mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2026-01-25 05:53:21 +00:00
Multi core fixes, DSM2/X fixes and telemetry, SFHSS addition, Flysky fixes, FrSkyX full telemetry and sub protocols
Many things since last commit...
This commit is contained in:
pascallanger
@@ -17,293 +17,319 @@
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*/
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#if defined(FRSKYX_CC2500_INO)
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#include "iface_cc2500.h"
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uint8_t chanskip;
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uint8_t calData[48][3];
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uint8_t channr;
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uint8_t pass_ = 1 ;
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uint8_t counter_rst;
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uint8_t ctr;
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uint8_t FS_flag=0;
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// uint8_t ptr[4]={0x01,0x12,0x23,0x30};
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//uint8_t ptr[4]={0x00,0x11,0x22,0x33};
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const PROGMEM uint8_t hop_data[]={
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0x02, 0xD4, 0xBB, 0xA2, 0x89,
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0x70, 0x57, 0x3E, 0x25, 0x0C,
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0xDE, 0xC5, 0xAC, 0x93, 0x7A,
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0x61, 0x48, 0x2F, 0x16, 0xE8,
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0xCF, 0xB6, 0x9D, 0x84, 0x6B,
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0x52, 0x39, 0x20, 0x07, 0xD9,
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0xC0, 0xA7, 0x8E, 0x75, 0x5C,
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0x43, 0x2A, 0x11, 0xE3, 0xCA,
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0xB1, 0x98, 0x7F, 0x66, 0x4D,
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0x34, 0x1B, 0x00, 0x1D, 0x03
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};
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static uint8_t __attribute__((unused)) hop(uint8_t byte)
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{
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return pgm_read_byte_near(&hop_data[byte]);
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}
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#include "iface_cc2500.h"
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static void __attribute__((unused)) set_start(uint8_t ch )
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{
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cc2500_strobe(CC2500_SIDLE);
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cc2500_writeReg(CC2500_23_FSCAL3, calData[ch][0]);
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cc2500_writeReg(CC2500_24_FSCAL2, calData[ch][1]);
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cc2500_writeReg(CC2500_25_FSCAL1, calData[ch][2]);
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cc2500_writeReg(CC2500_0A_CHANNR, ch==47?0:pgm_read_word(&hop_data[ch]));
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}
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uint8_t chanskip;
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uint8_t channr;
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uint8_t counter_rst;
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uint8_t ctr;
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uint8_t FS_flag=0;
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uint8_t seq_last_sent;
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uint8_t seq_last_rcvd;
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const PROGMEM uint8_t hop_data[]={
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0x02, 0xD4, 0xBB, 0xA2, 0x89,
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0x70, 0x57, 0x3E, 0x25, 0x0C,
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0xDE, 0xC5, 0xAC, 0x93, 0x7A,
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0x61, 0x48, 0x2F, 0x16, 0xE8,
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0xCF, 0xB6, 0x9D, 0x84, 0x6B,
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0x52, 0x39, 0x20, 0x07, 0xD9,
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0xC0, 0xA7, 0x8E, 0x75, 0x5C,
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0x43, 0x2A, 0x11, 0xE3, 0xCA,
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0xB1, 0x98, 0x7F, 0x66, 0x4D,
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0x34, 0x1B, 0x00, 0x1D, 0x03
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};
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static uint8_t __attribute__((unused)) hop(uint8_t byte)
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{
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return pgm_read_byte_near(&hop_data[byte]);
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}
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static void __attribute__((unused)) set_start(uint8_t ch )
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{
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CC2500_Strobe(CC2500_SIDLE);
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CC2500_WriteReg(CC2500_23_FSCAL3, calData[ch][0]);
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CC2500_WriteReg(CC2500_24_FSCAL2, calData[ch][1]);
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CC2500_WriteReg(CC2500_25_FSCAL1, calData[ch][2]);
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CC2500_WriteReg(CC2500_0A_CHANNR, ch==47? 0:pgm_read_word(&hop_data[ch]));
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}
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static void __attribute__((unused)) frskyX_init()
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{
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CC2500_Reset();
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static void __attribute__((unused)) frskyX_init()
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for(uint8_t i=0;i<36;i++)
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{
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CC2500_Reset();
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uint8_t reg=pgm_read_byte_near(&cc2500_conf[i][0]);
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uint8_t val=pgm_read_byte_near(&cc2500_conf[i][1]);
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for(uint8_t i=0;i<36;i++)
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{
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uint8_t reg=pgm_read_byte_near(&cc2500_conf[i][0]);
