Schoenberger, Philipp
7 years ago
No known key found for this signature in database
GPG Key ID: 77E9DF7A0452BF64
8 changed files with 334 additions and 400 deletions
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12remote/include/FrSkyD_cc2500.h
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1remote/include/Multiprotocol.h
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7remote/include/state.h
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359remote/include/telemetry.h
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12remote/src/FrSkyD_cc2500.cpp
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114remote/src/state_fly.cpp
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2remote/src/state_joy_calib.cpp
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227remote/src/telemetry.cpp
@ -1,361 +1,18 @@ |
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/* |
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This project is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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Multiprotocol is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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//************************** |
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// Telemetry serial code * |
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//************************** |
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#if defined TELEMETRY |
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|
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uint8_t RetrySequence ; |
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|
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#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) ) |
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#define MULTI_TIME 500 //in ms |
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#define INPUT_SYNC_TIME 100 //in ms |
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#define INPUT_ADDITIONAL_DELAY 100 // in 10µs, 100 => 1000 µs |
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uint32_t lastMulti = 0; |
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#endif // MULTI_TELEMETRY/MULTI_STATUS |
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|
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#if defined SPORT_TELEMETRY |
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#define SPORT_TIME 12000 //12ms |
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#define FRSKY_SPORT_PACKET_SIZE 8 |
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#define FX_BUFFERS 4 |
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uint32_t last = 0; |
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uint8_t sport_counter=0; |
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uint8_t RxBt = 0; |
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uint8_t sport = 0; |
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uint8_t pktx1[FRSKY_SPORT_PACKET_SIZE*FX_BUFFERS]; |
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|
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// Store for out of sequence packet |
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uint8_t FrskyxRxTelemetryValidSequence ; |
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struct t_fx_rx_frame |
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{ |
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uint8_t valid ; |
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uint8_t count ; |
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uint8_t payload[6] ; |
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} ; |
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|
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// Store for FrskyX telemetry |
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struct t_fx_rx_frame FrskyxRxFrames[4] ; |
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uint8_t NextFxFrameToForward ; |
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#ifdef SPORT_POLLING |
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uint8_t sport_rx_index[28] ; |
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uint8_t ukindex ; |
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uint8_t kindex ; |
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uint8_t TxData[2]; |
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uint8_t SportIndexPolling; |
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uint8_t RxData[16] ; |
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volatile uint8_t RxIndex=0 ; |
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uint8_t sport_bytes=0; |
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uint8_t skipped_id; |
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uint8_t rx_counter=0; |
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#endif |
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#endif // SPORT_TELEMETRY |
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|
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#if defined HUB_TELEMETRY |
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#define USER_MAX_BYTES 6 |
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uint8_t prev_index; |
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#endif // HUB_TELEMETRY |
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|
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#define START_STOP 0x7e |
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#define BYTESTUFF 0x7d |
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#define STUFF_MASK 0x20 |
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#define MAX_PKTX 10 |
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uint8_t pktx[MAX_PKTX]; |
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uint8_t indx; |
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uint8_t frame[18]; |
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#ifndef __TELE_METRY_H_ |
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#define __TELE_METRY_H_ |
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#include <Arduino.h> |
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|
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#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) ) |
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static void multi_send_header(uint8_t type, uint8_t len) |
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{ |
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Serial_write('M'); |
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#ifdef MULTI_TELEMETRY |
