You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
361 lines
11 KiB
361 lines
11 KiB
/*
|
|
This project is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Multiprotocol is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
//**************************
|
|
// Telemetry serial code *
|
|
//**************************
|
|
#if defined TELEMETRY
|
|
|
|
uint8_t RetrySequence ;
|
|
|
|
#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
|
|
#define MULTI_TIME 500 //in ms
|
|
#define INPUT_SYNC_TIME 100 //in ms
|
|
#define INPUT_ADDITIONAL_DELAY 100 // in 10µs, 100 => 1000 µs
|
|
uint32_t lastMulti = 0;
|
|
#endif // MULTI_TELEMETRY/MULTI_STATUS
|
|
|
|
#if defined SPORT_TELEMETRY
|
|
#define SPORT_TIME 12000 //12ms
|
|
#define FRSKY_SPORT_PACKET_SIZE 8
|
|
#define FX_BUFFERS 4
|
|
uint32_t last = 0;
|
|
uint8_t sport_counter=0;
|
|
uint8_t RxBt = 0;
|
|
uint8_t sport = 0;
|
|
uint8_t pktx1[FRSKY_SPORT_PACKET_SIZE*FX_BUFFERS];
|
|
|
|
// Store for out of sequence packet
|
|
uint8_t FrskyxRxTelemetryValidSequence ;
|
|
struct t_fx_rx_frame
|
|
{
|
|
uint8_t valid ;
|
|
uint8_t count ;
|
|
uint8_t payload[6] ;
|
|
} ;
|
|
|
|
// Store for FrskyX telemetry
|
|
struct t_fx_rx_frame FrskyxRxFrames[4] ;
|
|
uint8_t NextFxFrameToForward ;
|
|
#ifdef SPORT_POLLING
|
|
uint8_t sport_rx_index[28] ;
|
|
uint8_t ukindex ;
|
|
uint8_t kindex ;
|
|
uint8_t TxData[2];
|
|
uint8_t SportIndexPolling;
|
|
uint8_t RxData[16] ;
|
|
volatile uint8_t RxIndex=0 ;
|
|
uint8_t sport_bytes=0;
|
|
uint8_t skipped_id;
|
|
uint8_t rx_counter=0;
|
|
#endif
|
|
#endif // SPORT_TELEMETRY
|
|
|
|
#if defined HUB_TELEMETRY
|
|
#define USER_MAX_BYTES 6
|
|
uint8_t prev_index;
|
|
#endif // HUB_TELEMETRY
|
|
|
|
#define START_STOP 0x7e
|
|
#define BYTESTUFF 0x7d
|
|
#define STUFF_MASK 0x20
|
|
#define MAX_PKTX 10
|
|
uint8_t pktx[MAX_PKTX];
|
|
uint8_t indx;
|
|
uint8_t frame[18];
|
|
|
|
#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
|
|
static void multi_send_header(uint8_t type, uint8_t len)
|
|
{
|
|
Serial_write('M');
|
|
#ifdef MULTI_TELEMETRY
|
|
Serial_write('P');
|
|
Serial_write(type);
|
|
#else
|
|
(void)type;
|
|
#endif
|
|
Serial_write(len);
|
|
}
|
|
|
|
#endif
|
|
|
|
#ifdef MULTI_TELEMETRY
|
|
static void multi_send_frskyhub()
|
|
{
|
|
multi_send_header(MULTI_TELEMETRY_HUB, 9);
|
|
for (uint8_t i = 0; i < 9; i++)
|
|
Serial_write(frame[i]);
|
|
}
|
|
#endif
|
|
|
|
void frskySendStuffed()
|
|
{
|
|
Serial_write(START_STOP);
|
|
for (uint8_t i = 0; i < 9; i++) {
|
|
if ((frame[i] == START_STOP) || (frame[i] == BYTESTUFF)) {
|
|
Serial_write(BYTESTUFF);
|
|
frame[i] ^= STUFF_MASK;
|
|
}
|
|
Serial_write(frame[i]);
|
|
}
|
|
Serial_write(START_STOP);
|
|
}
|
|
|
|
void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
|
|
{
|
|
uint8_t clen = pkt[0] + 3 ;
|
|
if (len != clen) // wrong length
|
|
return;
|
|
if(pkt[1] == rx_tx_addr[3] &&
|
|
pkt[2] == rx_tx_addr[2] ) {
|
|
telemetry_link|=1; // Telemetry data is available
|
|
TX_RSSI = pkt[len-2];
|
|
|
|
if(TX_RSSI >=128)
|
|
TX_RSSI -= 128;
|
|
else
|
|
TX_RSSI += 128;
|
|
|
|
TX_LQI = pkt[len-1]&0x7F;
|
|
for (uint8_t i=3;i<len-2;i++)
|
|
pktt[i]=pkt[i]; // Buffer telemetry values to be sent
|
|
|
|
if(pktt[6]>0 && pktt[6]<=10) {
|
|
if (protocol==PROTO_FRSKYD) {
|
|
if ( ( pktt[7] & 0x1F ) == (telemetry_counter & 0x1F) ) {
|
|
uint8_t topBit = 0 ;
|
|
if ( telemetry_counter & 0x80 )
|
|
if ( ( telemetry_counter & 0x1F ) != RetrySequence )
