66 lines
2.8 KiB
C#
66 lines
2.8 KiB
C#
using System;
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using System.Buffers.Binary;
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using System.Collections;
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using System.Collections.Specialized;
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using System.IO;
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using System.Linq;
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using Microsoft.VisualBasic;
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namespace LoraGamepad.Models;
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// OpenTx RC PWM (BF)
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// min -1024 172( 22) 988us
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// ctr 0 992(124) 1500us
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// max 1024 1811(226) 2012us
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public class CrsfChMsg
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{
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public int[] channel = new int[16];
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public static CrsfChMsg FromBytes(byte[] payload)
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{
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var ch = new int[16];
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// 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}");
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var raw = payload.Skip(1).Reverse().ToArray();
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var bitRaw11 = new BitArray(raw);
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// var rs=Enumerable.Range(0, 11).Select(_=>bitRaw11).ToArray().Reverse().ToList();
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// for (var i = 0; i < rs.Count&&i<ch.Length; i++)
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// {
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// rs[i].CopyTo(ch,i);
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// }
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Console.WriteLine(BitConverter.ToString(raw));
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ch[15] = ((raw[0 ] & 0xFF) << 3 ) + ((raw[1 ] & 0xE0) >> 5); //res: 5
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ch[14] = ((raw[1 ] & 0x1F) << 6 ) + ((raw[2 ] & 0xFC) >> 2); //res: 3
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ch[13] = ((raw[2 ] & 0x03) << 9 ) + ((raw[3 ] & 0xFF) << 1)+ ((raw[4 ] & 0x80) >> 7);
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ch[12] = ((raw[4 ] & 0x7F) << 4 ) + ((raw[5 ] & 0xF0) >> 4);
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ch[11] = ((raw[5 ] & 0x0F) << 7 ) + ((raw[6 ] & 0xFE) >> 1);
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ch[10] = ((raw[6 ] & 0x01) << 10) + ((raw[7 ] & 0xFF) << 2) + ((raw[8 ] & 0xC0) >> 6);
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ch[9] = ((raw[8 ] & 0x3F) << 5 ) + ((raw[9 ] & 0xF8) >> 3);
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ch[8] = ((raw[9 ] & 0x07) << 8 ) + ((raw[10] & 0xFF) >> 0);
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ch[7] = ((raw[11] & 0xFF) << 3 ) + ((raw[12] & 0xE0) >> 5); //res: 5
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ch[6] = ((raw[12] & 0x1F) << 6 ) + ((raw[13] & 0xFC) >> 2); //res: 3
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ch[5] = ((raw[13] & 0x03) << 9 ) + ((raw[14] & 0xFF) << 1)+ ((raw[15] & 0x80) >> 7);
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ch[4] = ((raw[15] & 0x7F) << 4 ) + ((raw[16] & 0xF0) >> 4);
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ch[3] = ((raw[16] & 0x0F) << 7 ) + ((raw[17] & 0xFE) >> 1);
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ch[2] = ((raw[17] & 0x01) << 10) + ((raw[18] & 0xFF) << 2) + ((raw[19] & 0xC0) >> 6);
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ch[1] = ((raw[19] & 0x3F) << 5 ) + ((raw[20] & 0xF8) >> 3);
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ch[0] = ((raw[20] & 0x07) << 8 ) + ((raw[21] & 0xFF) >> 0);
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// ch[1] = ((payload[2] & 0xF8) >> 3) + ((payload[3] & 0x3F) << 5); // res: 2
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// ch[2] = ((payload[3] & 0x03) << 9) + ((payload[4] & 0xFF) << 1) + ((payload[5] & 0x80) >> 7); // res: 16
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// ch[3] = (uint)(((payload[5] & 0x7F) << 4) + ((payload[6] & 0xF0) >> 4)); // res: 4
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ScalingChannel(ch, out var sch);
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return new CrsfChMsg()
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{
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channel = sch
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};
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}
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private static void ScalingChannel(int[] datain, out int[] dataout)
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{
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dataout = datain.ToList().ConvertAll((a) => (a - 1000) / 9).ToArray();
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}
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} |