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Merged
merged 2 commits into from
Jan 26, 2022
Merged

IRC Ghost 12 bit support #1233

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77386e6
IRC Ghost 12 bit support
daleckystepan Dec 8, 2021
257d25b
Updated generated YAML parser files
raphaelcoeffic Jan 22, 2022
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4 changes: 4 additions & 0 deletions radio/src/datastructs_private.h
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Original file line number Diff line number Diff line change
Expand Up @@ -528,6 +528,10 @@ PACK(struct ModuleData {
rx_freq[1] = value >> 8;
}
} afhds3));
NOBACKUP(struct {
uint8_t raw12bits:1;
uint8_t spare1:7 SKIP;
} ghost);
} NAME(mod) FUNC(select_mod_type);

// Helper functions to set both of the rfProto protocol at the same time
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4 changes: 4 additions & 0 deletions radio/src/gui/128x64/model_setup.cpp
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Expand Up @@ -1651,6 +1651,10 @@ void menuModelSetup(event_t event)
lcdDrawTextAlignedLeft(y, STR_WARN_BATTVOLTAGE);
putsVolts(lcdLastRightPos, y, getBatteryVoltage(), attr | PREC2 | LEFT);
}
else if (isModuleGhost(moduleIdx)) {
auto & module = g_model.moduleData[moduleIdx];
module.ghost.raw12bits = editCheckBox(module.ghost.raw12bits , MODEL_SETUP_2ND_COLUMN, y, INDENT "Raw 12 bits", attr, event);
}
break;
}

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4 changes: 4 additions & 0 deletions radio/src/gui/212x64/model_setup.cpp
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Expand Up @@ -1431,6 +1431,10 @@ void menuModelSetup(event_t event)
lcdDrawTextAlignedLeft(y, STR_WARN_BATTVOLTAGE);
putsVolts(lcdLastRightPos, y, getBatteryVoltage(), attr | PREC2 | LEFT);
}
else if (isModuleGhost(moduleIdx)) {
auto & module = g_model.moduleData[moduleIdx];
module.ghost.raw12bits = editCheckBox(module.ghost.raw12bits , MODEL_SETUP_2ND_COLUMN, y, INDENT "Raw 12 bits", attr, event);
}
}
break;

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5 changes: 5 additions & 0 deletions radio/src/gui/colorlcd/model_setup.cpp
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Expand Up @@ -1255,6 +1255,11 @@ class ModuleWindow : public FormGroup {
grid.nextLine();
}

if (isModuleGhost(moduleIdx)) {
new StaticText(this, grid.getLabelSlot(true), "Raw 12 bits", 0, COLOR_THEME_PRIMARY1);
new CheckBox(this, grid.getFieldSlot(), GET_SET_DEFAULT(g_model.moduleData[moduleIdx].ghost.raw12bits));
}

auto par = getParent();
par->moveWindowsTop(top() + 1, adjustHeight());
par->adjustInnerHeight();
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2 changes: 2 additions & 0 deletions radio/src/gui/gui_common.h
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Expand Up @@ -361,6 +361,8 @@ inline uint8_t MODULE_OPTION_ROW(uint8_t moduleIdx) {
return TITLE_ROW;
if(isModuleAFHDS3(moduleIdx))
return HIDDEN_ROW;
if(isModuleGhost(moduleIdx))
return 0;
return MULTIMODULE_OPTIONS_ROW(moduleIdx);
}

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96 changes: 53 additions & 43 deletions radio/src/pulses/ghost.cpp
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Expand Up @@ -24,59 +24,73 @@
uint8_t createGhostMenuControlFrame(uint8_t * frame, int16_t * pulses)
{
uint8_t * buf = frame;
#if SPORT_MAX_BAUDRATE < 400000
*buf++ = g_eeGeneral.telemetryBaudrate == GHST_TELEMETRY_RATE_400K ? GHST_ADDR_MODULE_SYM : GHST_ADDR_MODULE_ASYM;
#else
*buf++ = GHST_ADDR_MODULE_SYM;
#endif

