david.tahir/QuadMeUp_Crossbow
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Correct way of encoding RC_DATA frame

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-09-27 22:16:15 +02:00
parent 66a88259f9
commit 458ee9233a
6 changed files with 47 additions and 10 deletions
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0
.gitignore vendored Normal file
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7
.vscode/arduino.json vendored
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@@ -1,6 +1,7 @@
{
"board": "arduino:avr:pro",
"configuration": "cpu=16MHzatmega328",
"board": "sparkfun:avr:promicro",
"configuration": "cpu=16MHzatmega32U4",
"sketch": "crossbow.ino",
"port": "COM5"
"port": "COM23",
"output": "./build"
}

0
build/.gitkeep Normal file
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5
common.h
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@@ -4,8 +4,7 @@
#define PPM_CHANNEL_COUNT 10
#define TX_RC_FRAME_RATE 100 //ms
#define TX_RC_FRAME_RATE 5000 //ms
#define CHANNEL_ID 0x01
#define QSP_PREAMBLE 0x51
@@ -16,8 +15,6 @@
#define PIN_LED 13
enum dataStates {
IDLE,
PREAMBLE_RECEIVED,

15
crossbow.ino
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@@ -166,7 +166,7 @@ void setup(void) {
#ifdef DEVICE_MODE_TX
uint8_t get10bitHighShift(uint8_t channel) {
return (2 + (channel * 2)) % 8;
return ((channel % 4) * 2) + 2;
}
uint8_t get10bitLowShift(uint8_t channel) {
@@ -197,12 +197,21 @@ void loop(void) {
uint8_t channelValue4 = map(ppmReader.get(i), 1000, 2000, 0, 15) & 0x0f;
if (i < 4) {
/*
* First 4 channels encoded with 10 bits
*/
uint8_t bitIndex = i + (i / 4);
qspPayload[bitIndex] |= (channelValue10 >> get10bitHighShift(i)) & (0x03ff >> get10bitHighShift(i)); //255 | shift right 2 bits
qspPayload[bitIndex + 1] |= (channelValue10 << get10bitLowShift(i)) & 0xff << (8 - get10bitHighShift(i)); //192 | shift left 6 bits
qspPayload[bitIndex] |= (channelValue10 >> get10bitHighShift(i)) & (0x3ff >> get10bitHighShift(i));
qspPayload[bitIndex + 1] |= (channelValue10 << get10bitLowShift(i)) & 0xff << (8 - get10bitHighShift(i));
} else if (i == 4 || i == 5) {
/*
* Next 2 with 8 bits
*/
qspPayload[i + 1] |= channelValue8;
} else if (i == 6) {
/*
* And last 4 with 4 bits per channel
*/
qspPayload[7] |= (channelValue4 << 4) & B11110000;
} else if (i == 7) {
qspPayload[7] |= channelValue4 & B00001111;

30
scratch.txt Normal file
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@@ -0,0 +1,30 @@
/*
FIXME this should work, but does not...
channel get10bitHighShift get10bitLowShift
0 2 6
1 4 4
2 6 2
3 8 0
if (i < 4) {
uint8_t bitIndex = i + (i / 4);
qspPayload[bitIndex] |= (channelValue10 >> get10bitHighShift(i)) & (0xff >> get10bitHighShift(i));
qspPayload[bitIndex + 1] |= (channelValue10 << get10bitLowShift(i)) & (0xff << (8 - get10bitHighShift(i)));
}
if (i == 0) {
qspPayload[0] |= (channelValue10 >> 2) & B11111111; //255
qspPayload[1] |= (channelValue10 << 6) & B11000000; //192
} else if (i == 1) {
qspPayload[1] |= (channelValue10 >> 4) & B00111111; //63
qspPayload[2] |= (channelValue10 << 4) & B11110000; //240
} 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
}
*/