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Added FrSkyX protocol, Added MT99xx YZ sub protocol, Ram usage optimization

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pascallanger
2016-02-05 17:27:51 +01:00
parent c5b1e73312
commit b393d2666d
10 changed files with 794 additions and 292 deletions
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469
Multiprotocol/Telemetry.ino
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@@ -1,166 +1,337 @@
//*************************************
// FrSky Telemetry serial code *
// By Midelic on RCG *
// By Midelic on RCGroups *
//*************************************
#if defined TELEMETRY
#define USER_MAX_BYTES 6
#define MAX_PKTX 10
uint8_t frame[18];
uint8_t pass = 0;
uint8_t index;
uint8_t prev_index;
uint8_t pktx[MAX_PKTX];
void frskySendStuffed()
{
Serial_write(0x7E);
for (uint8_t i = 0; i < 9; i++)
#if defined FRSKYX_CC2500_INO
#define SPORT_TELEMETRY
#endif
#if defined FRSKY_CC2500_INO
#define HUB_TELEMETRY
#endif
#if defined SPORT_TELEMETRY
#define SPORT_TELEMETRY
#define SPORT_TIME 12000
uint32_t last=0;
uint8_t sport_counter=0;
uint8_t RxBt=0;
uint8_t rssi;
uint8_t ADC2;
#endif
#if defined HUB_TELEMETRY
#define MAX_PKTX 10
uint8_t pktx[MAX_PKTX];
uint8_t index;
uint8_t prev_index;
uint8_t pass = 0;
#endif
#define USER_MAX_BYTES 6
uint8_t frame[18];
void frskySendStuffed()
{
if ((frame[i] == 0x7e) || (frame[i] == 0x7d))
Serial_write(0x7E);
for (uint8_t i = 0; i < 9; i++)
{
Serial_write(0x7D);
frame[i] ^= 0x20;
if ((frame[i] == 0x7e) || (frame[i] == 0x7d))
{
Serial_write(0x7D);
frame[i] ^= 0x20;
}
Serial_write(frame[i]);
}
Serial_write(frame[i]);
Serial_write(0x7E);
}
Serial_write(0x7E);
}
void compute_RSSIdbm(){
RSSI_dBm = (((uint16_t)(pktt[len-2])*18)>>5);
if(pktt[len-2] >=128)
RSSI_dBm -= 82;
else
RSSI_dBm += 65;
}
void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
{
if(pkt[1] != rx_tx_addr[3] || pkt[2] != rx_tx_addr[2] || len != pkt[0] + 3)
{//only packets with the required id and packet length
for(uint8_t i=3;i<6;i++)
pktt[i]=0;
return;
}
else
{
for (uint8_t i=3;i<len;i++)
pktt[i]=pkt[i];
telemetry_link=1;
if(pktt[6]>0)
telemetry_counter=(telemetry_counter+1)%32;
}
}
void frsky_link_frame()
{
frame[0] = 0xFE;
if ((cur_protocol[0]&0x1F)==MODE_FRSKY)
{
compute_RSSIdbm();
frame[1] = pktt[3];
frame[2] = pktt[4];
frame[3] = (uint8_t)RSSI_dBm;
frame[4] = pktt[5]*2;
}
else
if ((cur_protocol[0]&0x1F)==MODE_HUBSAN)
{
frame[1] = v_lipo*2; //v_lipo; common 0x2A=42/10=4.2V
frame[2] = frame[1];
frame[3] = 0x00;
frame[4] = (uint8_t)RSSI_dBm;
}
frame[5] = frame[6] = frame[7] = frame[8] = 0;
frskySendStuffed();
}
#if defined HUB_TELEMETRY
void frsky_user_frame()
{
uint8_t indexx = 0, c=0, j=8, n=0, i;
if(pktt[6]>0 && pktt[6]<=MAX_PKTX)
{//only valid hub frames
frame[0] = 0xFD;
frame[1] = 0;
frame[2] = pktt[7];
void compute_RSSIdbm(){
switch(pass)
{
case 0:
indexx=pktt[6];
for(i=0;i<indexx;i++)
{
if(pktt[j]==0x5E)
{
if(c++)
{
c=0;
n++;
j++;
}
}
pktx[i]=pktt[j++];
}
indexx = indexx-n;
pass=1;
case 1:
index=indexx;
prev_index = indexx;
if(index<USER_MAX_BYTES)
{
for(i=0;i<index;i++)
frame[i+3]=pktx[i];
pktt[6]=0;
pass=0;
}
else
{
index = USER_MAX_BYTES;
for(i=0;i<index;i++)
frame[i+3]=pktx[i];
pass=2;
}
break;
case 2:
index = prev_index - index;
prev_index=0;
if(index<MAX_PKTX-USER_MAX_BYTES) //10-6=4
for(i=0;i<index;i++)
frame[i+3]=pktx[USER_MAX_BYTES+i];
pass=0;
pktt[6]=0;
break;
default:
break;
}
if(!index)
RSSI_dBm = (((uint16_t)(pktt[len-2])*18)>>5);
if(pktt[len-2] >=128)
RSSI_dBm -= 82;
else
RSSI_dBm += 65;
}
void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
{
if(pkt[1] != rx_tx_addr[3] || pkt[2] != rx_tx_addr[2] || len != pkt[0] + 3)
{//only packets with the required id and packet length
for(uint8_t i=3;i<6;i++)
pktt[i]=0;
return;
frame[1] = index;
}
else
{
for (uint8_t i=3;i<len;i++)