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Serial_write('P'); |
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Serial_write(type); |
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#else |
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(void)type; |
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#endif |
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Serial_write(len); |
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} |
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|
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static void multi_send_header(uint8_t type, uint8_t len); |
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#endif |
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|
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#ifdef MULTI_TELEMETRY |
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static void multi_send_frskyhub() |
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{ |
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multi_send_header(MULTI_TELEMETRY_HUB, 9); |
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for (uint8_t i = 0; i < 9; i++) |
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Serial_write(frame[i]); |
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} |
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static void multi_send_frskyhub(); |
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#endif |
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|
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void frskySendStuffed() |
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{ |
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Serial_write(START_STOP); |
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for (uint8_t i = 0; i < 9; i++) { |
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if ((frame[i] == START_STOP) || (frame[i] == BYTESTUFF)) { |
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Serial_write(BYTESTUFF); |
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frame[i] ^= STUFF_MASK; |
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} |
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Serial_write(frame[i]); |
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} |
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Serial_write(START_STOP); |
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} |
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|
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void frsky_check_telemetry(uint8_t *pkt,uint8_t len) |
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{ |
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uint8_t clen = pkt[0] + 3 ; |
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if (len != clen) // wrong length |
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return; |
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if(pkt[1] == rx_tx_addr[3] && |
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pkt[2] == rx_tx_addr[2] ) { |
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telemetry_link|=1; // Telemetry data is available |
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TX_RSSI = pkt[len-2]; |
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|
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if(TX_RSSI >=128) |
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TX_RSSI -= 128; |
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else |
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TX_RSSI += 128; |
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|
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TX_LQI = pkt[len-1]&0x7F; |
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for (uint8_t i=3;i<len-2;i++) |
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pktt[i]=pkt[i]; // Buffer telemetry values to be sent |
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|
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if(pktt[6]>0 && pktt[6]<=10) { |
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if (protocol==PROTO_FRSKYD) { |
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if ( ( pktt[7] & 0x1F ) == (telemetry_counter & 0x1F) ) { |
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uint8_t topBit = 0 ; |
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if ( telemetry_counter & 0x80 ) |
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if ( ( telemetry_counter & 0x1F ) != RetrySequence ) |
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topBit = 0x80 ; |
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telemetry_counter = ( (telemetry_counter+1)%32 ) | topBit ; // Request next telemetry frame |
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} else { |
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// incorrect sequence |
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RetrySequence = pktt[7] & 0x1F ; |
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telemetry_counter |= 0x80 ; |
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pktt[6]=0 ; // Discard current packet and wait for retransmit |
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} |
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} |
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} else |
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pktt[6]=0; // Discard packet |
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// |
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#if defined SPORT_TELEMETRY && defined FRSKYX_CC2500_INO |
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telemetry_lost=0; |
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if (protocol==PROTO_FRSKYX) { |
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uint16_t lcrc = frskyX_crc_x(&pkt[3], len-7 ) ; |
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|
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if ( ( (lcrc >> 8) == pkt[len-4]) && ( (lcrc & 0x00FF ) == pkt[len-3]) ) { |
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// Check if in sequence |
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if ( (pkt[5] & 0x0F) == 0x08 ) { |
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FrX_receive_seq = 0x08 ; |
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NextFxFrameToForward = 0 ; |
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FrskyxRxFrames[0].valid = 0 ; |
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FrskyxRxFrames[1].valid = 0 ; |
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FrskyxRxFrames[2].valid = 0 ; |
