forked from Archive/PX4-Autopilot
ST24 lib: formatting
This commit is contained in:
Lorenz Meier
parent
082a0c7aa5
commit
3fc064882f
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@ -52,12 +52,13 @@ enum ST24_DECODE_STATE {
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ST24_DECODE_STATE_GOT_DATA
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};
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const char* decode_states[] = {"UNSYNCED",
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"GOT_STX1",
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"GOT_STX2",
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"GOT_LEN",
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"GOT_TYPE",
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"GOT_DATA"};
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const char *decode_states[] = {"UNSYNCED",
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"GOT_STX1",
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"GOT_STX2",
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"GOT_LEN",
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"GOT_TYPE",
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"GOT_DATA"
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};
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/* define range mapping here, -+100% -> 1000..2000 */
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#define ST24_RANGE_MIN 0.0f
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@ -102,137 +103,144 @@ uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len)
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}
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uint8_t st24_decode(uint8_t byte, uint8_t *rssi, uint8_t* rx_count, uint16_t *channel_count, uint16_t *channels, uint16_t max_chan_count)
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uint8_t st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, uint16_t *channels,
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uint16_t max_chan_count)
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{
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bool ret = false;
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switch (_decode_state) {
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case ST24_DECODE_STATE_UNSYNCED:
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if (byte == ST24_STX1) {
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_decode_state = ST24_DECODE_STATE_GOT_STX1;
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}
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break;
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case ST24_DECODE_STATE_UNSYNCED:
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if (byte == ST24_STX1) {
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_decode_state = ST24_DECODE_STATE_GOT_STX1;
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}
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case ST24_DECODE_STATE_GOT_STX1:
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if (byte == ST24_STX2) {
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_decode_state = ST24_DECODE_STATE_GOT_STX2;
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} else {
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_decode_state = ST24_DECODE_STATE_UNSYNCED;
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}
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break;
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break;
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case ST24_DECODE_STATE_GOT_STX2:
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/* ensure no data overflow failure or hack is possible */
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if ((unsigned)byte <= sizeof(_rxpacket.length) + sizeof(_rxpacket.type) + sizeof(_rxpacket.st24_data)) {
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_rxpacket.length = byte;
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_rxlen = 0;
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_decode_state = ST24_DECODE_STATE_GOT_LEN;
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} else {
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_decode_state = ST24_DECODE_STATE_UNSYNCED;
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}
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break;
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case ST24_DECODE_STATE_GOT_STX1:
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if (byte == ST24_STX2) {
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_decode_state = ST24_DECODE_STATE_GOT_STX2;
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case ST24_DECODE_STATE_GOT_LEN:
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_rxpacket.type = byte;
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_rxlen++;
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_decode_state = ST24_DECODE_STATE_GOT_TYPE;
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break;
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case ST24_DECODE_STATE_GOT_TYPE:
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_rxpacket.st24_data[_rxlen - 1] = byte;
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_rxlen++;
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if (_rxlen == (_rxpacket.length - 1)) {
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_decode_state = ST24_DECODE_STATE_GOT_DATA;
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}
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break;
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case ST24_DECODE_STATE_GOT_DATA:
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_rxpacket.crc8 = byte;
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_rxlen++;
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if (st24_common_crc8((uint8_t*)&(_rxpacket.length), _rxlen) == _rxpacket.crc8) {
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ret = true;
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/* decode the actual packet */
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switch (_rxpacket.type) {
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case ST24_PACKET_TYPE_CHANNELDATA12:
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{
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ChannelData12* d = (ChannelData12*)_rxpacket.st24_data;
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*rssi = d->rssi;
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*rx_count = d->packet_count;
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*channel_count = 12;
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unsigned stride_count = (*channel_count * 3) / 2;
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unsigned chan_index = 0;
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for (unsigned i = 0; i < stride_count; i += 3) {
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channels[chan_index] = ((uint16_t)d->channel[i] << 4);
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channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i+1]) >> 4);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR +.5f) + ST24_SCALE_OFFSET;
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chan_index++;
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channels[chan_index] = ((uint16_t)d->channel[i+2]);
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channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i+1])) << 8);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR +.5f) + ST24_SCALE_OFFSET;
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chan_index++;
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}
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}
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break;
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case ST24_PACKET_TYPE_CHANNELDATA24:
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{
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ChannelData24* d = (ChannelData24*)&_rxpacket.st24_data;
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*rssi = d->rssi;
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*rx_count = d->packet_count;
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*channel_count = 24;
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unsigned stride_count = (*channel_count * 3) / 2;
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unsigned chan_index = 0;
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for (unsigned i = 0; i < stride_count; i += 3) {
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channels[chan_index] = ((uint16_t)d->channel[i] << 4);
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channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i+1]) >> 4);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR +.5f) + ST24_SCALE_OFFSET;
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chan_index++;
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channels[chan_index] = ((uint16_t)d->channel[i+2]);
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channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i+1])) << 8);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR +.5f) + ST24_SCALE_OFFSET;
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chan_index++;