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uint8_t val=pgm_read_byte_near(&cc2500_conf[i][1]);
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if(reg==CC2500_06_PKTLEN)
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val=0x1E;
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else
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if(reg==CC2500_08_PKTCTRL0)
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val=0x01;
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else
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if(reg==CC2500_0B_FSCTRL1)
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val=0x0A;
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else
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if(reg==CC2500_10_MDMCFG4)
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val=0x7B;
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else
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if(reg==CC2500_11_MDMCFG3)
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val=0x61;
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else
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if(reg==CC2500_12_MDMCFG2)
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val=0x13;
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else
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if(reg==CC2500_15_DEVIATN)
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val=0x51;
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cc2500_writeReg(reg,val);
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}
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if(reg==CC2500_06_PKTLEN)
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val=0x1E;
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else
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if(reg==CC2500_08_PKTCTRL0)
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val=0x01;
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else
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if(reg==CC2500_0B_FSCTRL1)
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val=0x0A;
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else
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if(reg==CC2500_10_MDMCFG4)
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val=0x7B;
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else
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if(reg==CC2500_11_MDMCFG3)
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val=0x61;
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else
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if(reg==CC2500_12_MDMCFG2)
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val=0x13;
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else
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if(reg==CC2500_15_DEVIATN)
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val=0x51;
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CC2500_WriteReg(reg,val);
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}
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cc2500_writeReg(CC2500_07_PKTCTRL1, 0x04);
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cc2500_writeReg(CC2500_0C_FSCTRL0, option);
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cc2500_strobe(CC2500_SIDLE);
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//
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for(uint8_t c=0;c < 47;c++){//calibrate hop channels
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cc2500_strobe(CC2500_SIDLE);
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cc2500_writeReg(CC2500_0A_CHANNR,pgm_read_word(&hop_data[c]));
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cc2500_strobe(CC2500_SCAL);
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delayMicroseconds(900);//
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calData[c][0] = cc2500_readReg(CC2500_23_FSCAL3);
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calData[c][1] = cc2500_readReg(CC2500_24_FSCAL2);
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calData[c][2] = cc2500_readReg(CC2500_25_FSCAL1);
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}
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cc2500_strobe(CC2500_SIDLE);
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cc2500_writeReg(CC2500_0A_CHANNR,0x00);
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cc2500_strobe(CC2500_SCAL);
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delayMicroseconds(900);
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calData[47][0] = cc2500_readReg(CC2500_23_FSCAL3);
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calData[47][1] = cc2500_readReg(CC2500_24_FSCAL2);
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calData[47][2] = cc2500_readReg(CC2500_25_FSCAL1);
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//#######END INIT########
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CC2500_WriteReg(CC2500_07_PKTCTRL1, 0x04);
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CC2500_WriteReg(CC2500_0C_FSCTRL0, option);
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CC2500_Strobe(CC2500_SIDLE);
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//
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for(uint8_t c=0;c < 47;c++)
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{//calibrate hop channels
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CC2500_Strobe(CC2500_SIDLE);
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CC2500_WriteReg(CC2500_0A_CHANNR,pgm_read_word(&hop_data[c]));
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CC2500_Strobe(CC2500_SCAL);
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delayMicroseconds(900);//
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calData[c][0] = CC2500_ReadReg(CC2500_23_FSCAL3);
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calData[c][1] = CC2500_ReadReg(CC2500_24_FSCAL2);
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calData[c][2] = CC2500_ReadReg(CC2500_25_FSCAL1);
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}
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static void __attribute__((unused)) initialize_data(uint8_t adr)
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{
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cc2500_writeReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
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cc2500_writeReg(CC2500_18_MCSM0, 0x8);
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cc2500_writeReg(CC2500_09_ADDR, adr ? 0x03 : rx_tx_addr[3]);
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cc2500_writeReg(CC2500_07_PKTCTRL1,0x05);
