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3djc/2.4 add 2.3 pr (#8099)

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3djc
2020-11-19 16:32:50 +01:00
committed by GitHub
parent 87cd9047b1
commit 24f93a7cbe
94 changed files with 22779 additions and 205 deletions
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radio/src/pulses/ghost.cpp
+3 -2
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@@ -52,7 +52,7 @@ uint8_t createGhostChannelsFrame(uint8_t * frame, int16_t * pulses)
uint32_t bits = 0;
uint8_t bitsavailable = 0;
for (int i = 0; i < 4; i++) {
uint32_t value = limit(0, GHST_RC_CTR_VAL_12BIT + (((pulses[i]) << 3) / 5), 2 * GHST_RC_CTR_VAL_12BIT);
uint32_t value = limit(0, GHST_RC_CTR_VAL_12BIT + (((pulses[i] + 2 * PPM_CH_CENTER(i) - 2 * PPM_CENTER) << 3) / 5), 2 * GHST_RC_CTR_VAL_12BIT);
bits |= value << bitsavailable;
bitsavailable += GHST_CH_BITS_12;
while (bitsavailable >= 8) {
@@ -64,7 +64,8 @@ uint8_t createGhostChannelsFrame(uint8_t * frame, int16_t * pulses)
// second 4 lower speed, 8 bit channels
for (int i = 4; i < 8; ++i) {
*buf++ = limit(0, GHST_RC_CTR_VAL_8BIT + (((pulses[i + ghostUpper4Offset]) >> 1) / 5), 2 * GHST_RC_CTR_VAL_8BIT);
uint8_t channelIndex = i + ghostUpper4Offset;
*buf++ = limit(0, GHST_RC_CTR_VAL_8BIT + (((pulses[channelIndex] + 2 * PPM_CH_CENTER(channelIndex) - 2 * PPM_CENTER) >> 1) / 5), 2 * GHST_RC_CTR_VAL_8BIT);
}
*buf++ = crc8(crc_start, GHST_UL_RC_CHANS_SIZE - 1);