x09, 0x2a, 0x44, 0x6f};

/*
uint8_t bit_reverse_8(uint8_t n)
{
	n = ((n >> 1) & 0x55u) | ((n << 1) & 0xAAu);
	n = ((n >> 2) & 0x33u) | ((n << 2) & 0xCCu);
	n = ((n >> 4) & 0x0Fu) | ((n << 4) & 0xF0u);
	return n;
}

uint16_t bit_reverse_16(uint16_t n)
{	// untested
	n = ((n >> 1) & 0x5555u) | ((n << 1) & 0xAAAAu);
	n = ((n >> 2) & 0x3333u) | ((n << 2) & 0xCCCCu);
	n = ((n >> 4) & 0x0F0Fu) | ((n << 4) & 0xF0F0u);
	n = ((n >> 8) & 0x00FFu) | ((n << 8) & 0xFF00u);
   return n;
}

uint32_t bit_reverse_32(uint32_t n)
{
	n = ((n >>  1) & 0x55555555u) | ((n <<  1) & 0xAAAAAAAAu);
	n = ((n >>  2) & 0x33333333u) | ((n <<  2) & 0xCCCCCCCCu);
	n = ((n >>  4) & 0x0F0F0F0Fu) | ((n <<  4) & 0xF0F0F0F0u);
	n = ((n >>  8) & 0x00FF00FFu) | ((n <<  8) & 0xFF00FF00u);
	n = ((n >> 16) & 0x0000FFFFu) | ((n << 16) & 0xFFFF0000u);
	return n;
}
*/
// ************************************
// common

#if 0

	uint16_t compute_crc(const uint8_t *data, const unsigned int data_len)
	{	// using the reverse computation avoids having to reverse the bit order during and after
		unsigned int i;
		uint16_t crc = 0;
		for (i = 0; i < data_len; i++)
		{
			unsigned int k;
			crc ^= data[i];
			for (k = 8; k > 0; k--)
				crc = (crc & 1u) ? (crc >> 1) ^ 0x8408 : crc >> 1;
		}
		return crc ^ 0xffff;
	}

#elif 1

	uint16_t compute_crc(const uint8_t *data, const unsigned int data_len)
	{	// let the CPU do the crc for us :)
		uint16_t crc;
		CRC_InitReverse();
		crc = CRC_Calculate(data, data_len);
		CRC_Init();
		return crc;
	}

#else

	uint16_t compute_crc(const uint8_t *data, const unsigned int data_len)
	{
		unsigned int i;
		uint16_t crc = 0;

		for (i = 0; i < data_len; i++)
		{
			uint8_t mask;

			// bit reverse each data byte
			const uint8_t bits = bit_reverse_8(*data++);

			for (mask = 0x0080; mask != 0; mask >>= 1)
			{
				uint16_t msb = crc & 0x8000;
				if (bits & mask)
					msb ^= 0x8000;
				crc <<= 1;
				if (msb)
					crc ^= 0x1021;
			}
		}

		// bit reverse and invert the final CRC
		return bit_reverse_16(crc) ^ 0xffff;
	}

#endif

// ************************************
// RX

void error_correction(uint8_t *data)
{	// can correct up to 3 or 4 corrupted bits (I think)

	int     i;
	uint8_t shift_reg;
	uint8_t syn;

	for (i = 0, shift_reg = 0, syn = 0; i < FEC_K; i++)
	{
		const uint8_t bi = data[i];
		int bit_num;
		for (bit_num = 0; bit_num < 8; bit_num++)
		{
			uint8_t b;
			unsigned int k = 0;

			shift_reg = (shift_reg << 1) | ((bi >> bit_num) & 1u);
			b         = ((shift_reg >> 6) ^ (shift_reg >> 5) ^ (shift_reg >> 2) ^ (shift_reg >> 0)) & 1u;
			syn       = (syn << 1) | (((b ^ (data[i + FEC_K] >> bit_num)) & 1u) ? 1u : 0u);

			if (syn & 0x80) k++;
			if (syn & 0x20) k++;
			if (syn & 0x04) k++;
			if (syn & 0x02) k++;

