david.tahir/QuadMeUp_Crossbow
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encoding of RC_DATA frame

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-09-27 20:38:37 +02:00
parent b338ba959a
commit 3f0fb692ab
1 changed files with 18 additions and 26 deletions
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44
crossbow.ino
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@@ -163,6 +163,18 @@ void setup(void) {
#endif #endif
} }
#ifdef DEVICE_MODE_TX
uint8_t get10bitHighShift(uint8_t channel) {
return (2 + (channel * 2)) % 8;
}
uint8_t get10bitLowShift(uint8_t channel) {
return 8 - get10bitHighShift(channel);
}
#endif
void loop(void) { void loop(void) {
#ifdef DEVICE_MODE_TX #ifdef DEVICE_MODE_TX
@@ -184,22 +196,12 @@ void loop(void) {
uint8_t channelValue8 = map(ppmReader.get(i), 1000, 2000, 0, 255) & 0xff; uint8_t channelValue8 = map(ppmReader.get(i), 1000, 2000, 0, 255) & 0xff;
uint8_t channelValue4 = map(ppmReader.get(i), 1000, 2000, 0, 15) & 0x0f; uint8_t channelValue4 = map(ppmReader.get(i), 1000, 2000, 0, 15) & 0x0f;
if (i == 0) { if (i < 4) {
qspPayload[0] |= (channelValue10 >> 2) & B11111111; //255 uint8_t bitIndex = i + (i / 4);
qspPayload[1] |= (channelValue10 << 6) & B11000000; //192 qspPayload[bitIndex] |= (channelValue10 >> get10bitHighShift(i)) & (0x03ff >> get10bitHighShift(i)); //255 | shift right 2 bits
} else if (i == 1) { qspPayload[bitIndex + 1] |= (channelValue10 << get10bitLowShift(i)) & 0xff << (8 - get10bitHighShift(i)); //192 | shift left 6 bits
qspPayload[1] |= (channelValue10 >> 4) & B00111111; //63 } else if (i == 4 || i == 5) {
qspPayload[2] |= (channelValue10 << 4) & B11110000; //240 qspPayload[i + 1] |= channelValue8;
} else if (i == 2) {
qspPayload[2] |= (channelValue10 >> 6) & B00001111; //15
qspPayload[3] |= (channelValue10 << 2) & B11111100; //252
} else if (i == 3) {
qspPayload[3] |= (channelValue10 >> 8) & B00000011; //3
qspPayload[4] |= channelValue10 & B11111111; //255
} else if (i == 4) {
qspPayload[5] |= channelValue8;
} else if (i == 5) {
qspPayload[6] |= channelValue8;
} else if (i == 6) { } else if (i == 6) {
qspPayload[7] |= (channelValue4 << 4) & B11110000; qspPayload[7] |= (channelValue4 << 4) & B11110000;
} else if (i == 7) { } else if (i == 7) {
@@ -218,16 +220,6 @@ void loop(void) {
Serial.begin(UART_SPEED); Serial.begin(UART_SPEED);
} }
/*
uint8_t pp[4] = {0x41, 0x42, 0x43, 0x44};
encodeQspFrame(0x01, 0x04, pp);
Serial.end();
delay(30);
Serial.begin(UART_SPEED);
delay(1000);
*/
#endif #endif
#ifdef DEVICE_MODE_RX #ifdef DEVICE_MODE_RX