*buf++ = GHST_UL_RC_CHANS_SIZE;
uint8_t * crc_start = buf;
*buf++ = GHST_UL_MENU_CTRL;
*buf++ = getGhostModuleAddr(); // addr
*buf++ = GHST_UL_RC_CHANS_SIZE; // length
const uint8_t * crc_start = buf;
*buf++ = GHST_UL_MENU_CTRL; // type

// payload
*buf++ = reusableBuffer.ghostMenu.buttonAction; // Joystick states, Up, Down, Left, Right, Press
*buf++ = reusableBuffer.ghostMenu.menuAction; // menu control, open, close, etc.

for (uint8_t i = 0; i < 8; i++)
for (uint8_t i = 0; i < 8; i++) {
*buf++ = 0; // padding to make this the same size as the pulses packet
}

// crc
*buf++ = crc8(crc_start, GHST_UL_RC_CHANS_SIZE - 1);

return buf - frame;
}

// Range for pulses (channels output) is [-1024:+1024]
uint8_t createGhostChannelsFrame(uint8_t * frame, int16_t * pulses)
uint8_t createGhostChannelsFrame(uint8_t * frame, int16_t * pulses, bool raw12bits)
{
static uint8_t lastGhostFrameId = GHST_UL_RC_CHANS_HS4_5TO8;
static uint8_t lastGhostFrameId = 0;
uint8_t ghostUpper4Offset = 0;

switch (lastGhostFrameId) {
case GHST_UL_RC_CHANS_HS4_5TO8:
ghostUpper4Offset = 0;
break;
case GHST_UL_RC_CHANS_HS4_9TO12:
case GHST_UL_RC_CHANS_HS4_12_5TO8:
lastGhostFrameId = raw12bits ? GHST_UL_RC_CHANS_HS4_12_9TO12 : GHST_UL_RC_CHANS_HS4_9TO12;
ghostUpper4Offset = 4;
break;

case GHST_UL_RC_CHANS_HS4_9TO12:
case GHST_UL_RC_CHANS_HS4_12_9TO12:
lastGhostFrameId = raw12bits ? GHST_UL_RC_CHANS_HS4_12_13TO16 : GHST_UL_RC_CHANS_HS4_13TO16;
ghostUpper4Offset = 8;
break;

case GHST_UL_RC_CHANS_HS4_13TO16:
ghostUpper4Offset = 8;
case GHST_UL_RC_CHANS_HS4_12_13TO16:
lastGhostFrameId = raw12bits ? GHST_UL_RC_CHANS_HS4_12_5TO8 : GHST_UL_RC_CHANS_HS4_5TO8;
ghostUpper4Offset = 0;
break;

default: // We don't have known previous state so init
lastGhostFrameId = raw12bits ? GHST_UL_RC_CHANS_HS4_12_5TO8 : GHST_UL_RC_CHANS_HS4_5TO8;
ghostUpper4Offset = 0;
break;
}

uint8_t * buf = frame;
#if SPORT_MAX_BAUDRATE < 400000
*buf++ = g_eeGeneral.telemetryBaudrate == GHST_TELEMETRY_RATE_400K ? GHST_ADDR_MODULE_SYM : GHST_ADDR_MODULE_ASYM;
#else
*buf++ = GHST_ADDR_MODULE_SYM;
#endif
*buf++ = GHST_UL_RC_CHANS_SIZE;
*buf++ = getGhostModuleAddr(); // addr
*buf++ = GHST_UL_RC_CHANS_SIZE; // len
uint8_t * crc_start = buf;
*buf++ = lastGhostFrameId;
*buf++ = lastGhostFrameId; // type