			if (k >= 3)
			{	// correct a bit error
				int ii = i;
				int bn = bit_num - 7;
				if (bn < 0)
				{
					bn += 8;
					ii--;
				}
				if (ii >= 0)
					data[ii] ^= 1u << bn;   // do it
				syn ^= 0xA6;   // 10100110
			}
		}
	}
}
/*
void xor_demodulation(uint8_t *data, const unsigned int size, const bool sync_inverted)
{
	unsigned int i;
	uint8_t prev_bit = 0;
	for (i = 0; i < size; i++)
	{
		int bit_num;
		uint8_t in  = data[i];
		uint8_t out = 0;
		for (bit_num = 7; bit_num >= 0; bit_num--)
		{
			const uint8_t new_bit = (in >> bit_num) & 1u;
			uint8_t bit = prev_bit ^ new_bit;
			if (sync_inverted)
				bit ^= 1u;
			prev_bit = new_bit;
			out |= bit << bit_num;
		}
		data[i] = out;
	}
}
*/
bool decode_data(uint8_t *data)
{
	uint16_t crc1;
	uint16_t crc2;

	{	// de-interleave

		unsigned int i;
		unsigned int k;
		unsigned int m;
		uint8_t deinterleaved[(FEC_K * 2) * 8];

		// interleave order
		//  0, 16, 32, 48, 64, 80,  96,
		//  1, 17, 33, 49, 65, 81,  97,
		//  2, 18, 34, 50, 66, 82,  98,
		//  3, 19, 35, 51, 67, 83,  99,
		//  4, 20, 36, 52, 68, 84, 100,
		//  5, 21, 37, 53, 69, 85, 101,
		//  6, 22, 38, 54, 70, 86, 102,
		//  7, 23, 39, 55, 71, 87, 103,
		//  8, 24, 40, 56, 72, 88, 104,
		//  9, 25, 41, 57, 73, 89, 105,
		// 10, 26, 42, 58, 74, 90, 106,
		// 11, 27, 43, 59, 75, 91, 107,
		// 12, 28, 44, 60, 76, 92, 108,
		// 13, 29, 45, 61, 77, 93, 109,
		// 14, 30, 46, 62, 78, 94, 110,
		// 15, 31, 47, 63, 79, 95, 111

		// de-interleave the received bits
		for (i = 0, k = 0; i < 16; i++)
		{
			for (m = 0; m < FEC_K; m++)
			{
				const unsigned int n = (m * 16) + i;
				deinterleaved[k++] = (data[n >> 3] >> ((7 - n) & 7u)) & 1u;
			}
		}

		// copy the de-interleaved bits back intoto the data buffer
		for (i = 0, m = 0; i < (FEC_K * 2); i++)
		{
			unsigned int k;
			uint8_t b = 0;
			for (k = 0; k < 8; k++)
				if (deinterleaved[m++])
					b |= 1u << k;
			data[i] = b;
		}
	}

	// see if we can correct a couple of corrupted bits (if need be)
	error_correction(data);

	// rx'ed de-interleaved data (min 14 bytes) looks like this ..
	//
	// OP  ARG  ID    CRC   STATUS  FEC bits
	// 01  80   1234  2E3E  00      6580A862DD8808

	crc1 = compute_crc(data, 4);
	crc2 = ((uint16_t)data[5] << 8) | (data[4] << 0);

	return (crc1 == crc2) ? true : false;
}

// **********************************************************
// TX

void xor_modulation(uint8_t *data, const unsigned int size)
{	// exclusive-or succesive bits - the entire packet
	unsigned int i;
	uint8_t prev_bit = 0;
	for (i = 0; i < size; i++)
	{
		int bit_num;
		uint8_t in  = data[i];
		uint8_t out = 0;
		for (bit_num = 7; bit_num >= 0; bit_num--)
		{
			const uint8_t new_bit = (in >> bit_num) & 1u;
			if (new_bit != prev_bit)
				out |= 1u << bit_num;        // previous bit and new bit are different - send a '1'
			prev_bit = new_bit;
		}
		data[i] = out ^ 0xff;
	}
}

uint8_t * encode_data(uint8_t *data)
{
	// R=1/2 K=7 convolutional coder
	//
	// OP  ARG  ID    CRC   STATUS  FEC bits
	// 01  80   1234  2E3E  00      6580A862DD8808
	//
	// 1. reverse the bit order for each byte of the first 7 bytes (to undo the reversal performed for display, above)
	// 2. feed those bits into a shift register which is preloaded with all zeros
	// 3. for each bit, calculate the modulo-2 sum: bit(n-0) + bit(n-2) + bit(n-5) + bit(n-6)
	// 4. then for each byte of resulting output, again reverse those bits to generate the values shown above

