v5_field_control/v5_field_control.ino

#include "CRC16.h"

volatile uint8_t control_flags = 0xC9;
volatile uint32_t timer_end = 0x00000000;
volatile uint32_t length = 0x00000000;
volatile uint32_t last_timer_sent = 0x00000000;
CRC16 crc = CRC16(0x1021, 0xFFFF, 0x0000, false, false);

int read_line = 22;

int rx2 = 16;
int tx2 = 17;

uint32_t htonl(uint32_t val) {
  return ((val & 0x000000FF) << 24) |
         ((val & 0x0000FF00) << 8) |
         ((val & 0x00FF0000) >> 8) |
         ((val & 0xFF000000) >> 24);
}

uint16_t htons(uint16_t val) {
  return ((val & 0xFF) << 8) | ((val & 0xFF00) >> 8);
}

typedef struct __attribute__((packed)) {
  uint8_t type;
  uint8_t controller_version;
  uint8_t unknown[12];
  uint16_t crc;
} pkt_discovery_t;

typedef struct __attribute__((packed)) {
  uint8_t type;
  uint8_t unknown_1[7];
  uint32_t serial;
  uint8_t unknown_2[2];
  uint16_t crc;
} pkt_discovery_resp_t;

typedef struct __attribute__((packed)) {
  uint8_t type;
  uint8_t unknown[13];
  uint16_t crc;
} pkt_init_t;

typedef struct __attribute__((packed)) {
  uint8_t type;
  uint8_t ack_type;
  uint8_t unknown_1;
  uint8_t unknown_2[7];
  uint8_t unknown_3;
  uint8_t unknown_4[3];
  uint16_t crc;
} pkt_ack_t;

typedef struct __attribute__((packed)) {
  uint8_t type;
  uint8_t unknown[29];
  uint16_t crc;
} pkt_set_poll_rate_t;

typedef struct __attribute__((packed)) {
  uint8_t type;
  uint8_t unknown_1;
  uint16_t system_status;
  uint8_t unknown_2[2];
  uint8_t field_status;
  uint8_t unknown_3[11];
  uint8_t name[10];
  uint8_t version[2];
  uint16_t crc;
} pkt_poll_t;

void parse_discovery(uint8_t* pkt, size_t len) {
  pkt_discovery_t parsed;
  parsed.controller_version = pkt[1];
  memcpy(parsed.unknown, &pkt[2], 12);
  parsed.crc = (pkt[14] << 8) + (pkt[15] << 0);
  crc.restart();
  crc.add(pkt, 14);
  uint16_t calc_crc = crc.calc();
  if (calc_crc != parsed.crc) {
    Serial.printf("Got dicovery packet with bad crc(%04x != %04x)\n", calc_crc, parsed.crc);
  } else {
    Serial.printf("Got dicovery packet with matching crc(%04x)\n", calc_crc);
  }

  pkt_discovery_resp_t response;
  response.type = 0x03;
  response.unknown_1[0] = 0x01;
  response.unknown_1[1] = 0x64;
  response.unknown_1[2] = 0x00;
  response.unknown_1[3] = 0x00;
  response.unknown_1[4] = 0x00;
  response.unknown_1[5] = 0x00;
  response.unknown_1[6] = 0xBA;
  response.serial = htonl(0x881C7C00);
  response.unknown_2[0] = 0x00;
  response.unknown_2[1] = 0x00;

  crc.restart();
  crc.add((uint8_t*)&response, 14);
  response.crc = htons(crc.calc());

  digitalWrite(read_line, HIGH);
  Serial2.write((uint8_t*)&response, 16);
  delayMicroseconds(100);
  digitalWrite(read_line, LOW);
}

void parse_init(uint8_t* pkt, size_t len) {
  pkt_init_t parsed;
  memcpy(parsed.unknown, &pkt[1], 13);
  parsed.crc = (pkt[14] << 8) + (pkt[15] << 0);
  crc.restart();
  crc.add(pkt, 14);
  uint16_t calc_crc = crc.calc();
  if (calc_crc != parsed.crc) {
    Serial.printf("Got init packet with bad crc(%04x != %04x)\n", calc_crc, parsed.crc);
  } else {
    Serial.printf("Got init packet with matching crc(%04x)\n", calc_crc);
  }

  pkt_ack_t response;
  response.type = 0x02;
  response.ack_type = pkt[0];
  response.unknown_1 = 0x01;
  memset(response.unknown_2, 0, 7);
  response.unknown_3 = 0x01;
  memset(response.unknown_4, 0, 3);

  crc.restart();
  crc.add((uint8_t*)&response, 14);
  response.crc = htons(crc.calc());

  digitalWrite(read_line, HIGH);
  Serial2.write((uint8_t*)&response, 16);
  delayMicroseconds(100);
  digitalWrite(read_line, LOW);
}

void parse_get_poll_rate(uint8_t* pkt, size_t len, uint8_t poll_ms) {
  crc.restart();
  crc.add(pkt, 30);
  uint16_t parsed_crc = (pkt[30] << 8) + (pkt[31] << 0);
  uint16_t calc_crc = crc.calc();

