feat(gx12): add Ground Station AUX1 mode

2026-09-29 11:29:34 +02:00
parent ec20759f81
commit b45295bbb4
7 changed files with 97 additions and 0 deletions
@@ -0,0 +1,77 @@
+#include "edgetx.h"
+#include "groundstation.h"
+#include "os/timer.h"
+#include "tasks/mixer_task.h"
+
+namespace {
+constexpr uint8_t kMagic0 = 'G';
+constexpr uint8_t kMagic1 = 'S';
+constexpr uint8_t kVersion = 1;
+constexpr uint8_t kTypeRCChannels = 1;
+constexpr uint8_t kChannels = 16;
+constexpr uint8_t kFrameSize = 10 + kChannels * 2 + 2;
+constexpr uint32_t kPeriodMs = 40; // 25 Hz
+
+const etx_serial_driver_t *driver = nullptr;
+void *driverCtx = nullptr;
+timer_handle_t timer = TIMER_INITIALIZER;
+uint16_t sequence = 0;
+
+uint16_t crc16(const uint8_t *data, size_t size)
+{
+  uint16_t crc = 0xffff;
+  for (size_t i = 0; i < size; ++i) {
+    crc ^= uint16_t(data[i]) << 8;
+    for (uint8_t bit = 0; bit < 8; ++bit)
+      crc = (crc & 0x8000) ? uint16_t((crc << 1) ^ 0x1021) : uint16_t(crc << 1);
+  }
+  return crc;
+}
+
+void sendRCFrame()
+{
+  if (!driver || !driver->sendByte || !mixerTaskRunning()) return;
+
+  uint8_t frame[kFrameSize] = { kMagic0, kMagic1, kVersion, kTypeRCChannels };
+  frame[4] = sequence & 0xff;
+  frame[5] = sequence >> 8;
+  const uint32_t timestamp = get_tmr10ms() * 10;
+  frame[6] = timestamp & 0xff;
+  frame[7] = (timestamp >> 8) & 0xff;
+  frame[8] = (timestamp >> 16) & 0xff;
+  frame[9] = (timestamp >> 24) & 0xff;
+
+  for (uint8_t i = 0; i < kChannels; ++i) {
+    const uint16_t value = channelOutputs[i];
+    frame[10 + i * 2] = value & 0xff;
+    frame[11 + i * 2] = value >> 8;
+  }
+
+  const uint16_t crc = crc16(frame, kFrameSize - 2);
+  frame[kFrameSize - 2] = crc & 0xff;
+  frame[kFrameSize - 1] = crc >> 8;
+  for (uint8_t byte : frame) driver->sendByte(driverCtx, byte);
+  ++sequence;
+}
+
+void timerCb(timer_handle_t *)
+{
+  // Drain input now so the future profile-control parser has a single owner.
+  // The baseline intentionally does not act on received bytes yet.
+  if (driver && driver->getByte) {
+    uint8_t ignored;
+    while (driver->getByte(driverCtx, &ignored)) {}
+  }
+  sendRCFrame();
+}
+} // namespace
+
+void groundstationSetSerialDriver(void *ctx, const etx_serial_driver_t *drv)
+{
+  driverCtx = ctx;
+  driver = drv;
+  sequence = 0;
+  if (!timer_is_created(&timer))
+    timer_create(&timer, timerCb, "gstation", kPeriodMs, true);
+  timer_start(&timer);
+}