122 lines
4.0 KiB
C++
Executable File
122 lines
4.0 KiB
C++
Executable File
/*
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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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uint8_t createGhostMenuControlFrame(uint8_t * frame, int16_t * pulses)
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{
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uint8_t * buf = frame;
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#if SPORT_MAX_BAUDRATE < 400000
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*buf++ = g_eeGeneral.telemetryBaudrate == GHST_TELEMETRY_RATE_400K ? GHST_ADDR_MODULE_SYM : GHST_ADDR_MODULE_ASYM;
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#else
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*buf++ = GHST_ADDR_MODULE_SYM;
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#endif
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*buf++ = GHST_UL_RC_CHANS_SIZE;
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uint8_t * crc_start = buf;
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*buf++ = GHST_UL_MENU_CTRL;
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*buf++ = reusableBuffer.ghostMenu.buttonAction; // Joystick states, Up, Down, Left, Right, Press
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*buf++ = reusableBuffer.ghostMenu.menuAction; // menu control, open, close, etc.
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for (uint8_t i = 0; i < 8; i++)
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*buf++ = 0; // padding to make this the same size as the pulses packet
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*buf++ = crc8(crc_start, GHST_UL_RC_CHANS_SIZE - 1);
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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 createGhostChannelsFrame(uint8_t * frame, int16_t * pulses)
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{
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static uint8_t lastGhostFrameId = GHST_UL_RC_CHANS_HS4_5TO8;
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uint8_t ghostUpper4Offset = 0;
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switch (lastGhostFrameId) {
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case GHST_UL_RC_CHANS_HS4_5TO8:
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ghostUpper4Offset = 0;
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break;
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case GHST_UL_RC_CHANS_HS4_9TO12:
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ghostUpper4Offset = 4;
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break;
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case GHST_UL_RC_CHANS_HS4_13TO16:
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ghostUpper4Offset = 8;
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break;
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}
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uint8_t * buf = frame;
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#if SPORT_MAX_BAUDRATE < 400000
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*buf++ = g_eeGeneral.telemetryBaudrate == GHST_TELEMETRY_RATE_400K ? GHST_ADDR_MODULE_SYM : GHST_ADDR_MODULE_ASYM;
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#else
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*buf++ = GHST_ADDR_MODULE_SYM;
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#endif
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*buf++ = GHST_UL_RC_CHANS_SIZE;
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uint8_t * crc_start = buf;
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*buf++ = lastGhostFrameId;
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// first 4 high speed, 12 bit channels (11 relevant bits with openTx)
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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 < 4; i++) {
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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);
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bits |= value << bitsavailable;
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bitsavailable += GHST_CH_BITS_12;
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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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// second 4 lower speed, 8 bit channels
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for (int i = 4; i < 8; ++i) {
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uint8_t channelIndex = i + ghostUpper4Offset;
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*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);
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}
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*buf++ = crc8(crc_start, GHST_UL_RC_CHANS_SIZE - 1);
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switch (lastGhostFrameId) {
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case GHST_UL_RC_CHANS_HS4_5TO8:
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lastGhostFrameId = GHST_UL_RC_CHANS_HS4_9TO12;
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break;
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case GHST_UL_RC_CHANS_HS4_9TO12:
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lastGhostFrameId = GHST_UL_RC_CHANS_HS4_13TO16;
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break;
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case GHST_UL_RC_CHANS_HS4_13TO16:
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lastGhostFrameId = GHST_UL_RC_CHANS_HS4_5TO8;
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break;
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}
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return buf - frame;
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}
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void setupPulsesGhost()
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{
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if (telemetryProtocol == PROTOCOL_TELEMETRY_GHOST) {
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uint8_t * pulses = extmodulePulsesData.ghost.pulses;
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if (moduleState[EXTERNAL_MODULE].counter == GHST_MENU_CONTROL)
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extmodulePulsesData.ghost.length = createGhostMenuControlFrame(pulses, &channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart]);
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else
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extmodulePulsesData.ghost.length = createGhostChannelsFrame(pulses, &channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart]);
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moduleState[EXTERNAL_MODULE].counter = GHST_FRAME_CHANNEL;
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}
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} |