Schoenberger, Philipp
6 years ago
No known key found for this signature in database
GPG Key ID: 77E9DF7A0452BF64
22 changed files with 802 additions and 691 deletions
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1remote/include/FrSkyD_cc2500.h
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4remote/include/Multiprotocol.h
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10remote/include/Validate.h
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79remote/include/config.h
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10remote/include/crc.h
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4remote/include/eeprom.h
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7remote/include/input.h
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1remote/include/state.h
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361remote/include/telemetry.h
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36remote/include/tx_def.h
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25remote/src/FrSkyD_cc2500.cpp
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174remote/src/Multiprotocol.cpp
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4remote/src/cc2500_spi.cpp
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26remote/src/crc.cpp
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25remote/src/eeprom.cpp
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14remote/src/input.cpp
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296remote/src/state.cpp
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77remote/src/state_bind.cpp
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29remote/src/state_fly.cpp
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31remote/src/state_init.cpp
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115remote/src/state_joy_calib.cpp
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84remote/src/state_menu.cpp
@ -1,7 +1,5 @@ |
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#ifndef __CRC_H_H__ |
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#define __CRC_H_H__ |
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#include <stdint.h> |
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uint32_t crc_update (uint32_t crc, uint8_t data); |
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#ifndef __CRC32_H_ |
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#define __CRC32_H_ |
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#include <Arduino.h> |
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uint32_t tiny_crc32(const void *data, unsigned int length); |
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#endif |
#endif |
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@ -0,0 +1,361 @@ |
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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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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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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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uint8_t RetrySequence ; |
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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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#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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// 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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// 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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#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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#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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#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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#endif |
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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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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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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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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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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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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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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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FrX_receive_seq = ( FrX_receive_seq + 1 ) & 0x03 ; |
