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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/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;
}
}
}