// payload
// first 4 high speed, 12 bit channels (11 relevant bits with openTx)
uint32_t bits = 0;
uint8_t bitsavailable = 0;
for (int i = 0; i < 4; i++) {
uint32_t value = limit(0, GHST_RC_CTR_VAL_12BIT + (((pulses[i] + 2 * PPM_CH_CENTER(i) - 2 * PPM_CENTER) << 3) / 5), 2 * GHST_RC_CTR_VAL_12BIT);
uint32_t value;
if(raw12bits) {
value = limit(0, (1024 + (pulses[i] + 2 * PPM_CH_CENTER(i) - 2 * PPM_CENTER)) << 1, 0xFFF);
} else {
value = limit(0, GHST_RC_CTR_VAL_12BIT + (((pulses[i] + 2 * PPM_CH_CENTER(i) - 2 * PPM_CENTER) << 3) / 5), 2 * GHST_RC_CTR_VAL_12BIT);
}
bits |= value << bitsavailable;
bitsavailable += GHST_CH_BITS_12;
while (bitsavailable >= 8) {
Expand All @@ -89,35 +103,31 @@ uint8_t createGhostChannelsFrame(uint8_t * frame, int16_t * pulses)
// second 4 lower speed, 8 bit channels
for (int i = 4; i < 8; ++i) {
uint8_t channelIndex = i + ghostUpper4Offset;
*buf++ = limit(0, GHST_RC_CTR_VAL_8BIT + (((pulses[channelIndex] + 2 * PPM_CH_CENTER(channelIndex) - 2 * PPM_CENTER) >> 1) / 5), 2 * GHST_RC_CTR_VAL_8BIT);
uint8_t value;
if(raw12bits) {
value = limit(0, 128 + ((pulses[channelIndex] + 2 * PPM_CH_CENTER(channelIndex) - 2 * PPM_CENTER) >> 3), 0xFF);
} else {
value = limit(0, GHST_RC_CTR_VAL_8BIT + (((pulses[channelIndex] + 2 * PPM_CH_CENTER(channelIndex) - 2 * PPM_CENTER) >> 1) / 5), 2 * GHST_RC_CTR_VAL_8BIT);
}
*buf++ = value;
}

// crc
*buf++ = crc8(crc_start, GHST_UL_RC_CHANS_SIZE - 1);

switch (lastGhostFrameId) {
case GHST_UL_RC_CHANS_HS4_5TO8:
lastGhostFrameId = GHST_UL_RC_CHANS_HS4_9TO12;
break;
case GHST_UL_RC_CHANS_HS4_9TO12:
lastGhostFrameId = GHST_UL_RC_CHANS_HS4_13TO16;
break;
case GHST_UL_RC_CHANS_HS4_13TO16:
lastGhostFrameId = GHST_UL_RC_CHANS_HS4_5TO8;
break;
}

return buf - frame;
}

void setupPulsesGhost()
{
if (telemetryProtocol == PROTOCOL_TELEMETRY_GHOST) {
uint8_t * pulses = extmodulePulsesData.ghost.pulses;
if (moduleState[EXTERNAL_MODULE].counter == GHST_MENU_CONTROL)
extmodulePulsesData.ghost.length = createGhostMenuControlFrame(pulses, &channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart]);
else
extmodulePulsesData.ghost.length = createGhostChannelsFrame(pulses, &channelOutputs[g_model.moduleData[EXTERNAL_MODULE].channelsStart]);

auto & module = g_model.moduleData[EXTERNAL_MODULE];
if (moduleState[EXTERNAL_MODULE].counter == GHST_MENU_CONTROL) {
extmodulePulsesData.ghost.length = createGhostMenuControlFrame(pulses, &channelOutputs[module.channelsStart]);
} else {
extmodulePulsesData.ghost.length = createGhostChannelsFrame(pulses, &channelOutputs[module.channelsStart], module.ghost.raw12bits);
}
moduleState[EXTERNAL_MODULE].counter = GHST_FRAME_CHANNEL;
}
}
}
2 changes: 1 addition & 1 deletion radio/src/storage/conversions/yaml/yaml_datastructs_funcs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@ bool w_zov_color(void* user, uint8_t* data, uint32_t bitoffs,
}
#endif

uint8_t select_mod_type(void* user, uint8_t* data, uint32_t bitoffs)
static uint8_t select_mod_type(void* user, uint8_t* data, uint32_t bitoffs)
{
data += bitoffs >> 3UL;
data -= offsetof(ModuleData, ppm);
Expand Down
34 changes: 32 additions & 2 deletions radio/src/storage/yaml/yaml_datastructs_funcs.cpp
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Expand Up @@ -39,7 +39,6 @@ namespace yaml_conv_220 {
bool w_vbat_max(const YamlNode* node, uint32_t val, yaml_writer_func wf, void* opaque);

