Changes to 32 proportional channel transmission (CRSF specifications PR#28 tbs-fpv/tbs-crsf-spec#28 ).

To be paired with EdgeTX PR#6504 EdgeTX/edgetx#6504

Author: rotorman

README.md

@@ -14,17 +14,15 @@ A brief video showing the code in action:
 
 You can find the C++ source code to flash numerous internal and external ExpressLRS modules under [transmitterFW](https://github.com/rotorman/CyberBrick_ESPNOW/tree/main/transmitterFW) subfolder and the MicroPython scripts for the CyberBrick Core modules under the [receiverPY](https://github.com/rotorman/CyberBrick_ESPNOW/tree/main/receiverPY) subfolder. [transmitterLua](https://github.com/rotorman/CyberBrick_ESPNOW/tree/main/transmitterLua) subfolder holds the Lua script for EdgeTX radios in order to bind/pair the radio transmitter module with CyberBrick models.
 
-The firmware can be built and flashed into the hardware using [Visual Studio Code](https://code.visualstudio.com/) and [PlatformIO](https://platformio.org/) extension paired with an [Arduino framework](https://docs.platformio.org/en/latest/frameworks/arduino.html) for [Espressif ESP32](https://docs.platformio.org/en/latest/platforms/espressif32.html#platform-espressif32) platform, similar to the development of the [ExpressLRS firmware](https://www.expresslrs.org/software/toolchain-install/).
-
 The MicroPython scripts can be copied to the CyberBrick Core with any REPL capable editor, such as [Arduino Lab for MicroPython](https://labs.arduino.cc/en/labs/micropython) or [Thonny](https://thonny.org/).
 
 ## Compatible radios
-The code should work with any (internal or external) [ExpressLRS transmitter module](https://www.expresslrs.org/hardware/hardware-selection/#transmitter-selection) with an ESP32 or ESP32-S3 microcontroller paired with an arbitrary [EdgeTX](https://edgetx.org/) handset able to talk with ExpressLRS module(s).
+The code should work with any (internal or external) [ExpressLRS transmitter module](https://www.expresslrs.org/hardware/hardware-selection/#transmitter-selection) with an ESP32 or ESP32-S3 microcontroller paired with an arbitrary [EdgeTX](https://edgetx.org/) handset able to talk with ExpressLRS module(s). To use the latest code, that uses internally 32 channel transmission, you should flash EdgeTX firmware from the [EdgeTX pull request #6504](https://github.com/EdgeTX/edgetx/pull/6504).
 
 I have tested the code with RadioMaster TX16s mkII with internal ExpressLRS module, RadioMaster MT12 with internal 2.4 GHz ExpressLRS module, Jumper T15 with internal 2.4 GHz ExpressLRS module, external HappyModel ES24TX Pro module, external RadioMaster Ranger module and also with an ESP32 development kit (ESP32DevKitCv4).
 
-## Flashing
-Flashing the internal ExpressLRS module(s) is possible via EdgeTX passthrough (triggered in the background while uploading firmware either from [ExpressLRS Configurator](https://github.com/ExpressLRS/ExpressLRS-Configurator/releases/latest) or from VSCode and PlatformIO by [Python script](https://github.com/rotorman/CyberBrick_ESPNOW/transmitterFW/python/EdgeTXpassthrough.py)). External modules can be flashed via UART. Some (external) modules come with an integrated USB-to-serial adapter, others might need an external adapter, like [FTDI](https://www.sparkfun.com/ftdi-cable-5v-vcc-3-3v-i-o.html) or [Silabs CP2102](https://betafpv.com/collections/expresslrs-series-accessories/products/expresslrs-recovery-dongle), to flash them.
+## Flashing & code customization
+The firmware can be built and flashed into the ExpressLRS hardware via EdgeTX passthrough (triggered in the background while uploading firmware either from [ExpressLRS Configurator](https://github.com/ExpressLRS/ExpressLRS-Configurator/releases/latest) or from VSCode and PlatformIO by [Python script](https://github.com/rotorman/CyberBrick_ESPNOW/transmitterFW/python/EdgeTXpassthrough.py)). External modules can be flashed via UART. Some (external) modules come with an integrated USB-to-serial adapter, others might need an external adapter, like [FTDI](https://www.sparkfun.com/ftdi-cable-5v-vcc-3-3v-i-o.html) or [Silabs CP2102](https://betafpv.com/collections/expresslrs-series-accessories/products/expresslrs-recovery-dongle), to flash them. You can use [Visual Studio Code](https://code.visualstudio.com/) and [PlatformIO](https://platformio.org/) to customize the code. The firmware code is using [Arduino framework](https://docs.platformio.org/en/latest/frameworks/arduino.html) for [Espressif ESP32](https://docs.platformio.org/en/latest/platforms/espressif32.html#platform-espressif32) platform, similar to the development of the [ExpressLRS firmware](https://www.expresslrs.org/software/toolchain-install/).
 
