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PXX2 refactoring + Popups refactoring

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This commit is contained in:
Bertrand Songis
2019-03-26 13:11:32 +01:00
parent bdd9017589
commit db316af98d
19 changed files with 184 additions and 75 deletions
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radio/src/pulses/pxx2.cpp
+54 -42
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@@ -36,53 +36,69 @@ uint8_t Pxx2Pulses::addFlag0(uint8_t module)
return flag0;
}
void Pxx2Pulses::addFlag1(uint8_t module)
void Pxx2Pulses::addFlag1()
{
uint8_t flag1 = 0;
Pxx2Transport::addByte(flag1);
}
void Pxx2Pulses::addChannels(uint8_t module, uint8_t sendFailsafe, uint8_t firstChannel)
void Pxx2Pulses::addPulsesValues(uint16_t low, uint16_t high)
{
Pxx2Transport::addByte(low); // Low byte of channel
Pxx2Transport::addByte(((low >> 8) & 0x0F) | (high << 4)); // 4 bits each from 2 channels
Pxx2Transport::addByte(high >> 4); // High byte of channel
}
void Pxx2Pulses::addChannels(uint8_t module)
{
uint16_t pulseValue = 0;
uint16_t pulseValueLow = 0;
for (int8_t i=0; i<8; i++) {
uint8_t channel = firstChannel + i;
if (sendFailsafe) {
if (g_model.moduleData[module].failsafeMode == FAILSAFE_HOLD) {
uint8_t channel = g_model.moduleData[module].channelsStart;
uint8_t count = sentModuleChannels(module);
for (int8_t i = 0; i < count; i++, channel++) {
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
if (i & 1)
addPulsesValues(pulseValueLow, pulseValue);
else
pulseValueLow = pulseValue;
}
}
void Pxx2Pulses::addFailsafe(uint8_t module)
{
uint16_t pulseValue = 0;
uint16_t pulseValueLow = 0;
uint8_t channel = g_model.moduleData[module].channelsStart;
uint8_t count = sentModuleChannels(module);
for (int8_t i = 0; i < count; i++, channel++) {
if (g_model.moduleData[module].failsafeMode == FAILSAFE_HOLD) {
pulseValue = 2047;
}
else if (g_model.moduleData[module].failsafeMode == FAILSAFE_NOPULSES) {
pulseValue = 0;
}
else {
int16_t failsafeValue = g_model.failsafeChannels[channel];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 2047;
}
else if (g_model.moduleData[module].failsafeMode == FAILSAFE_NOPULSES) {
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 0;
}
else {
int16_t failsafeValue = g_model.failsafeChannels[channel];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 2047;
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 0;
}
else {
failsafeValue += 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
}
failsafeValue += 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
}
}
else {
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
}
if (i & 1) {
Pxx2Transport::addByte(pulseValueLow); // Low byte of channel
Pxx2Transport::addByte(((pulseValueLow >> 8) & 0x0F) | (pulseValue << 4)); // 4 bits each from 2 channels
Pxx2Transport::addByte(pulseValue >> 4); // High byte of channel
}
else {
if (i & 1)
addPulsesValues(pulseValueLow, pulseValue);
else
pulseValueLow = pulseValue;
}
}
}
@@ -90,21 +106,17 @@ void Pxx2Pulses::setupChannelsFrame(uint8_t module)
{
addFrameType(PXX2_TYPE_C_MODULE, PXX2_TYPE_ID_CHANNELS);
// FLAG0
// Flag0
uint8_t flag0 = addFlag0(module);
// FLAG1
addFlag1(module);
// Flag1
addFlag1();
// Channels
uint8_t channelsCount = sentModuleChannels(module);
addChannels(module, flag0 & PXX2_CHANNELS_FLAG0_FAILSAFE, g_model.moduleData[module].channelsStart);
if (channelsCount > 8) {
addChannels(module, flag0 & PXX2_CHANNELS_FLAG0_FAILSAFE, g_model.moduleData[module].channelsStart + 8);
if (channelsCount > 16) {
addChannels(module, flag0 & PXX2_CHANNELS_FLAG0_FAILSAFE, g_model.moduleData[module].channelsStart + 16);
}
}
// Failsafe / Channels
if (flag0 & PXX2_CHANNELS_FLAG0_FAILSAFE)
addFailsafe(module);
else
addChannels(module);
}
void Pxx2Pulses::setupTelemetryFrame(uint8_t module)