david.tahir/QuadMeUp_Crossbow
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Some dependency pleanup

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This commit is contained in:
Pawel Spychalski
2018-05-23 14:15:22 +02:00
parent 917b1514fd
commit bb2317b06a
9 changed files with 99 additions and 54 deletions
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45
crossbow/qsp.cpp
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@@ -3,16 +3,16 @@
void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate) {
platformNode.setRcChannel(0, (uint16_t) (((uint16_t) qsp->payload[0] << 2) & 0x3fc) | ((qsp->payload[1] >> 6) & 0x03), 1000);
platformNode.setRcChannel(1, (uint16_t) (((uint16_t) qsp->payload[1] << 4) & 0x3f0) | ((qsp->payload[2] >> 4) & 0x0F), 1000);
platformNode.setRcChannel(2, (uint16_t) (((uint16_t) qsp->payload[2] << 6) & 0x3c0) | ((qsp->payload[3] >> 2) & 0x3F), 1000);
platformNode.setRcChannel(3, (uint16_t) (((uint16_t) qsp->payload[3] << 8) & 0x300) | ((qsp->payload[4]) & 0xFF), 1000);
platformNode.setRcChannel(4, ((int) qsp->payload[5]) << 2, 1000);
platformNode.setRcChannel(5, ((int) qsp->payload[6]) << 2, 1000);
platformNode.setRcChannel(6, ((int) ((qsp->payload[7] >> 4) & 0b00001111)) << 6, 1000);
platformNode.setRcChannel(7, ((int) (qsp->payload[7] & 0b00001111)) << 6, 1000);
platformNode.setRcChannel(8, ((int) ((qsp->payload[8] >> 4) & 0b00001111)) << 6, 1000);
platformNode.setRcChannel(9, ((int) (qsp->payload[8] & 0b00001111)) << 6, 1000);
qsp->setRcChannelCallback(0, (uint16_t) (((uint16_t) qsp->payload[0] << 2) & 0x3fc) | ((qsp->payload[1] >> 6) & 0x03), 1000);
qsp->setRcChannelCallback(1, (uint16_t) (((uint16_t) qsp->payload[1] << 4) & 0x3f0) | ((qsp->payload[2] >> 4) & 0x0F), 1000);
qsp->setRcChannelCallback(2, (uint16_t) (((uint16_t) qsp->payload[2] << 6) & 0x3c0) | ((qsp->payload[3] >> 2) & 0x3F), 1000);
qsp->setRcChannelCallback(3, (uint16_t) (((uint16_t) qsp->payload[3] << 8) & 0x300) | ((qsp->payload[4]) & 0xFF), 1000);
qsp->setRcChannelCallback(4, ((int) qsp->payload[5]) << 2, 1000);
qsp->setRcChannelCallback(5, ((int) qsp->payload[6]) << 2, 1000);
qsp->setRcChannelCallback(6, ((int) ((qsp->payload[7] >> 4) & 0b00001111)) << 6, 1000);
qsp->setRcChannelCallback(7, ((int) (qsp->payload[7] & 0b00001111)) << 6, 1000);
qsp->setRcChannelCallback(8, ((int) ((qsp->payload[8] >> 4) & 0b00001111)) << 6, 1000);
qsp->setRcChannelCallback(9, ((int) (qsp->payload[8] & 0b00001111)) << 6, 1000);
}
uint8_t get10bitHighShift(uint8_t channel) {
@@ -41,7 +41,7 @@ void qspComputeCrc(QspConfiguration_t *qsp, uint8_t dataByte)
qsp->crc = crc8_dvb_s2(qsp->crc, dataByte);
}
void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, uint8_t rssi, uint8_t snr) {
void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, uint8_t rssi, uint8_t snr, uint8_t platformState) {
qsp->payload[0] = rssi;
qsp->payload[1] = snr;
qsp->payload[2] = rxDeviceState->rxVoltage;
@@ -50,7 +50,7 @@ void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSta
uint8_t flags = 0;
if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
if (platformState == DEVICE_STATE_FAILSAFE) {
flags |= 0x01 << 0;
}
@@ -75,7 +75,7 @@ void encodeRcDataPayload(QspConfiguration_t *qsp, uint8_t noOfChannels)
{
for (uint8_t i = 0; i < noOfChannels; i++)
{
int cV = constrain(platformNode.getRcChannel(i), 1000, 2000) - 1000;
int cV = constrain(qsp->rcChannelGetCallback(i), 1000, 2000) - 1000;
uint16_t channelValue10 = cV & 0x03ff;
uint8_t channelValue8 = (cV >> 2) & 0xff;
@@ -133,10 +133,10 @@ void qspClearPayload(QspConfiguration_t *qsp)
/**
* Init CRC with salt based on 4 byte bind key
*/
void qspInitCrc(QspConfiguration_t *qsp) {
void qspInitCrc(QspConfiguration_t *qsp, uint8_t bindKey[]) {
qsp->crc = 0;
for (uint8_t i = 0; i < 4; i++) {
qspComputeCrc(qsp, platformNode.bindKey[i]);
qspComputeCrc(qsp, bindKey[i]);
}
}
@@ -144,7 +144,8 @@ void qspDecodeIncomingFrame(
QspConfiguration_t *qsp,
uint8_t incomingByte,
RxDeviceState_t *rxDeviceState,
TxDeviceState_t *txDeviceState
TxDeviceState_t *txDeviceState,
uint8_t bindKey[]
) {
static uint8_t frameId;
static uint8_t payloadLength;
@@ -153,7 +154,7 @@ void qspDecodeIncomingFrame(
if (qsp->protocolState == QSP_STATE_IDLE)
{
qspInitCrc(qsp);
qspInitCrc(qsp, bindKey);
qspClearPayload(qsp);
receivedPayload = 0;
qsp->frameDecodingStartedAt = millis();
@@ -201,9 +202,15 @@ void qspDecodeIncomingFrame(
/**
* Encode frame is corrent format and write to hardware
*/
void qspEncodeFrame(QspConfiguration_t *qsp, uint8_t buffer[], uint8_t *size, uint8_t radioChannel) {
void qspEncodeFrame(
QspConfiguration_t *qsp,
uint8_t buffer[],
uint8_t *size,
uint8_t radioChannel,
uint8_t bindKey[]
) {
//Salt CRC with bind key
qspInitCrc(qsp);
qspInitCrc(qsp, bindKey);
//Write frame type and length
// We are no longer sending payload length, so 4 bits are now free for other usages