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FrskyxRxFrames[3].valid = 0 ; |
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} else if ( (pkt[5] & 0x03) == (FrX_receive_seq & 0x03 ) ) { |
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// OK to process |
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struct t_fx_rx_frame *p ; |
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uint8_t count ; |
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p = &FrskyxRxFrames[FrX_receive_seq & 3] ; |
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count = pkt[6] ; |
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if ( count <= 6 ) { |
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p->count = count ; |
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for ( uint8_t i = 0 ; i < count ; i += 1 ) |
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p->payload[i] = pkt[i+7] ; |
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} |
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else |
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p->count = 0 ; |
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p->valid = 1 ; |
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void frsky_check_telemetry(uint8_t *pkt,uint8_t len); |
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|
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FrX_receive_seq = ( FrX_receive_seq + 1 ) & 0x03 ; |
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|
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if ( FrskyxRxTelemetryValidSequence & 0x80 ) { |
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FrX_receive_seq = ( FrskyxRxTelemetryValidSequence + 1 ) & 3 ; |
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FrskyxRxTelemetryValidSequence &= 0x7F ; |
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} |
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} else { |
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// Save and request correct packet |
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struct t_fx_rx_frame *q ; |
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uint8_t count ; |
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// pkt[4] RSSI |
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// pkt[5] sequence control |
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// pkt[6] payload count |
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// pkt[7-12] payload |
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pktt[6] = 0 ; // Don't process |
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if ( (pkt[5] & 0x03) == ( ( FrX_receive_seq +1 ) & 3 ) ) { |
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q = &FrskyxRxFrames[(pkt[5] & 0x03)] ; |
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count = pkt[6] ; |
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if ( count <= 6 ) { |
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q->count = count ; |
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for ( uint8_t i = 0 ; i < count ; i += 1 ) { |
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q->payload[i] = pkt[i+7] ; |
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} |
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} else |
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q->count = 0 ; |
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q->valid = 1 ; |
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|
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FrskyxRxTelemetryValidSequence = 0x80 | ( pkt[5] & 0x03 ) ; |
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} |
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|
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FrX_receive_seq = ( FrX_receive_seq & 0x03 ) | 0x04 ; // Request re-transmission |
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} |
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|
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if (((pktt[5] >> 4) & 0x0f) == 0x08) |
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FrX_send_seq = 0 ; |
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} |
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} |
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void print_frskyd_telemetry(); |
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void init_frskyd_link_telemetry(); |
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#endif |
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} |
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} |
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|
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void init_frskyd_link_telemetry() |
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{ |
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telemetry_link=0; |
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telemetry_counter=0; |
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v_lipo1=0; |
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v_lipo2=0; |
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RX_RSSI=0; |
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TX_RSSI=0; |
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RX_LQI=0; |
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TX_LQI=0; |
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} |
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|
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#if defined SPORT_TELEMETRY |
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/* SPORT details serial |
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100K 8E2 normal-multiprotocol |
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-every 12ms-or multiple of 12; %36 |
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1 2 3 4 5 6 7 8 9 CRC DESCR |
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7E 98 10 05 F1 20 23 0F 00 A6 SWR_ID |
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7E 98 10 01 F1 33 00 00 00 C9 RSSI_ID |
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7E 98 10 04 F1 58 00 00 00 A1 BATT_ID |
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
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|
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|
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Telemetry frames(RF) SPORT info |
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15 bytes payload |
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SPORT frame valid 6+3 bytes |
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[00] PKLEN 0E 0E 0E 0E |
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[01] TXID1 DD DD DD DD |