	{	// add the FEC bits to the end of the data
		unsigned int i;
		uint8_t shift_reg = 0;
		for (i = 0; i < FEC_K; i++)
		{
			unsigned int  bit_num;
			const uint8_t bi = data[i];
			uint8_t       bo = 0;
			for (bit_num = 0; bit_num < 8; bit_num++)
			{
				shift_reg = (shift_reg << 1) | ((bi >> bit_num) & 1u);
				bo |= (((shift_reg >> 6) ^ (shift_reg >> 5) ^ (shift_reg >> 2) ^ (shift_reg >> 0)) & 1u) << bit_num;
			}
			data[FEC_K + i] = bo;
		}
	}

	// 01 00 00 23  DD F0  00  65 00 00 0F 45 1F 21
/*
	#if defined(ENABLE_UART) && defined(ENABLE_UART_DEBUG)
	{
		const unsigned int size = FEC_K * 2;
		unsigned int i;
		UART_printf("mdc1200 tx1 %u ", size);
		for (i = 0; i < size; i++)
			UART_printf(" %02X", data[i]);
		UART_SendText("\r\n");
	}
	#endif
*/
	{	// interleave the bits

		unsigned int i;
		unsigned int k;
		uint8_t interleaved[(FEC_K * 2) * 8];

		// interleave order
		//  0, 16, 32, 48, 64, 80,  96,
		//  1, 17, 33, 49, 65, 81,  97,
		//  2, 18, 34, 50, 66, 82,  98,
		//  3, 19, 35, 51, 67, 83,  99,
		//  4, 20, 36, 52, 68, 84, 100,
		//  5, 21, 37, 53, 69, 85, 101,
		//  6, 22, 38, 54, 70, 86, 102,
		//  7, 23, 39, 55, 71, 87, 103,
		//  8, 24, 40, 56, 72, 88, 104,
		//  9, 25, 41, 57, 73, 89, 105,
		// 10, 26, 42, 58, 74, 90, 106,
		// 11, 27, 43, 59, 75, 91, 107,
		// 12, 28, 44, 60, 76, 92, 108,
		// 13, 29, 45, 61, 77, 93, 109,
		// 14, 30, 46, 62, 78, 94, 110,
		// 15, 31, 47, 63, 79, 95, 111

		// bit interleaver
		for (i = 0, k = 0; i < (FEC_K * 2); i++)
		{
			unsigned int bit_num;
			const uint8_t b = data[i];
			for (bit_num = 0; bit_num < 8; bit_num++)
			{
				interleaved[k] = (b >> bit_num) & 1u;
				k += 16;
				if (k >= sizeof(interleaved))
					k -= sizeof(interleaved) - 1;
			}
		}

		// copy the interleaved bits back to the data buffer
		for (i = 0, k = 0; i < (FEC_K * 2); i++)
		{
			int bit_num;
			uint8_t b = 0;
			for (bit_num = 7; bit_num >= 0; bit_num--)
				if (interleaved[k++])
					b |= 1u << bit_num;
			data[i] = b;
		}
	}

	return data + (FEC_K * 2);
}

unsigned int MDC1200_encode_single_packet(uint8_t *data, const uint8_t op, const uint8_t arg, const uint16_t unit_id)
{
	unsigned int size;
	uint16_t     crc;
	uint8_t     *p = data;

	memcpy(p, pre_amble, sizeof(pre_amble));
	p += sizeof(pre_amble);
	memcpy(p, sync, sizeof(sync));
	p += sizeof(sync);

