95 lines
3.3 KiB
C++
95 lines
3.3 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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#define CROSSFIRE_CH_BITS 11
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#define CROSSFIRE_CENTER 0x3E0
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#if defined(PPM_CENTER_ADJUSTABLE)
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#define CROSSFIRE_CENTER_CH_OFFSET(ch) ((2 * limitAddress(ch)->ppmCenter) + 1) // + 1 is for rouding
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#else
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#define CROSSFIRE_CENTER_CH_OFFSET(ch) (0)
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#endif
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uint8_t createCrossfireModelIDFrame(uint8_t * frame)
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{
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uint8_t * buf = frame;
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*buf++ = UART_SYNC; /* device address */
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*buf++ = 8; /* frame length */
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*buf++ = COMMAND_ID; /* cmd type */
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*buf++ = MODULE_ADDRESS; /* Destination Address */
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*buf++ = RADIO_ADDRESS; /* Origin Address */
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*buf++ = SUBCOMMAND_CRSF; /* sub command */
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*buf++ = COMMAND_MODEL_SELECT_ID; /* command of set model/receiver id */
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*buf++ = g_model.header.modelId[EXTERNAL_MODULE]; /* model ID */
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*buf++ = crc8_BA(frame + 2, 6);
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*buf++ = crc8(frame + 2, 7);
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return buf - frame;
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}
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// Range for pulses (channels output) is [-1024:+1024]
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uint8_t createCrossfireChannelsFrame(uint8_t * frame, int16_t * pulses)
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{
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uint8_t * buf = frame;
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*buf++ = MODULE_ADDRESS;
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*buf++ = 24; // 1(ID) + 22 + 1(CRC)
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uint8_t * crc_start = buf;
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*buf++ = CHANNELS_ID;
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uint32_t bits = 0;
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uint8_t bitsavailable = 0;
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for (int i=0; i<CROSSFIRE_CHANNELS_COUNT; i++) {
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uint32_t val = limit(0, CROSSFIRE_CENTER + (CROSSFIRE_CENTER_CH_OFFSET(i) * 4) / 5 + (pulses[i] * 4) / 5, 2 * CROSSFIRE_CENTER);
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bits |= val << bitsavailable;
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bitsavailable += CROSSFIRE_CH_BITS;
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while (bitsavailable >= 8) {
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*buf++ = bits;
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bits >>= 8;
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bitsavailable -= 8;
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}
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}
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*buf++ = crc8(crc_start, 23);
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return buf - frame;
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}
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void setupPulsesCrossfire()
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{
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if (telemetryProtocol == PROTOCOL_TELEMETRY_CROSSFIRE) {
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uint8_t * pulses = extmodulePulsesData.crossfire.pulses;
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#if defined(LUA)
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if (outputTelemetryBuffer.destination == TELEMETRY_ENDPOINT_SPORT) {
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memcpy(pulses, outputTelemetryBuffer.data, outputTelemetryBuffer.size);
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extmodulePulsesData.crossfire.length = outputTelemetryBuffer.size;
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outputTelemetryBuffer.reset();
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}
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else
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#endif
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{
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if (moduleState[EXTERNAL_MODULE].counter == CRSF_FRAME_MODELID) {
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extmodulePulsesData.crossfire.length = createCrossfireModelIDFrame(pulses);
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moduleState[EXTERNAL_MODULE].counter = CRSF_FRAME_MODELID_SENT;
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}
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else {
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extmodulePulsesData.crossfire.length = createCrossfireChannelsFrame(pulses, &channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart]);
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}
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}
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}
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}
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