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[02] TXID2 6D 6D 6D 6D |
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[03] CONST 02 02 02 02 |
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[04] RS/RB 2C D0 2C CE //D0;CE=2*RSSI;....2C = RX battery voltage(5V from Bec) |
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[05] HD-SK 03 10 21 32 //TX/RX telemetry hand-shake bytes |
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[06] NO.BT 00 00 06 03 //No.of valid SPORT frame bytes in the frame |
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[07] STRM1 00 00 7E 00 |
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[08] STRM2 00 00 1A 00 |
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[09] STRM3 00 00 10 00 |
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[10] STRM4 03 03 03 03 |
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[11] STRM5 F1 F1 F1 F1 |
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[12] STRM6 D1 D1 D0 D0 |
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[13] CHKSUM1 --|2 CRC bytes sent by RX (calculated on RX side crc16/table) |
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[14] CHKSUM2 --| |
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+2 appended bytes automatically RSSI and LQI/CRC bytes(len=0x0E+3); |
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|
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0x06 0x06 0x06 0x06 0x06 |
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0x7E 0x00 0x03 0x7E 0x00 |
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0x1A 0x00 0xF1 0x1A 0x00 |
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0x10 0x00 0xD7 0x10 0x00 |
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0x03 0x7E 0x00 0x03 0x7E |
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0xF1 0x1A 0x00 0xF1 0x1A |
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0xD7 0x10 0x00 0xD7 0x10 |
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|
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0xE1 0x1C 0xD0 0xEE 0x33 |
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0x34 0x0A 0xC3 0x56 0xF3 |
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*/ |
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#if defined SPORT_POLLING || defined MULTI_TELEMETRY |
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const uint8_t PROGMEM Indices[] = { 0x00, 0xA1, 0x22, 0x83, 0xE4, 0x45, |
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0xC6, 0x67, 0x48, 0xE9, 0x6A, 0xCB, |
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0xAC, 0x0D, 0x8E, 0x2F, 0xD0, 0x71, |
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0xF2, 0x53, 0x34, 0x95, 0x16, 0xB7, |
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0x98, 0x39, 0xBA, 0x1B } ; |
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#endif |
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|
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#endif |
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|
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/**************************/ |
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/**************************/ |
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/** Serial TX routines **/ |
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/**************************/ |
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/**************************/ |
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|
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// Routines for bit-bashed serial output |
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|
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void Serial_write( uint8_t byte ) |
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{ |
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uint8_t temp ; |
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uint8_t temp1 ; |
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uint8_t byteLo ; |
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|
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#ifdef INVERT_SERIAL |
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byte = ~byte ; |
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#endif |
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|
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byteLo = byte ; |
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byteLo >>= 7 ; // Top bit |
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if ( SerialControl.speed == SPEED_100K ) |
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{ |
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#ifdef INVERT_SERIAL |
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byteLo |= 0x02 ; // Parity bit |
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#else |
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byteLo |= 0xFC ; // Stop bits |
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#endif |
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// calc parity |
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temp = byte ; |
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temp >>= 4 ; |
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temp = byte ^ temp ; |
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temp1 = temp ; |
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temp1 >>= 2 ; |
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temp = temp ^ temp1 ; |
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temp1 = temp ; |
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temp1 <<= 1 ; |
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temp ^= temp1 ; |
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temp &= 0x02 ; |
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#ifdef INVERT_SERIAL |
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byteLo ^= temp ; |
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#else |
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byteLo |= temp ; |
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#endif |
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} |
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else |
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{ |
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byteLo |= 0xFE ; // Stop bit |
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} |
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byte <<= 1 ; |
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#ifdef INVERT_SERIAL |
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byte |= 1 ; // Start bit |