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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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FrskyxRxTelemetryValidSequence = 0x80 | ( pkt[5] & 0x03 ) ; |
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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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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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#endif |
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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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#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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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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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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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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#endif |
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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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// Routines for bit-bashed serial output |
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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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#ifdef INVERT_SERIAL |
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byte = ~byte ; |
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#endif |
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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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@ -1,22 +1,28 @@ |
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#include "Arduino.h"
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#include "crc.h"
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static uint32_t crc_table[16] = { |
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static const unsigned int tiny_crc32tab[16] = { |
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0x00000000, 0x1db71064, 0x3b6e20c8, 0x26d930ac, |
0x00000000, 0x1db71064, 0x3b6e20c8, 0x26d930ac, |
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0x76dc4190, 0x6b6b51f4, 0x4db26158, 0x5005713c, |
0x76dc4190, 0x6b6b51f4, 0x4db26158, 0x5005713c, |
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0xedb88320, 0xf00f9344, 0xd6d6a3e8, 0xcb61b38c, |
0xedb88320, 0xf00f9344, 0xd6d6a3e8, 0xcb61b38c, |
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0x9b64c2b0, 0x86d3d2d4, 0xa00ae278, 0xbdbdf21c |
0x9b64c2b0, 0x86d3d2d4, 0xa00ae278, 0xbdbdf21c |
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}; |
}; |
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uint32_t crc_update (uint32_t crc, uint8_t data) |
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{ |
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uint8_t tbl_idx; |
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uint8_t mask = 0x0f; |
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tbl_idx = crc ^ (data >> (0 * 4)); |
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crc = (crc_table + (tbl_idx & mask)) ^ (crc >> 4); |
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uint32_t __tiny_crc32(const void *data, unsigned int length, uint32_t crc) |
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{ |
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const unsigned char *buf = (const unsigned char *)data; |
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unsigned int i; |
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tbl_idx = crc ^ (data >> (1 * 4)); |
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crc = (crc_table + (tbl_idx & mask)) ^ (crc >> 4); |
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|
for (i = 0; i < length; ++i) { |
||||
|
crc ^= buf[i]; |
||||
|
crc = tiny_crc32tab[crc & 0x0f] ^ (crc >> 4); |
||||
|
crc = tiny_crc32tab[crc & 0x0f] ^ (crc >> 4); |
||||
|
} |
||||
|
|
||||
return crc; |
return crc; |
||||
} |
} |
||||
|
uint32_t tiny_crc32(const void *data, unsigned int length) |
||||
|
{ |
||||
|
// return value suitable for passing in next time, for final value invert it
|
||||
|
return __tiny_crc32(data, length, 42) ^ 0xffffff; |
||||
|
} |
||||
@ -0,0 +1,77 @@ |
|||||
|
#include <LiquidCrystal_I2C.h>
|
||||
|
#include <stdio.h>
|
||||
|
#include "Arduino.h"
|
||||
|
#include "FrSkyD_cc2500.h"
|
||||
|
#include "state.h"
|
||||
|
#include "input.h"