 ## Credits
 Large parts of the code used in this repository stem from the wonderful [ExpressLRS project](https://github.com/ExpressLRS/ExpressLRS/).

receiverPY/bulldozer/bulldozer.py

@@ -24,8 +24,9 @@
 https://makerworld.com/de/models/1461532-bulldozer-cyberbrick-rc
 
 The handset, running EdgeTX firmware, sends, via custom ESP-NOW flashed
-ExpressLRS transmitter module channel data according to CRSF specifications:
-16 proportional channels in slightly lower than 11-bit resolution.
+ExpressLRS transmitter module channel data according to CRSF specifications
+PR#28 (https://github.com/tbs-fpv/tbs-crsf-spec/pull/28) 32 proportional
+channels in slightly lower than 11-bit resolution.
 The channel order, range, mixing and further parameters can be adjusted
 in the EdgeTX radio.
 
@@ -209,9 +210,9 @@ def mapchannel(chvalue, minmapvalue, maxmapvalue):
       enow_reset()
 
     else:
-      if len(msg) > 31:
-        ch = struct.unpack('<HHHHHHHHHHHHHHHH', msg)
-        if len(ch) == 16:
+      if len(msg) > 63:
+        ch = struct.unpack('<HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH', msg)
+        if len(ch) == 32:
           # Received expected CRSF telegram channel count from the handset
           # Blink green
           if ((utime.ticks_ms() % blinkertime_ms) > (blinkertime_ms / 2)):

receiverPY/debug/debug.py

@@ -23,8 +23,9 @@
 Debug script, that prints incoming data onto MicroPython REPL.
 
 The handset, running EdgeTX firmware, sends, via custom ESP-NOW flashed
-ExpressLRS transmitter module channel data according to CRSF specifications:
-16 proportional channels in slightly lower than 11-bit resolution.
+ExpressLRS transmitter module channel data according to CRSF specifications
+PR#28 (https://github.com/tbs-fpv/tbs-crsf-spec/pull/28) 32 proportional
+channels in slightly lower than 11-bit resolution.
 The channel order, range, mixing and further parameters can be adjusted
 in the EdgeTX radio.
 
@@ -135,11 +136,11 @@ def send_bind():
       enow_reset()
 
     else:
-      if len(msg) > 31:
-        ch = struct.unpack('<HHHHHHHHHHHHHHHH', msg)
-        if len(ch) == 16:
+      if len(msg) > 63:
+        ch = struct.unpack('<HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH', msg)
+        if len(ch) == 32:
           # Received expected CRSF telegram channel count from the handset
-          print('%-5i%-5i%-5i%-5i| %-5i%-5i%-5i%-5i|%-5i%-5i%-5i%-5i| %-5i%-5i%-5i%-5i' % (ch[0:16]))
+          print('%-5i%-5i%-5i%-5i| %-5i%-5i%-5i%-5i|%-5i%-5i%-5i%-5i| %-5i%-5i%-5i%-5i| %-5i%-5i%-5i%-5i| %-5i%-5i%-5i%-5i|%-5i%-5i%-5i%-5i| %-5i%-5i%-5i%-5i' % (ch[0:32]))
           # Blink Core LED green
           if ((utime.ticks_ms() % blinkertime_ms) > (blinkertime_ms / 2)):
             np[0] = (0, 0, 0) # Dark phase

receiverPY/forklift/forklift.py

@@ -24,8 +24,9 @@
 https://makerworld.com/de/models/1395994-cyberbrick-official-forklift
 