|
|
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
|
|
//
|
|
#if defined SPORT_TELEMETRY && defined FRSKYX_CC2500_INO
|
|
telemetry_lost=0;
|
|
if (protocol==PROTO_FRSKYX) {
|
|
uint16_t lcrc = frskyX_crc_x(&pkt[3], len-7 ) ;
|
|
|
|
if ( ( (lcrc >> 8) == pkt[len-4]) && ( (lcrc & 0x00FF ) == pkt[len-3]) ) {
|
|
// Check if in sequence
|
|
if ( (pkt[5] & 0x0F) == 0x08 ) {
|
|
FrX_receive_seq = 0x08 ;
|
|
NextFxFrameToForward = 0 ;
|
|
FrskyxRxFrames[0].valid = 0 ;
|
|
FrskyxRxFrames[1].valid = 0 ;
|
|
FrskyxRxFrames[2].valid = 0 ;
|
|
FrskyxRxFrames[3].valid = 0 ;
|
|
} else if ( (pkt[5] & 0x03) == (FrX_receive_seq & 0x03 ) ) {
|
|
// OK to process
|
|
struct t_fx_rx_frame *p ;
|
|
uint8_t count ;
|
|
p = &FrskyxRxFrames[FrX_receive_seq & 3] ;
|
|
count = pkt[6] ;
|
|
if ( count <= 6 ) {
|
|
p->count = count ;
|
|
for ( uint8_t i = 0 ; i < count ; i += 1 )
|
|
p->payload[i] = pkt[i+7] ;
|
|
}
|
|
else
|
|
p->count = 0 ;
|
|
p->valid = 1 ;
|
|
|
|
FrX_receive_seq = ( FrX_receive_seq + 1 ) & 0x03 ;
|
|
|
|
if ( FrskyxRxTelemetryValidSequence & 0x80 ) {
|
|
FrX_receive_seq = ( FrskyxRxTelemetryValidSequence + 1 ) & 3 ;
|
|
FrskyxRxTelemetryValidSequence &= 0x7F ;
|
|
}
|
|
} else {
|
|
// Save and request correct packet
|
|
struct t_fx_rx_frame *q ;
|
|
uint8_t count ;
|
|
// pkt[4] RSSI
|
|
// pkt[5] sequence control
|
|
// pkt[6] payload count
|
|
// pkt[7-12] payload
|
|
pktt[6] = 0 ; // Don't process
|
|
if ( (pkt[5] & 0x03) == ( ( FrX_receive_seq +1 ) & 3 ) ) {
|
|
q = &FrskyxRxFrames[(pkt[5] & 0x03)] ;
|
|
count = pkt[6] ;
|
|
if ( count <= 6 ) {
|
|
q->count = count ;
|
|
for ( uint8_t i = 0 ; i < count ; i += 1 ) {
|
|
q->payload[i] = pkt[i+7] ;
|
|
}
|
|
} else
|
|
q->count = 0 ;
|
|
q->valid = 1 ;
|
|
|
|
FrskyxRxTelemetryValidSequence = 0x80 | ( pkt[5] & 0x03 ) ;
|
|
}
|
|
|
|
FrX_receive_seq = ( FrX_receive_seq & 0x03 ) | 0x04 ; // Request re-transmission
|
|
}
|
|
|
|
if (((pktt[5] >> 4) & 0x0f) == 0x08)
|
|
FrX_send_seq = 0 ;
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
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 **/
|
|
/**************************/
|
|
/**************************/
|
|
|
|
// Routines for bit-bashed serial output
|
|
|
|
void Serial_write( uint8_t byte )
|
|
{
|
|
uint8_t temp ;
|
|
uint8_t temp1 ;
|
|
uint8_t byteLo ;
|
|
|
|
#ifdef INVERT_SERIAL
|
|
byte = ~byte ;
|
|
#endif
|
|
|
|
byteLo = byte ;
|
|
byteLo >>= 7 ; // Top bit
|
|
if ( SerialControl.speed == SPEED_100K )
|
|
{
|
|
#ifdef INVERT_SERIAL
|
|
byteLo |= 0x02 ; // Parity bit
|
|
#else
|
|
byteLo |= 0xFC ; // Stop bits
|
|
#endif
|
|
// calc parity
|
|
temp = byte ;
|
|
temp >>= 4 ;
|
|
temp = byte ^ temp ;
|
|
temp1 = temp ;
|
|
temp1 >>= 2 ;
|
|
temp = temp ^ temp1 ;
|
|
temp1 = temp ;
|
|
temp1 <<= 1 ;
|
|
temp ^= temp1 ;
|
|
temp &= 0x02 ;
|
|
#ifdef INVERT_SERIAL
|
|
byteLo ^= temp ;
|
|
#else
|
|
byteLo |= temp ;
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
byteLo |= 0xFE ; // Stop bit
|
|
}
|
|
byte <<= 1 ;
|
|
#ifdef INVERT_SERIAL
|
|
byte |= 1 ; // Start bit
|
|
#endif
|
|
uint8_t next = SerialControl.head + 2;
|
|
if(next>=TXBUFFER_SIZE)
|
|
next=0;
|
|
if ( next != SerialControl.tail )
|
|
{
|
|
SerialControl.data[SerialControl.head] = byte ;
|
|
SerialControl.data[SerialControl.head+1] = byteLo ;
|
|
SerialControl.head = next ;
|
|
}
|
|
if(!IS_TX_PAUSE_on)
|
|
tx_resume();
|
|
}
|
|
|
|
#endif // TELEMETRY
|
|
|