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}
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CC2500_Strobe(CC2500_SIDLE);
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CC2500_WriteReg(CC2500_0A_CHANNR,0x00);
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CC2500_Strobe(CC2500_SCAL);
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delayMicroseconds(900);
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calData[47][0] = CC2500_ReadReg(CC2500_23_FSCAL3);
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calData[47][1] = CC2500_ReadReg(CC2500_24_FSCAL2);
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calData[47][2] = CC2500_ReadReg(CC2500_25_FSCAL1);
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//#######END INIT########
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}
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static void __attribute__((unused)) initialize_data(uint8_t adr)
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{
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CC2500_WriteReg(CC2500_0C_FSCTRL0,option); // Frequency offset hack
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CC2500_WriteReg(CC2500_18_MCSM0, 0x8);
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CC2500_WriteReg(CC2500_09_ADDR, adr ? 0x03 : rx_tx_addr[3]);
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CC2500_WriteReg(CC2500_07_PKTCTRL1,0x05);
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}
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/*
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static uint8_t __attribute__((unused)) crc_Byte( uint8_t byte )
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{
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crc = (crc<<8) ^ pgm_read_word(&CRCTable[((uint8_t)(crc>>8) ^ byte) & 0xFF]);
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return byte;
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}
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static uint16_t __attribute__((unused)) scaleForPXX( uint8_t i )
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{ //mapped 860,2140(125%) range to 64,1984(PXX values);
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return (uint16_t)(((Servo_data[i]-PPM_MIN)*3)>>1)+64;
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}
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*/
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static uint16_t __attribute__((unused)) crc_x(uint8_t *data, uint8_t len)
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{
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uint16_t crc = 0;
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for(uint8_t i=0; i < len; i++)
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crc = (crc<<8) ^ pgm_read_word(&CRCTable[((uint8_t)(crc>>8) ^ *data++) & 0xFF]);
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return crc;
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}
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// 0-2047, 0 = 817, 1024 = 1500, 2047 = 2182
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//64=860,1024=1500,1984=2140//Taranis 125%
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static uint16_t __attribute__((unused)) scaleForPXX( uint8_t i )
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{ //mapped 860,2140(125%) range to 64,1984(PXX values);
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return (uint16_t)(((Servo_data[i]-PPM_MIN)*3)>>1)+64;
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}
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static void __attribute__((unused)) frskyX_build_bind_packet()
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{
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packet[0] = 0x1D;
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packet[1] = 0x03;
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packet[2] = 0x01;
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//
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packet[3] = rx_tx_addr[3];
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packet[4] = rx_tx_addr[2];
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int idx = ((state -FRSKY_BIND) % 10) * 5;
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packet[5] = idx;
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packet[6] = pgm_read_word(&hop_data[idx++]);
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packet[7] = pgm_read_word(&hop_data[idx++]);
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packet[8] = pgm_read_word(&hop_data[idx++]);
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packet[9] = pgm_read_word(&hop_data[idx++]);
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packet[10] = pgm_read_word(&hop_data[idx++]);
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packet[11] = 0x02;
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packet[12] = RX_num;
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//
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memset(&packet[13], 0, 15);
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uint16_t lcrc = crc_x(&packet[3], 25);
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//
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packet[28] = lcrc >> 8;
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packet[29] = lcrc;
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//
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}
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static void __attribute__((unused)) frskyX_data_frame()
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{
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//0x1D 0xB3 0xFD 0x02 0x56 0x07 0x15 0x00 0x00 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x96 0x12
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//
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static uint8_t lpass;
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uint16_t chan_0 ;
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uint16_t chan_1 ;
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uint8_t startChan = 0;
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//
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packet[0] = 0x1D;
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packet[1] = rx_tx_addr[3];
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packet[2] = rx_tx_addr[2];
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packet[3] = 0x02;
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//
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packet[4] = (ctr<<6)+channr;
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packet[5] = counter_rst;