 The handset, running EdgeTX firmware, sends, via custom ESP-NOW flashed
-ExpressLRS transmitter module channel data according to CRSF specifications:
-16 proportional channels in slightly lower than 11-bit resolution.
+ExpressLRS transmitter module channel data according to CRSF specifications
+PR#28 (https://github.com/tbs-fpv/tbs-crsf-spec/pull/28) 32 proportional
+channels in slightly lower than 11-bit resolution.
 The channel order, range, mixing and further parameters can be adjusted
 in the EdgeTX radio.
 
@@ -192,9 +193,9 @@ def mapchannel(chvalue, minmapvalue, maxmapvalue):
       enow_reset()
 
     else:
-      if len(msg) > 31:
-        ch = struct.unpack('<HHHHHHHHHHHHHHHH', msg)
-        if len(ch) == 16:
+      if len(msg) > 63:
+        ch = struct.unpack('<HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH', msg)
+        if len(ch) == 32:
           # Received expected CRSF telegram channel count from the handset
           # Blink green
           if ((utime.ticks_ms() % blinkertime_ms) > (blinkertime_ms / 2)):

receiverPY/generic/generic.py

@@ -27,18 +27,43 @@
  ch2 - brushed motor2
  ch3 - servo1 (0.5ms to 2.5ms range)
  ch4 - servo2 (0.5ms to 2.5ms range)
- ch7 - Neopixel string1 LED1
- ch8 - Neopixel string1 LED2
- ch9 - Neopixel string1 LED3
-ch10 - Neopixel string1 LED4
-ch11 - Neopixel string2 LED1
-ch12 - Neopixel string2 LED2
-ch13 - Neopixel string2 LED3
-ch14 - Neopixel string2 LED4
+
+ ch9 - Neopixel string1 LED1 Red
+ch10 - Neopixel string1 LED1 Green
+ch11 - Neopixel string1 LED1 Blue
+
+ch12 - Neopixel string1 LED2 Red
+ch13 - Neopixel string1 LED2 Green
+ch14 - Neopixel string1 LED2 Blue
+
+ch15 - Neopixel string1 LED3 Red
+ch16 - Neopixel string1 LED3 Green
+ch17 - Neopixel string1 LED3 Blue
+
+ch18 - Neopixel string1 LED4 Red
+ch19 - Neopixel string1 LED4 Green
+ch20 - Neopixel string1 LED4 Blue
+
+ch21 - Neopixel string2 LED1 Red
+ch22 - Neopixel string2 LED1 Green
+ch23 - Neopixel string2 LED1 Blue
+
+ch24 - Neopixel string2 LED2 Red
+ch25 - Neopixel string2 LED2 Green
+ch26 - Neopixel string2 LED2 Blue
+
+ch27 - Neopixel string2 LED3 Red
+ch28 - Neopixel string2 LED3 Green
+ch29 - Neopixel string2 LED3 Blue
+
+ch30 - Neopixel string2 LED4 Red
+ch31 - Neopixel string2 LED4 Green
+ch32 - Neopixel string2 LED4 Blue
 
 The handset, running EdgeTX firmware, sends, via custom ESP-NOW flashed
-ExpressLRS transmitter module channel data according to CRSF specifications:
-16 proportional channels in slightly lower than 11-bit resolution.
+ExpressLRS transmitter module channel data according to CRSF specifications
+PR#28 (https://github.com/tbs-fpv/tbs-crsf-spec/pull/28) 32 proportional
+channels in slightly lower than 11-bit resolution.
 The channel order, range, mixing and further parameters can be adjusted
 in the EdgeTX radio.
 
@@ -48,26 +73,8 @@
 EdgeTX, the value range increases form 0 to 1984, with 992 still being
 the middle position.
 
