feat: 16个通道数据传输成功

LoraGamepad/Models/CrsfChMsg.cs

@@ -0,0 +1,47 @@
+using System;
+using System.Buffers.Binary;
+using System.Collections;
+using System.Collections.Specialized;
+using System.IO;
+using System.Linq;
+using Microsoft.VisualBasic;
+
+namespace LoraGamepad.Models;
+
+public class CrsfChMsg
+{
+    public int[] channel = new int[16];
+
+    public int channel0 = 0;
+
+    public static CrsfChMsg FromBytes(byte[] payload)
+    {
+        var ch = new int[16];
+        // Console.WriteLine($"Raw Data: 1:{payload[1]:X},2:{payload[2]:X}");//,2:{payload[3]:X},3{payload[4]:X},4{payload[5]:X},5{payload[6]:X}");
+        var raw = payload.Skip(1).Reverse().ToArray();
+        ch[15] = ((raw[0 ] & 0xFF) << 3 ) + ((raw[1 ] & 0xE0) >> 5);   //res: 5
+        ch[14] = ((raw[1 ] & 0x1F) << 6 ) + ((raw[2 ] & 0xFC) >> 2);   //res: 3
+        ch[13] = ((raw[2 ] & 0x03) << 9 ) + ((raw[3 ] & 0xFF) << 1)+ ((raw[4 ] & 0x80) >> 7);
+        ch[12] = ((raw[4 ] & 0x7F) << 4 ) + ((raw[5 ] & 0xF0) >> 4);
+        ch[11] = ((raw[5 ] & 0x0F) << 7 ) + ((raw[6 ] & 0xFE) >> 1);
+        ch[10] = ((raw[6 ] & 0x01) << 10) + ((raw[7 ] & 0xFF) << 2) + ((raw[8 ] & 0xC0) >> 6);
+        ch[9]  = ((raw[8 ] & 0x3F) << 5 ) + ((raw[9 ] & 0xF8) >> 3);
+        ch[8]  = ((raw[9 ] & 0x07) << 8 ) + ((raw[10] & 0xFF) >> 0);
+        
+        ch[7] = ((raw[11] & 0xFF) << 3 ) + ((raw[12] & 0xE0) >> 5);   //res: 5
+        ch[6] = ((raw[12] & 0x1F) << 6 ) + ((raw[13] & 0xFC) >> 2);   //res: 3
+        ch[5] = ((raw[13] & 0x03) << 9 ) + ((raw[14] & 0xFF) << 1)+ ((raw[15] & 0x80) >> 7);
+        ch[4] = ((raw[15] & 0x7F) << 4 ) + ((raw[16] & 0xF0) >> 4);
+        ch[3] = ((raw[16] & 0x0F) << 7 ) + ((raw[17] & 0xFE) >> 1);
+        ch[2] = ((raw[17] & 0x01) << 10) + ((raw[18] & 0xFF) << 2) + ((raw[19] & 0xC0) >> 6);
+        ch[1] = ((raw[19] & 0x3F) << 5 ) + ((raw[20] & 0xF8) >> 3);
+        ch[0] = ((raw[20] & 0x07) << 8 ) + ((raw[21] & 0xFF) >> 0);
+        // ch[1] = ((payload[2] & 0xF8) >> 3) + ((payload[3] & 0x3F) << 5); // res: 2
+        // ch[2] = ((payload[3] & 0x03) << 9) + ((payload[4] & 0xFF) << 1) + ((payload[5] & 0x80) >> 7); // res: 16
+        // ch[3] = (uint)(((payload[5] & 0x7F) << 4) + ((payload[6] & 0xF0) >> 4)); // res: 4
+        return new CrsfChMsg()
+        {
+            channel = ch
+        };
+    }
+}

LoraGamepad/Util/CrcUtil.cs

@@ -10,11 +10,27 @@ public class CrcUtil
     public static byte CRC8_Calculate(byte[] data)  
     {  
         byte crc8 = 0;  
-        for( int i = 0 ; i < data.Length; i++){  
+        for( int i = 0 ; i < data.Length; ++i){  
-            crc8 = CRC8Table[crc8^data[i]];
+            crc8 = crc8_dvb_s2_buf(crc8,data[i]);
         }  
         return(crc8);  
     }
+
+    private static byte crc8_dvb_s2_buf(byte crc, byte dataIn)
+    {
+        crc ^= dataIn;
+        for (int i = 0; i < 8; ++i) {
+            if ((crc & 0x80) != 0 )
+            {
+                var temp = (byte)(crc << 1);
+                crc = (byte)( temp ^ 0xD5);
+            } else {
+                crc = (byte)(crc << 1);
+            }
+        }
+
+        return crc;
+    }
     
     /// <summary>
     /// CRC8——MAXIM校验表

LoraGamepad/Util/CrsfParserPipeIn.cs

@@ -0,0 +1,25 @@
+using System;
+using System.Collections.Concurrent;
+using System.Threading;
+using LoraGamepad.Models;
+
+namespace LoraGamepad.Util;
+
+public class CrsfParserPipeIn: IAsyncPipe<byte[],CrsfChMsg>
+{
+    protected override void Process(ConcurrentQueue<byte[]> queue)
+    {
+        if (!queue.TryDequeue(out var data))
+        {
+            SpinWait.SpinUntil(() => false, 1);
+            return;
+        }
+        switch (data[0])
+        {
+            case 0x16:
+                Console.WriteLine("Get Channel Message!");
+                OnOut(CrsfChMsg.FromBytes(data));
+                break;
+        }
+    }
+}

