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IRC Ghost 12 bit support

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This commit is contained in:
Štěpán Dalecký
2022-01-22 13:43:30 +01:00
committed by Raphael Coeffic
parent a177264759
commit 77386e6391
8 changed files with 94 additions and 52 deletions
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radio/src/datastructs_private.h
+4
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@@ -488,6 +488,10 @@ PACK(struct ModuleData {
uint8_t spare2:1 SKIP;
int8_t refreshRate; // definition as framelength for ppm (* 5 + 225 = time in 1/10 ms)
} sbus);
NOBACKUP(struct {
uint8_t raw12bits:1;
uint8_t spare1:7;
} ghost);
NOBACKUP(struct {
uint8_t receivers:7; // 4 bits spare
uint8_t racingMode:1;
radio/src/gui/128x64/model_setup.cpp
+4
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@@ -1651,6 +1651,10 @@ void menuModelSetup(event_t event)
lcdDrawTextAlignedLeft(y, STR_WARN_BATTVOLTAGE);
putsVolts(lcdLastRightPos, y, getBatteryVoltage(), attr | PREC2 | LEFT);
}
else if (isModuleGhost(moduleIdx)) {
auto & module = g_model.moduleData[moduleIdx];
module.ghost.raw12bits = editCheckBox(module.ghost.raw12bits , MODEL_SETUP_2ND_COLUMN, y, INDENT "Raw 12 bits", attr, event);
}
break;
}
radio/src/gui/212x64/model_setup.cpp
+4
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@@ -1431,6 +1431,10 @@ void menuModelSetup(event_t event)
lcdDrawTextAlignedLeft(y, STR_WARN_BATTVOLTAGE);
putsVolts(lcdLastRightPos, y, getBatteryVoltage(), attr | PREC2 | LEFT);
}
else if (isModuleGhost(moduleIdx)) {
auto & module = g_model.moduleData[moduleIdx];
module.ghost.raw12bits = editCheckBox(module.ghost.raw12bits , MODEL_SETUP_2ND_COLUMN, y, INDENT "Raw 12 bits", attr, event);
}
}
break;
radio/src/gui/colorlcd/model_setup.cpp
+5
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@@ -1255,6 +1255,11 @@ class ModuleWindow : public FormGroup {
grid.nextLine();
}
if (isModuleGhost(moduleIdx)) {
new StaticText(this, grid.getLabelSlot(true), "Raw 12 bits", 0, COLOR_THEME_PRIMARY1);
new CheckBox(this, grid.getFieldSlot(), GET_SET_DEFAULT(g_model.moduleData[moduleIdx].ghost.raw12bits));
}
auto par = getParent();
par->moveWindowsTop(top() + 1, adjustHeight());
par->adjustInnerHeight();
radio/src/gui/gui_common.h
+2
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@@ -361,6 +361,8 @@ inline uint8_t MODULE_OPTION_ROW(uint8_t moduleIdx) {
return TITLE_ROW;
if(isModuleAFHDS3(moduleIdx))
return HIDDEN_ROW;
if(isModuleGhost(moduleIdx))
return 0;
return MULTIMODULE_OPTIONS_ROW(moduleIdx);
}
radio/src/pulses/ghost.cpp
+54 -44
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@@ -24,59 +24,73 @@
uint8_t createGhostMenuControlFrame(uint8_t * frame, int16_t * pulses)
{
uint8_t * buf = frame;
#if SPORT_MAX_BAUDRATE < 400000
*buf++ = g_eeGeneral.telemetryBaudrate == GHST_TELEMETRY_RATE_400K ? GHST_ADDR_MODULE_SYM : GHST_ADDR_MODULE_ASYM;
#else
*buf++ = GHST_ADDR_MODULE_SYM;
#endif
*buf++ = GHST_UL_RC_CHANS_SIZE;
uint8_t * crc_start = buf;
*buf++ = GHST_UL_MENU_CTRL;
*buf++ = getGhostModuleAddr(); // addr
*buf++ = GHST_UL_RC_CHANS_SIZE; // length
const uint8_t * crc_start = buf;
*buf++ = GHST_UL_MENU_CTRL; // type
// payload
*buf++ = reusableBuffer.ghostMenu.buttonAction; // Joystick states, Up, Down, Left, Right, Press
*buf++ = reusableBuffer.ghostMenu.menuAction; // menu control, open, close, etc.