|
||||
|
#include "eeprom.h"
|
||||
|
#include "debug.h"
|
||||
|
#include "tx_def.h"
|
||||
|
#include "config.h"
|
||||
|
|
||||
|
|
||||
|
LCD_state_bind::LCD_state_bind(void) { |
||||
|
this->bind_time = DEFAULT_BIND_TIME; |
||||
|
} |
||||
|
void LCD_state_bind::enter(void) { |
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("bind mode "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print(" "); |
||||
|
this->time_enter = millis(); |
||||
|
} |
||||
|
|
||||
|
void LCD_state_bind::update(void) |
||||
|
{ |
||||
|
debugln("blubber\n"); |
||||
|
char line[17]; |
||||
|
unsigned long time_in_ms = millis() - this->time_enter; |
||||
|
unsigned long time_in_s = time_in_ms/1000; // to sec
|
||||
|
unsigned long remain_s = this->bind_time - time_in_s; |
||||
|
|
||||
|
snprintf(line,sizeof(line),"remaining sec %02lu",remain_s); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print(line); |
||||
|
|
||||
|
uint32_t end__ = micros(); |
||||
|
uint32_t start = micros(); |
||||
|
uint32_t next_callback_time; |
||||
|
next_callback_time = initFrSky_2way(); |
||||
|
while(1) { |
||||
|
start = end__; |
||||
|
next_callback_time = ReadFrSky_2way_bind(); |
||||
|
|
||||
|
|
||||
|
// update time
|
||||
|
time_in_ms = millis() - this->time_enter; |
||||
|
time_in_s = time_in_ms/1000; // to sec
|
||||
|
remain_s = this->bind_time - time_in_s; |
||||
|
|
||||
|
// print on lcd
|
||||
|
snprintf(line,sizeof(line),"%02lu",remain_s); |
||||
|
lcd.setCursor(14,1); |
||||
|
lcd.print(line); |
||||
|
|
||||
|
uint32_t wait_until = start + next_callback_time; |
||||
|
end__ = micros(); |
||||
|
|
||||
|
if (end__ - start < next_callback_time) { |
||||
|
uint32_t wait = next_callback_time; |
||||
|
wait -= ((end__-start)); |
||||
|
delayMicroseconds(wait); |
||||
|
end__ += wait; |
||||
|
} |
||||
|
end__ = micros(); |
||||
|
|
||||
|
if (remain_s == 0) |
||||
|
break; |
||||
|
} |
||||
|
|
||||
|
// cange to menu when done
|
||||
|
new_state = s_menu; |
||||
|
} |
||||
|
|
||||
|
void LCD_state_bind::leave(void) |
||||
|
{ |
||||
|
lcd.clear(); |
||||
|
} |
||||
@ -0,0 +1,29 @@ |
|||||
|
#include <LiquidCrystal_I2C.h>
|
||||
|
#include <stdio.h>
|
||||
|
#include "Arduino.h"
|
||||
|
#include "FrSkyD_cc2500.h"
|
||||
|
#include "state.h"
|
||||
|
#include "input.h"
|
||||
|
#include "eeprom.h"
|
||||
|
#include "debug.h"
|
||||
|
#include "tx_def.h"
|
||||
|
|
||||
|
LCD_state_fly::LCD_state_fly(void) { |
||||
|
} |
||||
|
|
||||
|
void LCD_state_fly::enter(void) { |
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("fly mode "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print(" "); |
||||
|
this->time_enter = millis(); |
||||
|
} |
||||
|
|
||||
|
void LCD_state_fly::update(void) |
||||
|
{ |
||||
|
|
||||
|
} |
||||
|
void LCD_state_fly::leave(void) |
||||
|
{ |
||||
|
lcd.clear(); |
||||
|
} |
||||
@ -0,0 +1,31 @@ |
|||||
|
#include <LiquidCrystal_I2C.h>
|
||||
|
#include <stdio.h>
|
||||
|
#include "Arduino.h"
|
||||
|
#include "FrSkyD_cc2500.h"
|
||||
|
#include "state.h"
|
||||
|
#include "input.h"
|
||||
|
#include "eeprom.h"
|
||||
|
#include "debug.h"
|
||||
|
#include "tx_def.h"
|
||||
|
|
||||
|
LCD_state_init::LCD_state_init(void) { |
||||
|
} |
||||
|
void LCD_state_init::enter(void) { |
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print(" wellcome "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print(" phschoen "); |
||||
|
this->time_enter = millis(); |
||||
|
} |
||||
|
void LCD_state_init::update(void) |
||||
|
{ |
||||
|
uint32_t diff; |
||||
|
diff = millis() - this->time_enter; |
||||
|
if (diff > 5 * 1000) { |
||||
|
new_state = s_joy; |
||||
|
} |
||||
|
} |
||||
|
void LCD_state_init::leave(void) |
||||
|
{ |
||||
|
lcd.clear(); |
||||
|
} |
||||
@ -0,0 +1,115 @@ |
|||||
|
#include <LiquidCrystal_I2C.h>
|
||||
|
#include <stdio.h>
|
||||
|
#include "Arduino.h"
|
||||
|
#include "FrSkyD_cc2500.h"
|
||||
|
#include "state.h"
|
||||
|
#include "input.h"
|
||||
|
#include "eeprom.h"
|
||||
|
#include "debug.h"
|
||||
|
#include "tx_def.h"
|
||||
|
|
||||
|
LCD_state_joy_calibration::LCD_state_joy_calibration(void) { |
||||
|
|
||||
|
} |
||||
|
void LCD_state_joy_calibration::enter(void) { |
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("calib. start "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print("move all sticks "); |
||||
|
delay(500); |
||||
|
} |
||||
|
void show_dots(int row, int number) { |
||||
|
lcd.setCursor(0,row); |
||||
|
for(int c = 0; c < 16;++c) { |
||||
|
if (c < number) |
||||
|
lcd.print("."); |
||||
|
else |
||||
|
lcd.print(" "); |
||||
|
} |
||||
|
} |
||||
|
void LCD_state_joy_calibration::update(void) { |
||||
|
int8_t turns = 50; |
