david.tahir/QuadMeUp_Crossbow
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Merge branch 'master' into tx-sbus

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-12-16 09:28:54 +01:00
parent baf8e54d1a 42a0ff3513
commit 239d1b00e2
5 changed files with 64 additions and 22 deletions
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17
qsp.cpp
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@@ -230,26 +230,27 @@ void qspDecodeIncomingFrame(
/**
* Encode frame is corrent format and write to hardware
*/
void qspEncodeFrame(QspConfiguration_t *qsp) {
void qspEncodeFrame(QspConfiguration_t *qsp, uint8_t buffer[], uint8_t *size) {
//Zero CRC
qsp->crc = 0;
//Write CHANNEL_ID
qsp->hardwareWriteFunction(CHANNEL_ID, qsp);
qspComputeCrc(qsp, CHANNEL_ID);
buffer[0] = CHANNEL_ID;
//Write frame type and length
uint8_t data = qsp->payloadLength & 0x0f;
data |= (qsp->frameToSend << 4) & 0xf0;
qsp->hardwareWriteFunction(data, qsp);
qspComputeCrc(qsp, data);
buffer[1] = data;
//Write payload
for (uint8_t i = 0; i < qsp->payloadLength; i++)
{
qsp->hardwareWriteFunction(qsp->payload[i], qsp);
qspComputeCrc(qsp, qsp->payload[i]);
buffer[i + 2] = qsp->payload[i];
}
//Finally write CRC
qsp->hardwareWriteFunction(qsp->crc, qsp);
buffer[qsp->payloadLength + 2] = qsp->crc;
*size = qsp->payloadLength + 3; //Total length of QSP frame
}
void encodePingPayload(QspConfiguration_t *qsp, uint32_t currentMicros) {