LoraGamepad/Util/SerialPipeIN.cs

@@ -1,12 +1,24 @@
+/// 串口
+///
+///
+/// FRAME:<ADDRESS><LENGTH><TYPE><PALOAD><CRC>
+// ADDRESS: FLIGHT_CONTROL 0XC8
+// LENGTH: CONTAIN TYPE,PALOAD,CRC
+// TYPE: LINK STATE 0X14
+//       CHANNEL 0X16
+// CRC: CRC8_DVB_S2 1BYTE
+
 using System;
 using System.Collections.Concurrent;
 using System.Linq;
 using System.Threading;
 
 namespace LoraGamepad.Util;
-
 public class SerialPipeIn: IAsyncPipe<byte,byte[]>
 {
+    private const int TpyeAndCrcLength = 2;
+    private const int HeaderAndLenLength = 2;
+    private const int FrameCrcLength = 1;
     protected override void Process(ConcurrentQueue<byte> queue)
     {
         if (!queue.TryPeek(out var first))
@@ -15,35 +27,39 @@ public class SerialPipeIn: IAsyncPipe<byte,byte[]>
             // 队列无数据
             return;
         }
-
+        
-        if (0xFE != first) {
+        if (0xC8 != first) {
             // 未匹配到包头,扔掉继续
             queue.TryDequeue(out _);
             return;
         }
-
+        
-        if (queue.Count < 14) {
+        if (queue.Count < 10) {
             // 数据长度过低
             return;
         }
 
-        var pack = queue.Take(14).ToArray();
+        var packLength = queue.ElementAt(1);
-        if (pack[13] != CrcUtil.CRC8_Calculate(pack.Skip(1).SkipLast(1).ToArray())) {
+        if (queue.Count < packLength + HeaderAndLenLength)
+        {
+            return;
+        }
+        
+        var pack = queue.Take(packLength + HeaderAndLenLength).ToArray();
+        var crc = pack[packLength + HeaderAndLenLength - FrameCrcLength];
+        if (crc != CrcUtil.CRC8_Calculate(pack.Skip(HeaderAndLenLength).SkipLast(FrameCrcLength).ToArray())) {
             // crc校验失败，砍头
             queue.TryDequeue(out _);
             return;
         }
 
         // 队列消除整包数据
-        for (var i = 0; i < 14; i++) {
+        for (var i = 0; i < packLength + HeaderAndLenLength; i++) {
             queue.TryDequeue(out _);
         }
 
         // 输出数据，砍头砍尾
         // Console.WriteLine(BitConverter.ToString(pack));
-        OnOut(pack.Skip(1).SkipLast(1).ToArray());
+        OnOut(pack.Skip(HeaderAndLenLength).SkipLast(FrameCrcLength).ToArray());
-        
     }
-    
-    
 }

LoraGamepad/ViewModels/TProViewModel.cs

@@ -20,7 +20,7 @@ public class TProViewModel : ViewModelBase
     public CBPortItem PortSelectItem { get; set; }
     
     private readonly SerialPipeIn _serialPipeIn;
-    
+    private readonly CrsfParserPipeIn _crsfParserPipeIn;
     public ReactiveCommand<Unit, Unit> OpenPort { get; }
     public ReactiveCommand<Unit, Unit> ClosePort { get; }
 
@@ -29,13 +29,20 @@ public class TProViewModel : ViewModelBase
     {
         PortList = CBPortItem.GetPortList();
         _serialPipeIn = new SerialPipeIn();
+        _crsfParserPipeIn = new CrsfParserPipeIn();
+        _serialPipeIn.OnOut += _crsfParserPipeIn.Push;
+        _crsfParserPipeIn.OnOut += data =>
+        {
+            Console.WriteLine(
+                $"Get Channel 0:{data.channel[0]},1:{data.channel[1]},2:{data.channel[2]},3:{data.channel[3]}");
+        };
         ReadThread = new Thread(ReadThreadEntry);
         
         OpenPort = ReactiveCommand.Create(PortOpenButtonClick);
         ClosePort = ReactiveCommand.Create(PortCloseButtonClick);
 
     }
-
+    
     public void ReadThreadEntry()
     {
         while (true)
@@ -45,7 +52,7 @@ public class TProViewModel : ViewModelBase
                 // Console.WriteLine(BitConverter.ToString(data));
                 _serialPipeIn.Push(data);
             }
-            Thread.Sleep(1);
+            // Thread.Sleep(1);
         }
     }
     
@@ -93,7 +100,7 @@ public class TProViewModel : ViewModelBase
     private void PortOpenButtonClick()
     {
         if (PortSelectItem.PortName == "") return;
-        SerialPort.Me.Open(PortSelectItem.PortName,420000,1000);
+        SerialPort.Me.Open(PortSelectItem.PortName,115200,1000);
         IsOpenPortButtonVisible = false;
         IsClosePortButtonVisible = true;
         ReadThread.Start();