	p[0] = op;
	p[1] = arg;
	p[2] = (unit_id >> 8) & 0x00ff;
	p[3] = (unit_id >> 0) & 0x00ff;
	crc = compute_crc(p, 4);
	p[4] = (crc >> 0) & 0x00ff;
	p[5] = (crc >> 8) & 0x00ff;
	p[6] = 0;      // unknown field (00 for PTTIDs, 76 for STS and MSG)

	p = encode_data(p);

	size = (unsigned int)(p - data);
/*
	#if defined(ENABLE_UART) && defined(ENABLE_UART_DEBUG)
	{
		unsigned int i;
		UART_printf("mdc1200 tx2 %u ", size);
		for (i = 0; i < size; i++)
			UART_printf(" %02X", data[i]);
		UART_SendText("\r\n");
	}
	#endif
*/
	xor_modulation(data, size);

	return size;
}
/*
unsigned int MDC1200_encode_double_packet(uint8_t *data, const uint8_t op, const uint8_t arg, const uint16_t unit_id, const uint8_t b0, const uint8_t b1, const uint8_t b2, const uint8_t b3)
{
	unsigned int size;
	uint16_t     crc;
	uint8_t     *p = data;

	memcpy(p, pre_amble, sizeof(pre_amble));
	p += sizeof(pre_amble);
	memcpy(p, sync, sizeof(sync));
	p += sizeof(sync);

	p[0] = op;
	p[1] = arg;
	p[2] = (unit_id >> 8) & 0x00ff;
	p[3] = (unit_id >> 0) & 0x00ff;
	crc = compute_crc(p, 4);
	p[4] = (crc >> 0) & 0x00ff;
	p[5] = (crc >> 8) & 0x00ff;
	p[6] = 0;      // status byte

	p = encode_data(p);

	p[0] = b0;
	p[1] = b1;
	p[2] = b2;
	p[3] = b3;
	crc = compute_crc(p, 4);
	p[4] = (crc >> 0) & 0x00ff;
	p[5] = (crc >> 8) & 0x00ff;
	p[6] = 0;      // status byte

	p = encode_data(p);

	size = (unsigned int)(p - data);

	xor_modulation(data, size);

	return size;
}
*/

// **********************************************************
// RX

struct {
	uint8_t      bit;
	uint8_t      prev_bit;
	uint8_t      xor_bit;
	uint64_t     shift_reg;
	unsigned int bit_count;
	unsigned int stage;
	bool         inverted_sync;
	unsigned int data_index;
	uint8_t      data[40];
} rx;

void MDC1200_reset_rx(void)
{
	memset(&rx, 0, sizeof(rx));
}
	
bool MDC1200_process_rx(const uint8_t rx_byte, uint8_t *op, uint8_t *arg, uint16_t *unit_id)
{
	unsigned int i;
	int          k;

	for (k = 7; k >= 0; k--)
	{
		rx.prev_bit = rx.bit;

		rx.bit = (rx_byte >> k) & 1u;
	
		if (rx.stage == 0)
		{	// scanning for the pre-amble
			rx.xor_bit = rx.bit & 1u;
		}
		else
		{
			rx.xor_bit = (rx.xor_bit ^ rx.bit) & 1u;
			if (rx.inverted_sync)
				rx.xor_bit ^= 1u;
		}
	
		rx.shift_reg = (rx.shift_reg << 1) | (rx.xor_bit & 1u);
		rx.bit_count++;
	
		// *********
	
		if (rx.stage == 0)
		{	// looking for pre-amble
			if (rx.bit_count < 20 || (rx.shift_reg & 0xfffff) != 1u)
				continue;

			rx.xor_bit   = 1;
			rx.stage     = 1;
			rx.bit_count = 1;
	