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#endif |
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uint8_t next = SerialControl.head + 2; |
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if(next>=TXBUFFER_SIZE) |
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next=0; |
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if ( next != SerialControl.tail ) |
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{ |
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SerialControl.data[SerialControl.head] = byte ; |
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SerialControl.data[SerialControl.head+1] = byteLo ; |
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SerialControl.head = next ; |
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} |
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if(!IS_TX_PAUSE_on) |
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tx_resume(); |
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} |
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#endif // TELEMETRY |
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|
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@ -0,0 +1,227 @@ |
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/*
|
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This project is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
|||
the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
|||
|
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Multiprotocol is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
|
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*/ |
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//**************************
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// Telemetry serial code *
|
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//**************************
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#include "telemetry.h"
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#include "FrSkyD_cc2500.h"
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#include "debug.h"
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uint8_t RetrySequence ; |
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|
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#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
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#define MULTI_TIME 500 //in ms
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#define INPUT_SYNC_TIME 100 //in ms
|
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#define INPUT_ADDITIONAL_DELAY 100 // in 10µs, 100 => 1000 µs
|
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uint32_t lastMulti = 0; |
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#endif // MULTI_TELEMETRY/MULTI_STATUS
|
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|
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#if defined SPORT_TELEMETRY
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#define SPORT_TIME 12000 //12ms
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#define FRSKY_SPORT_PACKET_SIZE 8
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#define FX_BUFFERS 4
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uint32_t last = 0; |
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uint8_t sport_counter=0; |
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uint8_t RxBt = 0; |
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uint8_t sport = 0; |
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uint8_t pktx1[FRSKY_SPORT_PACKET_SIZE*FX_BUFFERS]; |
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|
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// Store for out of sequence packet
|
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uint8_t FrskyxRxTelemetryValidSequence ; |
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struct t_fx_rx_frame |
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{ |
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uint8_t valid ; |
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uint8_t count ; |
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uint8_t payload[6] ; |
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} ; |
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|
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// Store for FrskyX telemetry
|
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struct t_fx_rx_frame FrskyxRxFrames[4] ; |
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uint8_t NextFxFrameToForward ; |
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#ifdef SPORT_POLLING
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uint8_t sport_rx_index[28] ; |
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uint8_t ukindex ; |
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uint8_t kindex ; |
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uint8_t TxData[2]; |
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uint8_t SportIndexPolling; |
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uint8_t RxData[16] ; |
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volatile uint8_t RxIndex=0 ; |
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uint8_t sport_bytes=0; |
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uint8_t skipped_id; |
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uint8_t rx_counter=0; |
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#endif
|
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#endif // SPORT_TELEMETRY
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|
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#if defined HUB_TELEMETRY
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#define USER_MAX_BYTES 6
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uint8_t prev_index; |
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#endif // HUB_TELEMETRY
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|
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#define START_STOP 0x7e
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#define BYTESTUFF 0x7d
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#define STUFF_MASK 0x20
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#define MAX_PKTX 10
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uint8_t pktx[MAX_PKTX]; |
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uint8_t indx; |
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uint8_t frame[18]; |
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|
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#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