uint8_t select_zov(void* user, uint8_t* data, uint32_t bitoffs);
uint8_t select_mod_type(void* user, uint8_t* data, uint32_t bitoffs);
uint8_t select_script_input(void* user, uint8_t* data, uint32_t bitoffs);
uint8_t select_id1(void* user, uint8_t* data, uint32_t bitoffs);
uint8_t select_id2(void* user, uint8_t* data, uint32_t bitoffs);
Expand Down Expand Up @@ -433,7 +432,38 @@ bool w_zov_color(void* user, uint8_t* data, uint32_t bitoffs,

static uint8_t select_mod_type(void* user, uint8_t* data, uint32_t bitoffs)
{
return yaml_conv_220::select_mod_type(user, data, bitoffs);
data += bitoffs >> 3UL;
data -= offsetof(ModuleData, ppm);

ModuleData* mod_data = reinterpret_cast<ModuleData*>(data);
switch (mod_data->type) {
case MODULE_TYPE_NONE:
case MODULE_TYPE_PPM:
case MODULE_TYPE_DSM2:
case MODULE_TYPE_CROSSFIRE:
return 1;
case MODULE_TYPE_MULTIMODULE:
return 2;
case MODULE_TYPE_XJT_PXX1:
case MODULE_TYPE_R9M_PXX1:
case MODULE_TYPE_R9M_LITE_PXX1:
return 3;
case MODULE_TYPE_SBUS:
return 4;
case MODULE_TYPE_ISRM_PXX2:
case MODULE_TYPE_R9M_PXX2:
case MODULE_TYPE_R9M_LITE_PXX2:
case MODULE_TYPE_R9M_LITE_PRO_PXX2:
case MODULE_TYPE_XJT_LITE_PXX2:
return 5;
case MODULE_TYPE_FLYSKY:
if (mod_data->subType == FLYSKY_SUBTYPE_AFHDS2A) return 6;
if (mod_data->subType == FLYSKY_SUBTYPE_AFHDS3) return 7;
break;
case MODULE_TYPE_GHOST:
return 8;
}
return 0;
}