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}
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}
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break;
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case ST24_PACKET_TYPE_TRANSMITTERGPSDATA:
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{
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ReceiverFcPacket* d = (ReceiverFcPacket*)&_rxpacket;
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/* we silently ignore this data for now, as its not classic TX data */
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ret = false;
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}
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break;
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default:
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ret = false;
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break;
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}
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} else {
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/* decoding failed */
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}
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} else {
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_decode_state = ST24_DECODE_STATE_UNSYNCED;
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break;
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}
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break;
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case ST24_DECODE_STATE_GOT_STX2:
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/* ensure no data overflow failure or hack is possible */
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if ((unsigned)byte <= sizeof(_rxpacket.length) + sizeof(_rxpacket.type) + sizeof(_rxpacket.st24_data)) {
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_rxpacket.length = byte;
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_rxlen = 0;
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_decode_state = ST24_DECODE_STATE_GOT_LEN;
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} else {
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_decode_state = ST24_DECODE_STATE_UNSYNCED;
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}
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break;
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case ST24_DECODE_STATE_GOT_LEN:
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_rxpacket.type = byte;
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_rxlen++;
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_decode_state = ST24_DECODE_STATE_GOT_TYPE;
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break;
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case ST24_DECODE_STATE_GOT_TYPE:
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_rxpacket.st24_data[_rxlen - 1] = byte;
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_rxlen++;
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if (_rxlen == (_rxpacket.length - 1)) {
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_decode_state = ST24_DECODE_STATE_GOT_DATA;
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}
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break;
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case ST24_DECODE_STATE_GOT_DATA:
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_rxpacket.crc8 = byte;
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_rxlen++;
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if (st24_common_crc8((uint8_t *) & (_rxpacket.length), _rxlen) == _rxpacket.crc8) {
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ret = true;
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/* decode the actual packet */
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switch (_rxpacket.type) {
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case ST24_PACKET_TYPE_CHANNELDATA12: {
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ChannelData12 *d = (ChannelData12 *)_rxpacket.st24_data;
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*rssi = d->rssi;
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*rx_count = d->packet_count;
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*channel_count = 12;
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unsigned stride_count = (*channel_count * 3) / 2;
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unsigned chan_index = 0;
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for (unsigned i = 0; i < stride_count; i += 3) {
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channels[chan_index] = ((uint16_t)d->channel[i] << 4);
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channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
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chan_index++;
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channels[chan_index] = ((uint16_t)d->channel[i + 2]);
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channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
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chan_index++;
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}
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}
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break;
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case ST24_PACKET_TYPE_CHANNELDATA24: {
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ChannelData24 *d = (ChannelData24 *)&_rxpacket.st24_data;
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*rssi = d->rssi;
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*rx_count = d->packet_count;
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*channel_count = 24;
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unsigned stride_count = (*channel_count * 3) / 2;
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unsigned chan_index = 0;
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for (unsigned i = 0; i < stride_count; i += 3) {
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channels[chan_index] = ((uint16_t)d->channel[i] << 4);
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channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
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chan_index++;
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channels[chan_index] = ((uint16_t)d->channel[i + 2]);
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channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8);
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/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
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channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
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chan_index++;
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}
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}
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break;
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case ST24_PACKET_TYPE_TRANSMITTERGPSDATA: {
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// ReceiverFcPacket* d = (ReceiverFcPacket*)&_rxpacket.st24_data;
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/* we silently ignore this data for now, as it is unused */
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ret = false;
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}
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break;
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default:
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ret = false;
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break;
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}
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} else {
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/* decoding failed */
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}
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_decode_state = ST24_DECODE_STATE_UNSYNCED;
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break;
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}
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return !ret;
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@ -157,6 +157,7 @@ uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len);
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* @param max_chan_count maximum channels to decode - if more channels are decoded, the last n are skipped and success (0) is returned
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* @return 0 for success (a decoded packet), 1 for no packet yet (accumulating), 3 for out of sync, 4 for checksum error
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*/
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__EXPORT uint8_t st24_decode(uint8_t byte, uint8_t *rssi, uint8_t* rx_count, uint16_t* channel_count, uint16_t *channels, uint16_t max_chan_count);
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__EXPORT uint8_t st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
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uint16_t *channels, uint16_t max_chan_count);
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__END_DECLS
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