for (uint8_t i = 0; i < 8; i++)
for (uint8_t i = 0; i < 8; i++) {
*buf++ = 0; // padding to make this the same size as the pulses packet
}
// crc
*buf++ = crc8(crc_start, GHST_UL_RC_CHANS_SIZE - 1);
return buf - frame;
}
// Range for pulses (channels output) is [-1024:+1024]
uint8_t createGhostChannelsFrame(uint8_t * frame, int16_t * pulses)
uint8_t createGhostChannelsFrame(uint8_t * frame, int16_t * pulses, bool raw12bits)
{
static uint8_t lastGhostFrameId = GHST_UL_RC_CHANS_HS4_5TO8;
static uint8_t lastGhostFrameId = 0;
uint8_t ghostUpper4Offset = 0;
switch (lastGhostFrameId) {
case GHST_UL_RC_CHANS_HS4_5TO8:
ghostUpper4Offset = 0;
break;
case GHST_UL_RC_CHANS_HS4_9TO12:
case GHST_UL_RC_CHANS_HS4_12_5TO8:
lastGhostFrameId = raw12bits ? GHST_UL_RC_CHANS_HS4_12_9TO12 : GHST_UL_RC_CHANS_HS4_9TO12;
ghostUpper4Offset = 4;
break;
case GHST_UL_RC_CHANS_HS4_13TO16:
break;
case GHST_UL_RC_CHANS_HS4_9TO12:
case GHST_UL_RC_CHANS_HS4_12_9TO12:
lastGhostFrameId = raw12bits ? GHST_UL_RC_CHANS_HS4_12_13TO16 : GHST_UL_RC_CHANS_HS4_13TO16;
ghostUpper4Offset = 8;
break;
case GHST_UL_RC_CHANS_HS4_13TO16:
case GHST_UL_RC_CHANS_HS4_12_13TO16:
lastGhostFrameId = raw12bits ? GHST_UL_RC_CHANS_HS4_12_5TO8 : GHST_UL_RC_CHANS_HS4_5TO8;
ghostUpper4Offset = 0;
break;
default: // We don't have known previous state so init
lastGhostFrameId = raw12bits ? GHST_UL_RC_CHANS_HS4_12_5TO8 : GHST_UL_RC_CHANS_HS4_5TO8;
ghostUpper4Offset = 0;
break;
}
uint8_t * buf = frame;
#if SPORT_MAX_BAUDRATE < 400000
*buf++ = g_eeGeneral.telemetryBaudrate == GHST_TELEMETRY_RATE_400K ? GHST_ADDR_MODULE_SYM : GHST_ADDR_MODULE_ASYM;
#else
*buf++ = GHST_ADDR_MODULE_SYM;
#endif
*buf++ = GHST_UL_RC_CHANS_SIZE;
*buf++ = getGhostModuleAddr(); // addr
*buf++ = GHST_UL_RC_CHANS_SIZE; // len
uint8_t * crc_start = buf;
*buf++ = lastGhostFrameId;
*buf++ = lastGhostFrameId; // type
// payload
// first 4 high speed, 12 bit channels (11 relevant bits with openTx)
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] + 2 * PPM_CH_CENTER(i) - 2 * PPM_CENTER) << 3) / 5), 2 * GHST_RC_CTR_VAL_12BIT);
uint32_t value;
if(raw12bits) {
value = limit(0, (1024 + (pulses[i] + 2 * PPM_CH_CENTER(i) - 2 * PPM_CENTER)) << 1, 0xFFF);
} else {
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) {
@@ -89,23 +103,18 @@ uint8_t createGhostChannelsFrame(uint8_t * frame, int16_t * pulses)
// second 4 lower speed, 8 bit channels
for (int i = 4; i < 8; ++i) {
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);
uint8_t value;
if(raw12bits) {
value = limit(0, 128 + ((pulses[channelIndex] + 2 * PPM_CH_CENTER(channelIndex) - 2 * PPM_CENTER) >> 3), 0xFF);
} else {
value = 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++ = value;
}
// crc
*buf++ = crc8(crc_start, GHST_UL_RC_CHANS_SIZE - 1);
switch (lastGhostFrameId) {
case GHST_UL_RC_CHANS_HS4_5TO8:
lastGhostFrameId = GHST_UL_RC_CHANS_HS4_9TO12;
break;
case GHST_UL_RC_CHANS_HS4_9TO12:
lastGhostFrameId = GHST_UL_RC_CHANS_HS4_13TO16;
break;
case GHST_UL_RC_CHANS_HS4_13TO16:
lastGhostFrameId = GHST_UL_RC_CHANS_HS4_5TO8;
break;
}
return buf - frame;
}
@@ -113,11 +122,12 @@ void setupPulsesGhost()
{
if (telemetryProtocol == PROTOCOL_TELEMETRY_GHOST) {
uint8_t * pulses = extmodulePulsesData.ghost.pulses;
if (moduleState[EXTERNAL_MODULE].counter == GHST_MENU_CONTROL)
extmodulePulsesData.ghost.length = createGhostMenuControlFrame(pulses, &channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart]);