-The LEDs data is interpreted as RGB343 (3 bits for red, 4 for green and
-3 for blue) with an offset of 173 (value 173 -> R=0, G=0, B=0).
-The input is converted into RGB888 output. The undefined bits are intepreted
-as 1, except if the value is 0, then as 0.
-Examples:
-
-value | binary (-173) | red  | green | blue
-173   | b000 0000 000 | 0    | 0     | 0 (<- dark/black)
-174   | b000 0000 001 | 0    | 0     | b0011 1111 = 63
-175   | b000 0000 010 | 0    | 0     | b0101 1111 = 95
-180   | b000 0000 111 | 0    | 0     | b1111 1111 = 255
-181   | b000 0001 000 | 0    | 31    | 0
-182   | b000 0001 001 | 0    | 31    | 63
-300   | b000 1111 111 | 0    | 255   | 255 (<- cyan)
-301   | b001 0000 000 | 63   | 0     | 0
-302   | b001 0000 001 | 63   | 0     | 63
-773   | b100 1011 000 | 159  | 191   | 0
-1196  | b111 1111 111 | 255  | 255   | 255 (<- white)
-
-Any value above 173+1023=1196 is intepreted as white.
+The LEDs data is interpreted as 0% (173) to 100% (1811).
+Any value below 173 is interpreted as 0% and any value above 1811 as 100%.
 """
 
 from machine import Pin, PWM
@@ -176,7 +183,6 @@ def send_bind():
 FULLSCALE16BIT            = 65535
 PWMGAINCOEFFICIENTPOS     = const(80) # FULLSCALE16BIT/(CRSF_CHANNEL_VALUE_MAX - CRSF_CHANNEL_VALUE_MID)
 PWMGAINCOEFFICIENTNEG     = const(80) # FULLSCALE16BIT/(CRSF_CHANNEL_VALUE_MID - CRSF_CHANNEL_VALUE_MIN)
-MAXRGBVALUE               = const(1023) # max of 11-bit value range
 
 def BrushedMotorControl(channel):
   #deadzone check
@@ -186,21 +192,11 @@ def BrushedMotorControl(channel):
   else:
     if channel < CRSF_CHANNEL_VALUE_MID:
       # First direction
-      return (int)(max(min(PWMGAINCOEFFICIENTNEG*(CRSF_CHANNEL_VALUE_MID-channel), FULLSCALE16BIT)), 0), 0
+      return (int)(max(min(PWMGAINCOEFFICIENTNEG*(CRSF_CHANNEL_VALUE_MID-channel), FULLSCALE16BIT), 0)), 0
     else:
       # Rotate in the other direction
-      return 0, (int)(max(min(PWMGAINCOEFFICIENTPOS*(channel-CRSF_CHANNEL_VALUE_MID), FULLSCALE16BIT)), 0)
+      return 0, (int)(max(min(PWMGAINCOEFFICIENTPOS*(channel-CRSF_CHANNEL_VALUE_MID), FULLSCALE16BIT), 0))
 
-def rgb343(val):
-  adjusted = min(val - CRSF_CHANNEL_VALUE_MIN, MAXRGBVALUE)
-  if adjusted == 0:
-    return 0,0,0
-  else:
-    r = min(((adjusted & 0b1110000000) >> 2) + 0b11111, 255)
-    g = min(((adjusted & 0b0001111000) << 1) + 0b1111, 255)
-    b = min(((adjusted & 0b0000000111) << 5) + 0b11111, 255)
-    return r,g,b
-
 def mapchannel(chvalue, minmapvalue, maxmapvalue):
   if minmapvalue > SERVORAWmidpoint:
     minmapvalue = SERVORAWmidpoint
@@ -216,6 +212,18 @@ def mapchannel(chvalue, minmapvalue, maxmapvalue):
     return ((chvalue-CRSF_CHANNEL_VALUE_MID)*(maxmapvalue-SERVORAWmidpoint)/(CRSF_CHANNEL_VALUE_MAX-CRSF_CHANNEL_VALUE_MID)) + SERVORAWmidpoint
   else:
     return SERVORAWmidpoint - ((CRSF_CHANNEL_VALUE_MID-chvalue)*(SERVORAWmidpoint-minmapvalue)/(CRSF_CHANNEL_VALUE_MID-CRSF_CHANNEL_VALUE_MIN))
+    
+def mapLED(chvalue):
+  if chvalue < CRSF_CHANNEL_VALUE_MIN:
+    chvalue = CRSF_CHANNEL_VALUE_MIN
+  if chvalue > CRSF_CHANNEL_VALUE_MAX:
+    chvalue = CRSF_CHANNEL_VALUE_MAX
+  mapped = round((chvalue - CRSF_CHANNEL_VALUE_MIN) * 255 / (CRSF_CHANNEL_VALUE_MAX - CRSF_CHANNEL_VALUE_MIN))
+  if mapped < 0:
+    return 0
+  if mapped > 255:
+    return 255
+  return (int)(mapped)
 
