Simple program to control Siyi A8 mini gimbal

Simple program to control Siyi A8 mini (actually some other Siyi cameras too). Receiving responce sometimes gives error when checking CRC.
2026-04-22 12:56:33 +00:00 · 2024-05-26 12:56:51 +03:00
parent a8ba701138
commit 33399370f3
12 changed files with 558 additions and 0 deletions
@@ -0,0 +1,52 @@
+#include "crc16.h"
+
+static const uint16_t crc16Table[256] = {
+    0x0,    0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108,
+    0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x210,
+    0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b,
+    0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x420,  0x1401,
+    0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee,
+    0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x630,  0x76d7, 0x66f6,
+    0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d,
+    0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x840,  0x1861, 0x2802, 0x3823,
+    0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5,
+    0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0xa50,  0x3a33, 0x2a12, 0xdbfd, 0xcbdc,
+    0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4,
+    0x5cc5, 0x2c22, 0x3c03, 0xc60,  0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd,
+    0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13,
+    0x2e32, 0x1e51, 0xe70,  0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a,
+    0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e,
+    0xe16f, 0x1080, 0xa1,   0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+    0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x2b1,
+    0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb,
+    0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0,
+    0x481,  0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8,
+    0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x691,  0x16b0, 0x6657,
+    0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9,
+    0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x8e1,  0x3882,
+    0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+    0x4a75, 0x5a54, 0x6a37, 0x7a16, 0xaf1,  0x1ad0, 0x2ab3, 0x3a92, 0xfd2e,
+    0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07,
+    0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0xcc1,  0xef1f, 0xff3e, 0xcf5d,
+    0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74,
+    0x2e93, 0x3eb2, 0xed1,  0x1ef0};
+
+uint16_t CRC16::calculate(const uint8_t *ptr, uint32_t len, uint16_t crcInit) {
+    uint16_t crc = crcInit;
+    uint8_t temp;
+
+    while (len-- != 0) {
+        temp = (crc >> 8) & 0xFF;
+        crc = (crc << 8) ^ crc16Table[*ptr ^ temp];
+        ptr++;
+    }
+
+    return crc;
+}
+
+void CRC16::getCRCBytes(const QByteArray &data, uint8_t *bytes) {
+    uint16_t crc16 = calculate(
+        reinterpret_cast<const uint8_t *>(data.constData()), data.size(), 0);
+    bytes[0] = crc16 & 0xFF;
+    bytes[1] = crc16 >> 8;
+}