|
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static void multi_send_header(uint8_t type, uint8_t len) |
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{ |
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Serial_write('M'); |
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#ifdef MULTI_TELEMETRY
|
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Serial_write('P'); |
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Serial_write(type); |
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#else
|
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(void)type; |
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#endif
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Serial_write(len); |
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} |
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|
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#endif
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|
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#ifdef MULTI_TELEMETRY
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static void multi_send_frskyhub() |
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{ |
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multi_send_header(MULTI_TELEMETRY_HUB, 9); |
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for (uint8_t i = 0; i < 9; i++) |
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Serial_write(frame[i]); |
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} |
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#endif
|
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|
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|
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void frsky_check_telemetry(uint8_t *pkt,uint8_t len) |
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{ |
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uint8_t clen = pkt[0] + 3 ; |
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if (len != clen) // wrong length
|
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return; |
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if(pkt[1] == rx_tx_addr[3] && pkt[2] == rx_tx_addr[2] ) { |
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telemetry_link |= 1; // Telemetry data is available
|
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TX_RSSI = pkt[len-2]; |
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|
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if(TX_RSSI >=128) |
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TX_RSSI -= 128; |
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else |
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TX_RSSI += 128; |
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|
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TX_LQI = pkt[len-1]&0x7F; |
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for (uint8_t i=3;i<len-2;i++) |
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pktt[i]=pkt[i]; // Buffer telemetry values to be sent
|
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|
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if(pktt[6]>0 && pktt[6]<=10) { |
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if ( ( pktt[7] & 0x1F ) == (telemetry_counter & 0x1F) ) { |
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uint8_t topBit = 0 ; |
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if ( telemetry_counter & 0x80 ) |
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if ( ( telemetry_counter & 0x1F ) != RetrySequence ) |
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topBit = 0x80 ; |
|||
telemetry_counter = ( (telemetry_counter+1)%32 ) | topBit ; // Request next telemetry frame
|
|||
} else { |
|||
// incorrect sequence
|
|||
RetrySequence = pktt[7] & 0x1F ; |
|||
telemetry_counter |= 0x80 ; |
|||
pktt[6]=0 ; // Discard current packet and wait for retransmit
|
|||
} |
|||
} else |
|||
pktt[6]=0; // Discard packet
|
|||
} |
|||
} |
|||
|
|||
void print_frskyd_telemetry() { |
|||
debug("telemetry_link %d\n", telemetry_link); |
|||
debug("telemetry_counter %d\n", telemetry_counter); |
|||
debug("v_lipo1 %d\n", v_lipo1 ); |
|||
debug("v_lipo2 %d\n", v_lipo2 ); |
|||
debug("RX_RSSI %d\n", RX_RSSI ); |
|||
debug("TX_RSSI %d\n", TX_RSSI ); |
|||
debug("RX_LQI %d\n", RX_LQI ); |
|||
debug("TX_LQI %d\n", TX_LQI ); |
|||
} |
|||
void init_frskyd_link_telemetry() |
|||
{ |
|||
telemetry_link=0; |
|||
telemetry_counter=0; |
|||
v_lipo1=0; |
|||
v_lipo2=0; |
|||
RX_RSSI=0; |
|||
TX_RSSI=0; |
|||
RX_LQI=0; |
|||
TX_LQI=0; |
|||
} |
|||
|
|||
#if defined SPORT_TELEMETRY
|
|||
/* SPORT details serial
|
|||
100K 8E2 normal-multiprotocol |
|||
-every 12ms-or multiple of 12; %36 |
|||
1 2 3 4 5 6 7 8 9 CRC DESCR |
|||
7E 98 10 05 F1 20 23 0F 00 A6 SWR_ID |
|||
7E 98 10 01 F1 33 00 00 00 C9 RSSI_ID |
|||
7E 98 10 04 F1 58 00 00 00 A1 BATT_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID |
|||
|
|||
|
|||
Telemetry frames(RF) SPORT info |
|||
15 bytes payload |
|||
SPORT frame valid 6+3 bytes |
|||
[00] PKLEN 0E 0E 0E 0E |
|||
[01] TXID1 DD DD DD DD |
|||
[02] TXID2 6D 6D 6D 6D |
|||
[03] CONST 02 02 02 02 |
|||
[04] RS/RB 2C D0 2C CE //D0;CE=2*RSSI;....2C = RX battery voltage(5V from Bec)
|
|||
[05] HD-SK 03 10 21 32 //TX/RX telemetry hand-shake bytes
|
|||
[06] NO.BT 00 00 06 03 //No.of valid SPORT frame bytes in the frame
|
|||
[07] STRM1 00 00 7E 00 |
|||
[08] STRM2 00 00 1A 00 |
|||
[09] STRM3 00 00 10 00 |
|||
[10] STRM4 03 03 03 03 |
|||
[11] STRM5 F1 F1 F1 F1 |
|||
[12] STRM6 D1 D1 D0 D0 |
|||
[13] CHKSUM1 --|2 CRC bytes sent by RX (calculated on RX side crc16/table) |
|||
[14] CHKSUM2 --| |
|||
+2 appended bytes automatically RSSI and LQI/CRC bytes(len=0x0E+3); |
|||
|
|||
0x06 0x06 0x06 0x06 0x06 |
|||
|
|||
0x7E 0x00 0x03 0x7E 0x00 |
|||
0x1A 0x00 0xF1 0x1A 0x00 |
|||
0x10 0x00 0xD7 0x10 0x00 |
|||
0x03 0x7E 0x00 0x03 0x7E |
|||
0xF1 0x1A 0x00 0xF1 0x1A |
|||
0xD7 0x10 0x00 0xD7 0x10 |
|||
|
|||
0xE1 0x1C 0xD0 0xEE 0x33 |
|||
0x34 0x0A 0xC3 0x56 0xF3 |
|||
|
|||
*/ |
|||
#if defined SPORT_POLLING || defined MULTI_TELEMETRY
|
|||
const uint8_t PROGMEM Indices[] = { 0x00, 0xA1, 0x22, 0x83, 0xE4, 0x45, |
|||
0xC6, 0x67, 0x48, 0xE9, 0x6A, 0xCB, |
|||
0xAC, 0x0D, 0x8E, 0x2F, 0xD0, 0x71, |
|||
0xF2, 0x53, 0x34, 0x95, 0x16, 0xB7, |
|||
0x98, 0x39, 0xBA, 0x1B } ; |
|||
#endif
|
|||
|
|||
|
|||
|
|||
#endif
|
|||
|
|||
/**************************/ |
|||
/**************************/ |
|||
/** Serial TX routines **/ |
|||
/**************************/ |
|||
/**************************/ |
|||
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