  if (parsed_crc != calc_crc) {
    Serial.printf("Got get_poll_rate packet with bad crc(%04x != %04x\n", calc_crc, parsed_crc);
  } else {
    Serial.printf("Got get_poll_rate packet with matching crc(%04x)\n", calc_crc);
  }

  pkt_set_poll_rate_t response;
  response.type = 0x04;
  memset(response.unknown, 0, 29);
  response.unknown[1] = 0x14;
  
  crc.restart();
  crc.add((uint8_t*)&response, 30);
  response.crc = htons(crc.calc());

  digitalWrite(read_line, HIGH);
  Serial2.write((uint8_t*)&response, 32);
  delayMicroseconds(200);
  digitalWrite(read_line, LOW);
}

void send_ack(uint8_t ack_type, uint8_t unknown) {
  uint8_t response[32];
  memset(response, 0, 32);
  response[0] = 0x02;
  response[1] = ack_type;
  response[2] = unknown;
  response[10] = unknown;

  crc.restart();
  crc.add(response, 30);
  uint16_t ack_crc = crc.calc();

  response[30] = (ack_crc >> 8 & 0xFF);
  response[31] = (ack_crc >> 0 & 0xFF);

  digitalWrite(read_line, HIGH);
  Serial2.write((uint8_t*)&response, 32);
  delayMicroseconds(200);
  digitalWrite(read_line, LOW);
}

void send_state(uint8_t control_flags, uint32_t timer) {
  uint8_t response[32];
  memset(response, 0, 32);
  response[0] = 0x53;
  response[1] = control_flags;
  response[2] = 0x00;
  response[3] = 0x00;
  response[4] = ((timer >>  0) & 0xFF);
  response[5] = ((timer >>  8) & 0xFF);
  response[6] = ((timer >> 16) & 0xFF);
  response[7] = ((timer >> 24) & 0xFF);
  response[8] = 0x03;

  crc.restart();
  crc.add(response, 30);
  uint16_t ack_crc = crc.calc();

  response[30] = (ack_crc >> 8 & 0xFF);
  response[31] = (ack_crc >> 0 & 0xFF);

  digitalWrite(read_line, HIGH);
  Serial2.write((uint8_t*)&response, 32);
  delayMicroseconds(200);
  digitalWrite(read_line, LOW);
}

void parse_poll(uint8_t* pkt, size_t len) {
  pkt_poll_t* parsed = (pkt_poll_t*)pkt;
  crc.restart();
  crc.add(pkt, 30);
  uint16_t crc_calc = crc.calc();

  if (htons(parsed->crc) != crc_calc) {
    Serial.printf("parsed poll with invalid CRC 0x%04x, calculated to be 0x%04x\n", htons(parsed->crc), crc_calc);
  } else {
    //Serial.printf("parsed poll with valid CRC 0x%04x, system status 0x%04x, field status 0x%02x, team name %s\n", htons(parsed->crc), htons(parsed->system_status), parsed->field_status, parsed->name);
  }

  uint32_t now = millis();
  uint32_t current_timer = 0;
  if (now < timer_end) {
    current_timer = (timer_end - millis()) & 0xFFFFFF00;
  } else {
    current_timer = length;
    control_flags = 0xC9;
  }

  if ((parsed->field_status == control_flags) && (current_timer == last_timer_sent)) {
    send_ack(0xA7, 0x01);
  } else if (control_flags == 0xC9) {
    send_state(0xC9, length);
  } else {
    last_timer_sent = current_timer;
    send_state(control_flags, current_timer);
  }
}

void on_rx(void) {
  uint8_t pkt[4];
  int n = Serial.available();
  if (n < 4) {
    return;
  }
  int read = Serial.readBytes(pkt, n);
  sscanf((const char*)pkt, "0x%2hhx%8x", &control_flags, &length);
  timer_end = millis() + length;
  Serial.printf("Parsed new control flags: 0x%02x, length 0x%08x\n",  control_flags, length);
}

void on_rx_2(void) {
  uint8_t pkt[32];
  int n = Serial2.available();
  if (n < 16) {
    return;
  }
  int read = Serial2.readBytes(pkt, n);
  switch (pkt[0]) {
  case 0xA7:
    parse_poll(pkt, read);
    break;
  case 0x0A:
    parse_discovery(pkt, read);
    break;
  case 0x13:
    parse_init(pkt, read);
    break;
  case 0x11:
    parse_get_poll_rate(pkt, read, 20);
    break;
  case 0x02:
    switch (pkt[1]){
    case 0x04:
      send_ack(0x02, 0x00);
      break;
    default:
      Serial.printf("Unknown ack 0x%x\n", pkt[1]);
    }
    break;
  default:
    Serial.printf("Unknown command 0x%x\n", pkt[0]);
    break;
  }
}

void setup()
{
  Serial.begin(115200);
  Serial2.begin(1562500, SERIAL_8N1, rx2, tx2);
  pinMode(read_line, OUTPUT);
  digitalWrite(read_line, LOW);
  Serial2.onReceive(on_rx_2);
  Serial.onReceive(on_rx);
  Serial.println("Started");
}

void loop()
{
}