#2894 - Crossfire (inverted serial) sent on S.PORT pin in the module bay (ported from master f7044a20ec)

16 channels sent every 2.5ms now @ 200KBauds with CRC
2015-12-20 17:10:32 +01:00
parent e8983250ca
commit 91e80d446a
31 changed files with 435 additions and 92 deletions
@@ -0,0 +1,62 @@
+/*
+ * Authors (alphabetical order)
+ * - Andre Bernet <bernet.andre@gmail.com>
+ * - Andreas Weitl
+ * - Bertrand Songis <bsongis@gmail.com>
+ * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
+ * - Cameron Weeks <th9xer@gmail.com>
+ * - Erez Raviv
+ * - Gabriel Birkus
+ * - Jean-Pierre Parisy
+ * - Karl Szmutny
+ * - Michael Blandford
+ * - Michal Hlavinka
+ * - Pat Mackenzie
+ * - Philip Moss
+ * - Rob Thomson
+ * - Romolo Manfredini <romolo.manfredini@gmail.com>
+ * - Thomas Husterer
+ *
+ * opentx is based on code named
+ * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
+ * er9x by Erez Raviv: http://code.google.com/p/er9x/,
+ * and the original (and ongoing) project by
+ * Thomas Husterer, th9x: http://code.google.com/p/th9x/
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ */
+
+#include "../opentx.h"
+
+#define CROSSFIRE_START_BYTE        0x0F
+#define CROSSFIRE_CH_CENTER         0x3E0
+#define CROSSFIRE_CH_BITS           11
+
+// Range for pulses (channels output) is [-1024:+1024]
+void createCrossfireFrame(uint8_t * frame, int16_t * pulses)
+{
+  uint8_t * buf = frame;
+  *buf++ = CROSSFIRE_START_BYTE;
+
+  uint32_t bits = 0;
+  uint8_t bitsavailable = 0;
+  for (int i=0; i<NUM_TRAINER; i++) {
+    bits |= (CROSSFIRE_CH_CENTER + (((pulses[i]) * 4) / 5)) << bitsavailable;
+    bitsavailable += CROSSFIRE_CH_BITS;
+    while (bitsavailable >= 8) {
+      *buf++ = bits;
+      bits >>= 8;
+      bitsavailable -= 8;
+    }
+  }
+  *buf++ = 0;
+  *buf++ = crc16(frame, 24);
+}