			//s.printf("%5u %2u %u pre-amble found", index, rx_bit_count, rx_packet_stage);
			//Memo1->Lines->Add(s);
		}
	
		if (rx.stage < 2)
		{
			//s.printf("%5u %3u %u ", index, rx_bit_count, rx_packet_stage);
			//for (uint64_t mask = 1ull << ((sizeof(rx_shift_reg) * 8) - 1); mask != 0; mask >>= 1)
			//	s += (rx_shift_reg & mask) ? '#' : '.';
			//s += "  ";
			//for (int i = sizeof(rx_shift_reg) - 1; i >= 0; i--)
			//{
			//	String s2;
			//	s2.printf(" %02X", (uint8_t)(rx_shift_reg >> (i * 8)));
			//	s += s2;
			//}
			//Memo1->Lines->Add(s);
		}
	
		if (rx.stage == 1)
		{	// looking for the 40-bit sync pattern, it follows the 24-bit pre-amble
	
			const unsigned int sync_bit_ok_threshold = 32;
	
			if (rx.bit_count >= sync_bit_ok_threshold)
			{
				// 40-bit sync pattern
				uint64_t sync_nor = 0x07092a446fu;            // normal
				uint64_t sync_inv = 0xffffffffffu ^ sync_nor; // bit inverted
	
				sync_nor ^= rx.shift_reg;
				sync_inv ^= rx.shift_reg;
	
				unsigned int nor_count = 0;
				unsigned int inv_count = 0;
				for (i = 40; i > 0; i--, sync_nor >>= 1, sync_inv >>= 1)
				{
					nor_count += sync_nor & 1u;
					inv_count += sync_inv & 1u;
				}
				nor_count = 40 - nor_count;
				inv_count = 40 - inv_count;
	
				if (nor_count >= sync_bit_ok_threshold || inv_count >= sync_bit_ok_threshold)
				{	// good enough
	
					rx.inverted_sync = (inv_count > nor_count) ? true : false;
	
					//String s;
					//s.printf("%5u %2u %u sync found %s %u bits ",
					//	index,
					//	rx_bit_count,
					//	rx_packet_stage,
					//	rx_inverted_sync ? "inv" : "nor",
					//	rx_inverted_sync ? inv_count : nor_count);
	
					//for (int i = 4; i >= 0; i--)
					//{
					//	String s2;
					//	uint8_t b = rx_shift_reg >> (8 * i);
					//	if (rx_inverted_sync)
					//		b ^= 0xff;
					//	s2.printf(" %02X", b);
					//	s += s2;
					//}
					//Memo1->Lines->Add(s);
	
					rx.data_index = 0;
					rx.bit_count     = 0;
					rx.stage++;
				}
			}
			
			continue;
		}

		// *********

		if (rx.stage < 2)
			continue;

		if (rx.bit_count < 8)
			continue;

		rx.bit_count = 0;
	
		// 55 55 55 55 55 55 55 07 09 2A 44 6F 94 9C 22 20 32 A4 1A 37 1E 3A 00 98 2C 84
	
		rx.data[rx.data_index++] = rx.shift_reg & 0xff;  // save the last 8 bits
	
		if (rx.data_index < (FEC_K * 2))
			continue;
			
		//	s.printf("%5u %3u %u %2u ", index, rx_bit_count, rx_packet_stage, rx_buffer.size());
		//	for (i = 0; i < rx_data_index; i++)
		//	{
		//		String s2;
		//		const uint8_t b = rx_buffer[i];
		//		s2.printf(" %02X", b);
		//		s += s2;
		//	}
		//	Memo1->Lines->Add(s);
	
		if (!decode_data(rx.data))
		{
			MDC1200_reset_rx();
			continue;
		}

		// extract the info from the packet
		*op      = rx.data[0];
		*arg     = rx.data[1];
		*unit_id = ((uint16_t)rx.data[3] << 8) | (rx.data[2] << 0);
	
		//s.printf("%5u %3u %u %2u decoded ", index, rx_bit_count, rx_packet_stage, rx_buffer.size());
		//for (i = 0; i < 14; i++)
		//{
		//	String s2;
		//	const uint8_t b = data[i];
		//	s2.printf(" %02X", b);
		//	s += s2;
		//}
		//Memo1->Lines->Add(s);

		// reset the detector
		MDC1200_reset_rx();
		
		return true;
	}

	return false;
}

// **********************************************************

/*
void test(void)
{
	uint8_t data[42];
	const int size = MDC1200_encode_single_packet(data, 0x12, 0x34, 0x5678);
//	const int size = MDC1200_encode_double_packet(data, 0x55, 0x34, 0x5678, 0x0a, 0x0b, 0x0c, 0x0d);
}
*/