 while True:
   if button.value() == 0:
@@ -255,9 +263,9 @@ def mapchannel(chvalue, minmapvalue, maxmapvalue):
       enow_reset()
 
     else:
-      if len(msg) > 31:
-        ch = struct.unpack('<HHHHHHHHHHHHHHHH', msg)
-        if len(ch) == 16:
+      if len(msg) > 63:
+        ch = struct.unpack('<HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH', msg)
+        if len(ch) == 32:
           # Received expected CRSF telegram channel count from the handset
 
           # 0.5 to 2.5ms range
@@ -271,17 +279,18 @@ def mapchannel(chvalue, minmapvalue, maxmapvalue):
           d1,d2 = BrushedMotorControl(ch[1]) # Motor2
           M2A.duty_u16(d1)
           M2B.duty_u16(d2)
-          
+
           # NeoPixel LEDs
-          LEDstring1[0] = rgb343(ch[6])
-          LEDstring1[1] = rgb343(ch[7])
-          LEDstring1[2] = rgb343(ch[8])
-          LEDstring1[3] = rgb343(ch[9])
+          LEDstring1[0] = (mapLED(ch[8]), mapLED(ch[9]), mapLED(ch[10]))
+          LEDstring1[1] = (mapLED(ch[11]), mapLED(ch[12]), mapLED(ch[13]))
+          LEDstring1[2] = (mapLED(ch[14]), mapLED(ch[15]), mapLED(ch[16]))
+          LEDstring1[3] = (mapLED(ch[17]), mapLED(ch[18]), mapLED(ch[19]))
           LEDstring1.write()
-          LEDstring2[0] = rgb343(ch[10])
-          LEDstring2[1] = rgb343(ch[11])
-          LEDstring2[2] = rgb343(ch[12])
-          LEDstring2[3] = rgb343(ch[13])
+
+          LEDstring2[0] = (mapLED(ch[20]), mapLED(ch[21]), mapLED(ch[22]))
+          LEDstring2[1] = (mapLED(ch[23]), mapLED(ch[24]), mapLED(ch[25]))
+          LEDstring2[2] = (mapLED(ch[26]), mapLED(ch[27]), mapLED(ch[28]))
+          LEDstring2[3] = (mapLED(ch[29]), mapLED(ch[30]), mapLED(ch[31]))
           LEDstring2.write()
 
           # Blink Core LED green

receiverPY/truck/truck.py

@@ -24,8 +24,9 @@
 https://makerworld.com/de/models/1396031-cyberbrick-official-truck
 
 The handset, running EdgeTX firmware, sends, via custom ESP-NOW flashed
-ExpressLRS transmitter module channel data according to CRSF specifications:
-16 proportional channels in slightly lower than 11-bit resolution.
+ExpressLRS transmitter module channel data according to CRSF specifications
+PR#28 (https://github.com/tbs-fpv/tbs-crsf-spec/pull/28) 32 proportional
+channels in slightly lower than 11-bit resolution.
 The channel order, range, mixing and further parameters can be adjusted
 in the EdgeTX radio.
 
@@ -184,9 +185,9 @@ def mapchannel(chvalue, minmapvalue, maxmapvalue):
       enow_reset()
 
     else:
-      if len(msg) > 31:
-        ch = struct.unpack('<HHHHHHHHHHHHHHHH', msg)
-        if len(ch) == 16:
+      if len(msg) > 63:
+        ch = struct.unpack('<HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH', msg)
+        if len(ch) == 32:
           # Received expected CRSF telegram channel count from the handset
           # Blink green
           if ((utime.ticks_ms() % blinkertime_ms) > (blinkertime_ms / 2)):