david.tahir/QuadMeUp_Crossbow
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Merge pull request #42 from DzikuVx/channel-processing-speedup

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Processing speedup
This commit is contained in:
Paweł Spychalski
2018-01-03 20:21:32 +01:00
committed by GitHub
parent 34744ac5d7 f75a8f8d7b
commit 2ac0ce9b49
2 changed files with 25 additions and 24 deletions
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15
crossbow.ino
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@@ -172,6 +172,11 @@ void setup(void)
pinMode(RX_ADC_PIN_1, INPUT); pinMode(RX_ADC_PIN_1, INPUT);
pinMode(RX_ADC_PIN_2, INPUT); pinMode(RX_ADC_PIN_2, INPUT);
pinMode(RX_ADC_PIN_3, INPUT); pinMode(RX_ADC_PIN_3, INPUT);
/*
* Prepare Serial1 for S.Bus processing
*/
Serial1.begin(100000, SERIAL_8E2);
#endif #endif
#ifdef DEVICE_MODE_TX #ifdef DEVICE_MODE_TX
@@ -196,6 +201,11 @@ void setup(void)
//Play single tune to indicate power up //Play single tune to indicate power up
buzzerSingleMode(BUZZER_MODE_CHIRP, &buzzer); buzzerSingleMode(BUZZER_MODE_CHIRP, &buzzer);
/*
* Prepare Serial1 for S.Bus processing
*/
Serial1.begin(100000, SERIAL_8N2);
#endif #endif
pinMode(LED_BUILTIN, OUTPUT); pinMode(LED_BUILTIN, OUTPUT);
@@ -207,11 +217,6 @@ void setup(void)
qsp.debugConfig |= DEBUG_FLAG_LED; qsp.debugConfig |= DEBUG_FLAG_LED;
#endif #endif
/*
* Prepare Serial1 for S.Bus processing
*/
Serial1.begin(100000, SERIAL_8N2);
// sBus.begin();
} }
uint8_t currentSequenceIndex = 0; uint8_t currentSequenceIndex = 0;

34
qsp.cpp
View File

@@ -17,27 +17,23 @@ void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate
temporaryPpmOutput[8] = (qsp->payload[8] >> 4) & 0b00001111; temporaryPpmOutput[8] = (qsp->payload[8] >> 4) & 0b00001111;
temporaryPpmOutput[9] = qsp->payload[8] & 0b00001111; temporaryPpmOutput[9] = qsp->payload[8] & 0b00001111;
//10bit channels //10bit channels are passed as is
temporaryPpmOutput[0] = map(temporaryPpmOutput[0], 0, 1000, 1000, 2000);
temporaryPpmOutput[1] = map(temporaryPpmOutput[1], 0, 1000, 1000, 2000);
temporaryPpmOutput[2] = map(temporaryPpmOutput[2], 0, 1000, 1000, 2000);
temporaryPpmOutput[3] = map(temporaryPpmOutput[3], 0, 1000, 1000, 2000);
//8bit channels //8bit channels needs to be shifted left 2 places
temporaryPpmOutput[4] = map(temporaryPpmOutput[4], 0, 0xff, 1000, 2000); temporaryPpmOutput[4] = temporaryPpmOutput[4] << 2;
temporaryPpmOutput[5] = map(temporaryPpmOutput[5], 0, 0xff, 1000, 2000); temporaryPpmOutput[5] = temporaryPpmOutput[5] << 2;
//4bit channels //4bit channels needs to be shifted left 6 places
temporaryPpmOutput[6] = map(temporaryPpmOutput[6], 0, 0x0f, 1000, 2000); temporaryPpmOutput[6] = temporaryPpmOutput[6] << 6;
temporaryPpmOutput[7] = map(temporaryPpmOutput[7], 0, 0x0f, 1000, 2000); temporaryPpmOutput[7] = temporaryPpmOutput[7] << 6;
temporaryPpmOutput[8] = map(temporaryPpmOutput[8], 0, 0x0f, 1000, 2000); temporaryPpmOutput[8] = temporaryPpmOutput[8] << 6;
temporaryPpmOutput[9] = map(temporaryPpmOutput[9], 0, 0x0f, 1000, 2000); temporaryPpmOutput[9] = temporaryPpmOutput[9] << 6;
/* /*
* Copy tremporary to real output * Copy tremporary to real output and add missing 1000
*/ */
for (uint8_t i = 0; i < PPM_OUTPUT_CHANNEL_COUNT; i++) { for (uint8_t i = 0; i < PPM_OUTPUT_CHANNEL_COUNT; i++) {
rxDeviceSate->channels[i] = temporaryPpmOutput[i]; rxDeviceSate->channels[i] = temporaryPpmOutput[i] + 1000;
} }
} }
@@ -101,11 +97,11 @@ void encodeRcDataPayload(QspConfiguration_t *qsp, int channels[], uint8_t noOfCh
{ {
for (uint8_t i = 0; i < noOfChannels; i++) for (uint8_t i = 0; i < noOfChannels; i++)
{ {
int cV = constrain(channels[i], 1000, 2000); int cV = constrain(channels[i], 1000, 2000) - 1000;
uint16_t channelValue10 = map(cV, 1000, 2000, 0, 1000) & 0x03ff; uint16_t channelValue10 = cV & 0x03ff;
uint8_t channelValue8 = map(cV, 1000, 2000, 0, 255) & 0xff; uint8_t channelValue8 = (cV >> 2) & 0xff;
uint8_t channelValue4 = map(cV, 1000, 2000, 0, 15) & 0x0f; uint8_t channelValue4 = (cV >> 6) & 0x0f;
if (i < 4) if (i < 4)
{ {