else
extmodulePulsesData.ghost.length = createGhostChannelsFrame(pulses, &channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart]);
auto & module = g_model.moduleData[EXTERNAL_MODULE];
if (moduleState[EXTERNAL_MODULE].counter == GHST_MENU_CONTROL) {
extmodulePulsesData.ghost.length = createGhostMenuControlFrame(pulses, &channelOutputs[module.channelsStart]);
} else {
extmodulePulsesData.ghost.length = createGhostChannelsFrame(pulses, &channelOutputs[module.channelsStart], module.ghost.raw12bits);
}
moduleState[EXTERNAL_MODULE].counter = GHST_FRAME_CHANNEL;
}
}
}
radio/src/telemetry/ghost.cpp
+8
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@@ -88,6 +88,14 @@ const GhostSensor ghostSensors[] = {
{0x00, NULL, UNIT_RAW, 0},
};
uint8_t getGhostModuleAddr() {
#if SPORT_MAX_BAUDRATE < 400000
return g_eeGeneral.telemetryBaudrate == GHST_TELEMETRY_RATE_400K ? GHST_ADDR_MODULE_SYM : GHST_ADDR_MODULE_ASYM;
#else
return GHST_ADDR_MODULE_SYM;
#endif
}
const GhostSensor *getGhostSensor(uint8_t id)
{
for (const GhostSensor * sensor = ghostSensors; sensor->id; sensor++) {
radio/src/telemetry/ghost.h
+13 -8
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@@ -30,17 +30,21 @@
#define GHST_ADDR_MODULE_ASYM 0x88 // asymmetrical, 400k pulses, 115k telemetry
#define GHST_ADDR_FC 0x82
#define GHST_ADDR_GOGGLES 0x83 // phase 2
#define GHST_ADDR_5G_TXCTRL 0x84 // phase 3
#define GHST_ADDR_5G_TXCTRL 0x84 // phase 3
#define GHST_ADDR_5G_TWRSCAN 0x85
#define GHST_ADDR_5G_RLY 0x86
#define GHST_UL_RC_CHANS_HS4_5TO8 0x10 // High Speed 4 channel (12 bits), plus CH5-8 (8 bits)
#define GHST_UL_RC_CHANS_HS4_9TO12 0x11 // High Speed 4 channel (12 bits), plus CH9-12 (8 bits)
#define GHST_UL_RC_CHANS_HS4_13TO16 0x12 // High Speed 4 channel (12 bits), plus CH13-16 (8 bits)
#define GHST_UL_RC_CHANS_SIZE 12 // 1 (type) + 10 (data) + 1 (crc)
#define GHST_UL_RC_CHANS_HS4_5TO8 0x10 // High Speed 4 channel (12 bit legacy), plus CH5-8 (8 bits)
#define GHST_UL_RC_CHANS_HS4_9TO12 0x11 // High Speed 4 channel (12 bit legacy), plus CH9-12 (8 bits)
#define GHST_UL_RC_CHANS_HS4_13TO16 0x12 // High Speed 4 channel (12 bit legacy), plus CH13-16 (8 bits)
#define GHST_UL_RC_CHANS_SIZE 12 // 1 (type) + 10 (data) + 1 (crc)
#define GHST_UL_MENU_CTRL 0x13
#define GHST_DL_OPENTX_SYNC 0x20
#define GHST_UL_RC_CHANS_HS4_12_5TO8 0x30 // High Speed 4 channel (12 bit raw), plus CH5-8 (8 bit raw)
#define GHST_UL_RC_CHANS_HS4_12_9TO12 0x31 // High Speed 4 channel (12 bit raw), plus CH9-12 (8 bit raw)
#define GHST_UL_RC_CHANS_HS4_12_13TO16 0x32 // High Speed 4 channel (12 bit raw), plus CH13-16 (8 bit raw)
#define GHST_DL_OPENTX_SYNC 0x20
#define GHST_DL_LINK_STAT 0x21
#define GHST_DL_VTX_STAT 0x22
#define GHST_DL_PACK_STAT 0x23
@@ -48,8 +52,8 @@
#define GHST_DL_GPS_PRIMARY 0x25
#define GHST_DL_GPS_SECONDARY 0x26
#define GHST_RC_CTR_VAL_12BIT 0x7C0 // 0x3e0 << 1
#define GHST_RC_CTR_VAL_8BIT 0x7C
#define GHST_RC_CTR_VAL_12BIT 0x7C0 // 0x3e0 << 1
#define GHST_RC_CTR_VAL_8BIT 0x7C
#define GHST_CH_BITS_12 12
#define GHST_CH_BITS_8 8
@@ -101,6 +105,7 @@ enum GhstVtxBand
void processGhostTelemetryData(uint8_t data);
void ghostSetDefault(int index, uint8_t id, uint8_t subId);
uint8_t getGhostModuleAddr();
#if SPORT_MAX_BAUDRATE < 400000
// For radios which can't support telemetry at high rates, offer baud rate choices