forked from Archive/PX4-Autopilot
Fix up ST24 lib
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debff9e179
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9c89499696
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@ -36,7 +36,7 @@ int main(int argc, char *argv[]) {
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while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
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if (((f - last_time) * 1000 * 1000) > 3000) {
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warnx("FRAME RESET\n\n");
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//warnx("FRAME RESET\n\n");
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}
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uint8_t b = static_cast<uint8_t>(x);
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@ -56,8 +56,13 @@ int main(int argc, char *argv[]) {
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{
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//warnx("decoded: %u channels", (unsigned)channel_count);
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for (unsigned i = 0; i < channel_count; i++) {
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warnx("channel %u: %d", i, static_cast<int>(channels[i]));
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int16_t val = channels[i];
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// if (i == 6)
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warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
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}
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// unsigned chan = 1;
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// warnx("channel %u: %d", chan, static_cast<int>(channels[chan]));
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}
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//warnx("%f: 0x%02x >> RSSI: %u #: %u", (double)f, x, static_cast<unsigned>(rssi), static_cast<unsigned>(rx_count));
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@ -61,7 +61,7 @@ const char* decode_states[] = {"UNSYNCED",
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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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#define ST24_RANGE_MAX 8000.0f
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#define ST24_RANGE_MAX 4096.0f
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#define ST24_TARGET_MIN 1000.0f
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#define ST24_TARGET_MAX 2000.0f
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@ -161,42 +161,54 @@ uint8_t st24_decode(uint8_t byte, uint8_t *rssi, uint8_t* rx_count, uint16_t *ch
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case ST24_PACKET_TYPE_CHANNELDATA12:
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{
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ChannelData12* d = (ChannelData12*)&_rxpacket;
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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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for (unsigned i = 0; i < *channel_count; i += 2) {
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channels[i] = ((uint16_t)d->channel[i]) << 4;
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channels[i] |= ((uint16_t)(0xF0 & d->channel[i+1]) >> 4);
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channels[i+1] = ((uint16_t)d->channel[i+2] << 4);
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channels[i+1] |= ((uint16_t)(0x0F & d->channel[i+1]));
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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[i] = (uint16_t)(channels[i] * ST24_SCALE_FACTOR +.5f) + ST24_SCALE_OFFSET;
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// channels[i+1] = (uint16_t)(channels[i+1] * ST24_SCALE_FACTOR +.5f) + ST24_SCALE_OFFSET;
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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;
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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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for (unsigned i = 0; i < *channel_count; i += 2) {
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channels[i] = ((uint16_t)d->channel[i]) << 4;
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channels[i] |= ((uint16_t)(0xF0 & d->channel[i+1]) >> 4);
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unsigned stride_count = (*channel_count * 3) / 2;
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unsigned chan_index = 0;
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channels[i+1] = ((uint16_t)d->channel[i+2] << 4);
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channels[i+1] |= ((uint16_t)(0x0F & d->channel[i+1]));
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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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// XXX apply scaling
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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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