static uint8_t select_script_input(void* user, uint8_t* data, uint32_t bitoffs)
Expand Down
42 changes: 24 additions & 18 deletions radio/src/storage/yaml/yaml_datastructs_nv14.cpp
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Expand Up @@ -664,6 +664,11 @@ static const struct YamlNode struct_anonymous_11[] = {
YAML_UNSIGNED( "reserved", 6 ),
YAML_END
};
static const struct YamlNode struct_anonymous_12[] = {
YAML_UNSIGNED( "raw12bits", 1 ),
YAML_PADDING( 7 ),
YAML_END
};
static const struct YamlNode union_anonymous_4_elmts[] = {
YAML_ARRAY("raw", 8, 25, struct_unsigned_8, NULL),
YAML_STRUCT("ppm", 16, struct_anonymous_5, NULL),
Expand All @@ -673,6 +678,7 @@ static const struct YamlNode union_anonymous_4_elmts[] = {
YAML_STRUCT("pxx2", 200, struct_anonymous_9, NULL),
YAML_STRUCT("flysky", 56, struct_anonymous_10, NULL),
YAML_STRUCT("afhds3", 64, struct_anonymous_11, NULL),
YAML_STRUCT("ghost", 8, struct_anonymous_12, NULL),
YAML_END
};
static const struct YamlNode struct_ModuleData[] = {
Expand Down Expand Up @@ -720,61 +726,61 @@ static const struct YamlNode struct_string_32[] = {
YAML_STRING("val", 4),
YAML_END
};
static const struct YamlNode union_anonymous_12_elmts[] = {
static const struct YamlNode union_anonymous_13_elmts[] = {
YAML_UNSIGNED( "id", 16 ),
YAML_UNSIGNED( "persistentValue", 16 ),
YAML_END
};
static const struct YamlNode struct_anonymous_14[] = {
static const struct YamlNode struct_anonymous_15[] = {
YAML_UNSIGNED( "physID", 5 ),
YAML_UNSIGNED( "rxIndex", 3 ),
YAML_END
};
static const struct YamlNode union_anonymous_13_elmts[] = {
YAML_STRUCT("frskyInstance", 8, struct_anonymous_14, NULL),
static const struct YamlNode union_anonymous_14_elmts[] = {
YAML_STRUCT("frskyInstance", 8, struct_anonymous_15, NULL),
YAML_UNSIGNED( "instance", 8 ),
YAML_ENUM("formula", 8, enum_TelemetrySensorFormula),
YAML_END
};
static const struct YamlNode struct_anonymous_16[] = {
static const struct YamlNode struct_anonymous_17[] = {
YAML_UNSIGNED( "ratio", 16 ),
YAML_SIGNED( "offset", 16 ),
YAML_END
};
static const struct YamlNode struct_anonymous_17[] = {
static const struct YamlNode struct_anonymous_18[] = {
YAML_UNSIGNED( "source", 8 ),
YAML_UNSIGNED( "index", 8 ),
YAML_PADDING( 16 ),
YAML_END
};
static const struct YamlNode struct_anonymous_18[] = {
static const struct YamlNode struct_anonymous_19[] = {
YAML_ARRAY("sources", 8, 4, struct_signed_8, NULL),
YAML_END
};
static const struct YamlNode struct_anonymous_19[] = {
static const struct YamlNode struct_anonymous_20[] = {
YAML_UNSIGNED( "source", 8 ),
YAML_PADDING( 24 ),
YAML_END
};
static const struct YamlNode struct_anonymous_20[] = {
static const struct YamlNode struct_anonymous_21[] = {
YAML_UNSIGNED( "gps", 8 ),
YAML_UNSIGNED( "alt", 8 ),
YAML_PADDING( 16 ),
YAML_END
};
static const struct YamlNode union_anonymous_15_elmts[] = {
YAML_STRUCT("custom", 32, struct_anonymous_16, NULL),
YAML_STRUCT("cell", 32, struct_anonymous_17, NULL),
YAML_STRUCT("calc", 32, struct_anonymous_18, NULL),
YAML_STRUCT("consumption", 32, struct_anonymous_19, NULL),
YAML_STRUCT("dist", 32, struct_anonymous_20, NULL),
static const struct YamlNode union_anonymous_16_elmts[] = {
YAML_STRUCT("custom", 32, struct_anonymous_17, NULL),
YAML_STRUCT("cell", 32, struct_anonymous_18, NULL),
YAML_STRUCT("calc", 32, struct_anonymous_19, NULL),
YAML_STRUCT("consumption", 32, struct_anonymous_20, NULL),
YAML_STRUCT("dist", 32, struct_anonymous_21, NULL),
YAML_UNSIGNED( "param", 32 ),
YAML_END
};
static const struct YamlNode struct_TelemetrySensor[] = {
YAML_IDX,
YAML_UNION("id1", 16, union_anonymous_12_elmts, select_id1),
YAML_UNION("id2", 8, union_anonymous_13_elmts, select_id2),
YAML_UNION("id1", 16, union_anonymous_13_elmts, select_id1),
YAML_UNION("id2", 8, union_anonymous_14_elmts, select_id2),
YAML_STRING("label", 4),
YAML_UNSIGNED( "subId", 8 ),
YAML_ENUM("type", 1, enum_TelemetrySensorType),
Expand All @@ -787,7 +793,7 @@ static const struct YamlNode struct_TelemetrySensor[] = {
YAML_UNSIGNED( "persistent", 1 ),
YAML_UNSIGNED( "onlyPositive", 1 ),
YAML_PADDING( 1 ),
YAML_UNION("cfg", 32, union_anonymous_15_elmts, select_sensor_cfg),
YAML_UNION("cfg", 32, union_anonymous_16_elmts, select_sensor_cfg),
YAML_END
};
static const struct YamlNode struct_WidgetPersistentData[] = {
Expand Down
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