feat: 遥感测试通过；

LoraGamepad/Models/CrsfChMsg.cs

@@ -7,18 +7,30 @@ using System.Linq;
 using Microsoft.VisualBasic;
 
 namespace LoraGamepad.Models;
-
+//      OpenTx         RC   PWM (BF)
+// min  -1024     172( 22)     988us
+// ctr      0     992(124)    1500us
+// max   1024    1811(226)    2012us
 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();
+        
+        var bitRaw11 = new BitArray(raw);
+        
+       // var rs=Enumerable.Range(0, 11).Select(_=>bitRaw11).ToArray().Reverse().ToList();
+       //  for (var i = 0; i < rs.Count&&i<ch.Length; i++)
+       //  {
+       //      rs[i].CopyTo(ch,i);
+       //  }
+        
         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);
@@ -36,12 +48,19 @@ public class CrsfChMsg
         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
+        ScalingChannel(ch, out var sch);
         return new CrsfChMsg()
         {
-            channel = ch
+            channel = sch
         };
     }
+
+    private static void ScalingChannel(int[] datain, out int[] dataout)
+    {
+        dataout = datain.ToList().ConvertAll((a) => (a - 1000) / 9).ToArray();
+    }
 }

LoraGamepad/Models/SerialBase.cs

@@ -128,7 +128,7 @@ namespace Autolabor
         
         
         private const int PortInfoBufferSize = 32;
-        private const int ReadBufferSize = 1024;
+        private const int ReadBufferSize = 64;
         private const int WriteBufferSize = 1024;
         private const int ExceptionBufferSize = 256; //固定尺寸，不能修改
         

LoraGamepad/Models/SliderConfig.cs

@@ -0,0 +1,39 @@
+using ReactiveUI;
+
+namespace LoraGamepad.Models;
+
+
+public class SliderConfig : ReactiveObject
+{
+    private double _rightHorizonValue;
+    private double _rightVerticalValue;
+    private double _leftHorizonValue;
+    private double _lefttVerticalValue;
+
+    public SliderConfig()
+    {
+        _rightHorizonValue = _rightVerticalValue = _leftHorizonValue = _lefttVerticalValue = 0;
+    }
+    
+    public double RightHorizonValue
+    {
+        get => _rightHorizonValue;
+        set => this.RaiseAndSetIfChanged(ref _rightHorizonValue, value);
+    }
+    
+    public double RightVerticalValue
+    {
+        get => _rightVerticalValue;
+        set => this.RaiseAndSetIfChanged(ref _rightVerticalValue, value);
+    }
+    public double LeftHorizonValue
+    {
+        get => _leftHorizonValue;
+        set => this.RaiseAndSetIfChanged(ref _leftHorizonValue, value);
+    }
+    public double LeftVerticalValue
+    {
+        get => _lefttVerticalValue;
+        set => this.RaiseAndSetIfChanged(ref _lefttVerticalValue, value);
+    }
+}

LoraGamepad/Util/CrsfParserPipeIn.cs

@@ -17,7 +17,6 @@ public class CrsfParserPipeIn: IAsyncPipe<byte[],CrsfChMsg>
         switch (data[0])
         {
             case 0x16:
-                Console.WriteLine("Get Channel Message!");
                 OnOut(CrsfChMsg.FromBytes(data));
                 break;
         }

LoraGamepad/ViewModels/TProViewModel.cs

@@ -18,7 +18,8 @@ public class TProViewModel : ViewModelBase
     
     private ObservableCollection<CBPortItem> _portList = new();
     public CBPortItem PortSelectItem { get; set; }
-    
+    public SliderConfig SliderValue { get; set; }
+
     private readonly SerialPipeIn _serialPipeIn;
     private readonly CrsfParserPipeIn _crsfParserPipeIn;
     public ReactiveCommand<Unit, Unit> OpenPort { get; }
@@ -27,14 +28,18 @@ public class TProViewModel : ViewModelBase
     public Thread ReadThread;
     public TProViewModel()
     {
+        SliderValue = new SliderConfig();
+        
         PortList = CBPortItem.GetPortList();
         _serialPipeIn = new SerialPipeIn();
         _crsfParserPipeIn = new CrsfParserPipeIn();
         _serialPipeIn.OnOut += _crsfParserPipeIn.Push;
         _crsfParserPipeIn.OnOut += data =>
         {
-            Console.WriteLine(
+            SliderValue.RightHorizonValue = data.channel[0];
-                $"Get Channel 0:{data.channel[0]},1:{data.channel[1]},2:{data.channel[2]},3:{data.channel[3]}");
+            SliderValue.RightVerticalValue = data.channel[1];
+            SliderValue.LeftHorizonValue = data.channel[2];
+            SliderValue.LeftVerticalValue = data.channel[3];
         };
         ReadThread = new Thread(ReadThreadEntry);
         
@@ -52,7 +57,7 @@ public class TProViewModel : ViewModelBase
                 // Console.WriteLine(BitConverter.ToString(data));
                 _serialPipeIn.Push(data);
             }
-            // Thread.Sleep(1);
+            SpinWait.SpinUntil(() => false, 1);
         }
     }
     

LoraGamepad/Views/TProView.axaml

@@ -29,6 +29,12 @@
             <Setter Property="Background" Value="{DynamicResource BrightRedBrush}"/>
             <Setter Property="TextBlock.Foreground" Value="White"/>
         </Style>
+        <Style Selector="Slider">
+            <Setter Property="TickFrequency" Value="10"/>
+            <Setter Property="TickPlacement" Value="BottomRight"/>
+            <Setter Property="Maximum" Value="100"/>
+            <Setter Property="Minimum" Value="-100"/>
+        </Style>
     </UserControl.Styles>
     <!-- 页面布局 -->
     <Grid RowDefinitions="60,*,40,2*">
@@ -72,15 +78,19 @@
         </Grid>    
         <Grid Grid.Row="3" Background="Green" ColumnDefinitions="*,2*,*">
             <Grid Grid.Column="0">
-                <Slider VerticalAlignment="Center"/>
+                <Slider VerticalAlignment="Center" 
-                <Slider Orientation="Vertical" HorizontalAlignment="Center"/>
+                        Value="{Binding SliderValue.LeftVerticalValue}"/>
+                <Slider Orientation="Vertical" HorizontalAlignment="Center"
+                        Value="{Binding SliderValue.LeftHorizonValue}"/>
             </Grid>
             <Grid Grid.Column="1" Background="Purple">
                 <TextBox Text="Hello T-Pro!"/>
             </Grid>
             <Grid Grid.Column="2">
-                <Slider VerticalAlignment="Center"/>
+                <Slider VerticalAlignment="Center"
-                <Slider Orientation="Vertical" HorizontalAlignment="Center"/>
+                        Value="{Binding SliderValue.RightHorizonValue}"/>
+                <Slider Orientation="Vertical" HorizontalAlignment="Center"
+                        Value="{Binding SliderValue.RightVerticalValue}"/>
             </Grid>
         </Grid>
     </Grid>