pktt[i]=pkt[i];
telemetry_link=1;
if(pktt[6]>0)
telemetry_counter=(telemetry_counter+1)%32;
}
}
void frsky_link_frame()
{
frame[0] = 0xFE;
if ((cur_protocol[0]&0x1F)==MODE_FRSKY)
{
compute_RSSIdbm();
frame[1] = pktt[3];
frame[2] = pktt[4];
frame[3] = (uint8_t)RSSI_dBm;
frame[4] = pktt[5]*2;
}
else
if ((cur_protocol[0]&0x1F)==MODE_HUBSAN)
{
frame[1] = v_lipo*2; //v_lipo; common 0x2A=42/10=4.2V
frame[2] = frame[1];
frame[3] = 0x00;
frame[4] = (uint8_t)RSSI_dBm;
}
frame[5] = frame[6] = frame[7] = frame[8] = 0;
frskySendStuffed();
}
else
pass=0;
}
#endif
void frskyUpdate()
{
if(telemetry_link)
{
frsky_link_frame();
telemetry_link=0;
return;
}
#if defined HUB_TELEMETRY
if(!telemetry_link && (cur_protocol[0]&0x1F) != MODE_HUBSAN )
frsky_user_frame();
void frsky_user_frame()
{
uint8_t indexx = 0, c=0, j=8, n=0, i;
if(pktt[6]>0 && pktt[6]<=MAX_PKTX)
{//only valid hub frames
frame[0] = 0xFD;
frame[1] = 0;
frame[2] = pktt[7];
switch(pass)
{
case 0:
indexx=pktt[6];
for(i=0;i<indexx;i++)
{
if(pktt[j]==0x5E)
{
if(c++)
{
c=0;
n++;
j++;
}
}
pktx[i]=pktt[j++];
}
indexx = indexx-n;
pass=1;
case 1:
index=indexx;
prev_index = indexx;
if(index<USER_MAX_BYTES)
{
for(i=0;i<index;i++)
frame[i+3]=pktx[i];
pktt[6]=0;
pass=0;
}
else
{
index = USER_MAX_BYTES;
for(i=0;i<index;i++)
frame[i+3]=pktx[i];
pass=2;
}
break;
case 2:
index = prev_index - index;
prev_index=0;
if(index<MAX_PKTX-USER_MAX_BYTES) //10-6=4
for(i=0;i<index;i++)
frame[i+3]=pktx[USER_MAX_BYTES+i];
pass=0;
pktt[6]=0;
break;
default:
break;
}
if(!index)
return;
frame[1] = index;
frskySendStuffed();
}
else
pass=0;
}
#endif
}
#if defined SPORT_TELEMETRY
/* SPORT details serial
100K 8E2 normal-multiprotocol
-every 12ms-
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
SPORT frame 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] ????? 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
[14] CHKSUM2
*/
void sportSend(uint8_t *p)
{
uint16_t crc_s = 0;
Serial_write(0x7e);//+9
for (uint8_t i = 0; i < 9; i++)
{
if (i == 8)
p[i] = 0xff - crc_s;
if ((p[i] == 0x7e) || (p[i] == 0x7d))
{
Serial_write(0x7d);
Serial_write(0x20 ^ p[i]);
}
else
Serial_write(p[i]);
if (i>0)
{
crc_s += p[i]; //0-1FF
crc_s += crc_s >> 8; //0-100
crc_s &= 0x00ff;
}
}
}
void sportIdle()
{
Serial_write(0x7e);
}
void sportSendFrame()
{
//at the moment only SWR RSSI,RxBt and A2.
sport_counter = (sport_counter + 1) %9;
for (uint8_t i=5;i<8;i++)
frame[i]=0;
switch (sport_counter)
{
case 0: // SWR
frame[0] = 0x98;
frame[1] = 0x10;
frame[2] = 0x05;
frame[3] = 0xf1;
frame[4] = 0x20;//dummy values if swr 20230f00
frame[5] = 0x23;
frame[6] = 0x0F;
frame[7] = 0x00;
break;
case 1: // RSSI
frame[0] = 0x98;
frame[1] = 0x10;
frame[2] = 0x01;
frame[3] = 0xf1;
frame[4] = rssi;
break;
case 2: //BATT
frame[0] = 0x98;
frame[1] = 0x10;
frame[2] = 0x04;
frame[3] = 0xf1;
frame[4] = RxBt;//a1;
break;
case 3: //ADC2(A2)
frame[0] = 0x1A;
frame[1] = 0x10;
frame[2] = 0x03;
frame[3] = 0xf1;
frame[4] = ADC2;//a2;;
break;
default:
sportIdle();
return;
}
sportSend(frame);
}
void process_sport_data()//only for ADC2
{
uint8_t j=7;
if(pktt[6]>0 && pktt[6]<=USER_MAX_BYTES)
{
for(uint8_t i=0;i<6;i++)
if(pktt[j++]==0x03)
if(pktt[j]==0xF1)
{
ADC2=pktt[j+1];
break;
}
pktt[6]=0;//new frame
}
}
#endif
void frskyUpdate()
{
if(telemetry_link && (cur_protocol[0]&0x1F) != MODE_FRSKYX )
{
frsky_link_frame();
telemetry_link=0;
return;
}
#if defined HUB_TELEMETRY
if(!telemetry_link && (cur_protocol[0]&0x1F) != MODE_HUBSAN && (cur_protocol[0]&0x1F) != MODE_FRSKYX)
{
frsky_user_frame();
return;
}
#endif
#if defined SPORT_TELEMETRY
if ((cur_protocol[0]&0x1F)==MODE_FRSKYX)
{
if(telemetry_link)
{
process_sport_data();
if(pktt[4]>0x36)
rssi=pktt[4]/2;
else
RxBt=pktt[4];
telemetry_link=0;
}
uint32_t now = micros();
if ((now - last) > SPORT_TIME)
{
sportSendFrame();
last = now;
}
}
#endif
}
#endif