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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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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;