||||
|
int8_t i; |
||||
|
|
||||
|
// init min/max
|
||||
|
input.calibration_reset(); |
||||
|
|
||||
|
// min max calibration
|
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("min max Calib. "); |
||||
|
show_dots(1,16); |
||||
|
i = turns; |
||||
|
while(i > 0) { |
||||
|
input.update(); |
||||
|
if (true == input.calibration_update()) { |
||||
|
i = turns; |
||||
|
}else { |
||||
|
i -= 1; |
||||
|
show_dots(1,(i *16)/turns); |
||||
|
} |
||||
|
delay(100); |
||||
|
} |
||||
|
|
||||
|
// center
|
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("center sticks "); |
||||
|
i = turns; |
||||
|
while(i > 0) { |
||||
|
input.update(); |
||||
|
if (false == input.is_centered()) { |
||||
|
i = turns; |
||||
|
}else { |
||||
|
i -= 1; |
||||
|
show_dots(1,(i *16)/turns); |
||||
|
} |
||||
|
delay(100); |
||||
|
} |
||||
|
|
||||
|
for (uint8_t _ch = 0; _ch < 4 ; ++_ch) { |
||||
|
enum Input::input_channels ch = (enum Input::input_channels) _ch; |
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("move to max: "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print(" "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print(ch_name[ch]); |
||||
|
|
||||
|
i = turns; |
||||
|
while(i>0) { |
||||
|
delay(50); |
||||
|
input.update(); |
||||
|
|
||||
|
input.print_ch(ch); |
||||
|
if (input.is_high(ch)) { |
||||
|
i--; |
||||
|
continue; |
||||
|
} |
||||
|
|
||||
|
if (input.is_low(ch)) { |
||||
|
input.invert_ch(ch); |
||||
|
debug("invert"); |
||||
|
i = turns; |
||||
|
continue; |
||||
|
} |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
struct Input::ch_config ch_config[Input::CH_COUNT]; |
||||
|
input.get_calibration(ch_config); |
||||
|
|
||||
|
|
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("center again "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print("all sticks "); |
||||
|
while (false == input.is_centered()) { |
||||
|
input.update(); |
||||
|
} |
||||
|
new_state = s_menu; |
||||
|
} |
||||
|
void LCD_state_joy_calibration::leave(void) { |
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("finished "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print("calibration"); |
||||
|
} |
||||
@ -0,0 +1,84 @@ |
|||||
|
#include <LiquidCrystal_I2C.h>
|
||||
|
#include <stdio.h>
|
||||
|
#include "Arduino.h"
|
||||
|
#include "FrSkyD_cc2500.h"
|
||||
|
#include "state.h"
|
||||
|
#include "input.h"
|
||||
|
#include "eeprom.h"
|
||||
|
#include "debug.h"
|
||||
|
#include "tx_def.h"
|
||||
|
|
||||
|
LCD_state_menu::LCD_state_menu(void) { |
||||
|
} |
||||
|
void LCD_state_menu::enter(void) { |
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("menu mode "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print(" "); |
||||
|
this->curr_selected = 0; |
||||
|
} |
||||
|
|
||||
|
void LCD_state_menu::update(void) |
||||
|
{ |
||||
|
struct { |
||||
|
char name[15]; |
||||
|
State * state; |
||||
|
} menus[] = { |
||||
|
{ "Flight ", s_fly }, |
||||
|
{ "Bind ", s_bind }, |
||||
|
{ "Joy calib ", s_joy }, |
||||
|
{ "HF calib ", NULL }, |
||||
|
{ " ", NULL }, |
||||
|
}; |
||||
|
|
||||
|
bool wait = false; |
||||
|
char curr[2][16]; |
||||
|
snprintf(curr[0], sizeof(curr[0]), "> %s", menus[this->curr_selected].name); |
||||
|
snprintf(curr[1], sizeof(curr[1]), " %s", menus[this->curr_selected+1].name); |
||||
|
|
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print(curr[0]); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print(curr[1]); |
||||
|
|
||||
|
if (false == input.is_centered(Input::MENU_UP_DOWN)) { |
||||
|
if (input.is_low(Input::MENU_UP_DOWN)){ |
||||
|
this->curr_selected +=1; |
||||
|
if ( this->curr_selected > 3) |
||||
|
this->curr_selected = 3; |
||||
|
else |
||||
|
wait = true; |
||||
|
} |
||||
|
if (input.is_high(Input::MENU_UP_DOWN)){ |
||||
|
this->curr_selected -=1; |
||||
|
if ( this->curr_selected < 0) |
||||
|
this->curr_selected = 0; |
||||
|
else |
||||
|
wait = true; |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
if (input.is_high(Input::MENU_LEFT_RIGHT)) { |
||||
|
lcd.setCursor(0,0); |
||||
|
lcd.print("entering "); |
||||
|
lcd.setCursor(0,1); |
||||
|
lcd.print(menus[this->curr_selected].name); |
||||
|
// do wait until its centered
|
||||
|
while(false == input.is_centered(Input::MENU_LEFT_RIGHT)) { |
||||
|
input.update(); |
||||
|
} |
||||
|
|
||||
|
if (menus[this->curr_selected].state != NULL) { |
||||
|
new_state = menus[this->curr_selected].state; |
||||
|
} |
||||
|
wait = true; |
||||
|
} |
||||
|
|
||||
|
if(wait) |
||||
|
delay(500); |
||||
|
} |
||||
|
|
||||
|
void LCD_state_menu::leave(void) |
||||
|
{ |
||||
|
lcd.clear(); |
||||
|
} |
||||
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