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packet[6] = RX_num;
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//FLAGS 00 - standard packet
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//10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
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//20 - range check packet
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packet[7] = FS_flag;
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packet[8] = 0;
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//
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if ( lpass & 1 )
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startChan += 8 ;
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static void __attribute__((unused)) frskyX_build_bind_packet()
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{
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crc=0;
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packet[0] = 0x1D;
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packet[1] = 0x03;
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packet[2] = 0x01;
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//
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packet[3] = crc_Byte(rx_tx_addr[3]);
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packet[4] = crc_Byte(rx_tx_addr[2]);
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int idx = ((state -FRSKY_BIND) % 10) * 5;
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packet[5] = crc_Byte(idx);
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packet[6] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[7] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[8] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[9] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[10] = crc_Byte(pgm_read_word(&hop_data[idx++]));
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packet[11] = crc_Byte(0x02);
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packet[12] = crc_Byte(RX_num);
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for(uint8_t i = 0; i <12 ; i+=3)
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{//12 bytes
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chan_0 = scaleForPXX(startChan);
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if(lpass & 1 )
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chan_0+=2048;
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startChan+=1;
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//
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for(uint8_t i=13;i<28;i++)
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packet[i]=crc_Byte(0);
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chan_1 = scaleForPXX(startChan);
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if(lpass & 1 )
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chan_1+= 2048;
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startChan+=1;
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//
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packet[28]=highByte(crc);
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packet[29]=lowByte(crc);
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//
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}
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static void __attribute__((unused)) frskyX_data_frame()
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{
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//0x1D 0xB3 0xFD 0x02 0x56 0x07 0x15 0x00 0x00 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x00 0x04 0x40 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x96 0x12
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//
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uint8_t lpass = pass_ ;
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uint16_t chan_0 ;
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uint16_t chan_1 ;
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uint8_t flag2 = 0;
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uint8_t startChan = 0;
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crc = 0;
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//static uint8_t p = 0;
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//
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packet[0] = 0x1D;
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packet[1] = rx_tx_addr[3];
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packet[2] = rx_tx_addr[2];
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packet[3] = crc_Byte(0x02);
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//
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packet[4] = crc_Byte((ctr<<6)+channr); //*64
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packet[5] = crc_Byte(counter_rst);
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packet[6] = crc_Byte(RX_num);
|
||||
// FLAGS 00 - standard packet
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||||
//10, 12, 14, 16, 18, 1A, 1C, 1E - failsafe packet
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||||
//20 - range check packet
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||||
packet[7] = crc_Byte(FS_flag);
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packet[8] = crc_Byte(flag2);
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//
|
||||
if ( lpass & 1 )
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||||
startChan += 8 ;
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||||
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for(uint8_t i = 0; i <12 ; i+=3)
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{//12 bytes
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||||
chan_0 = scaleForPXX(startChan);
|
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if(lpass & 1 )
|
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chan_0+=2048;
|
||||
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packet[9+i] = crc_Byte(lowByte(chan_0));//3 bytes*4
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startChan++;
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chan_1 = scaleForPXX(startChan);
|
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if(lpass & 1 )
|
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chan_1+= 2048;
|
||||
|
||||
startChan++;
|
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packet[9+i+1]=crc_Byte((((chan_0>>8) & 0x0F)|(chan_1 << 4)));
|
||||
packet[9+i+2]=crc_Byte(chan_1>>4);
|
||||
}
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||||
//packet[21]=crc_Byte(0x08);//first
|
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packet[21]=crc_Byte(0x80);//??? when received first telemetry frame is changed to 0x80
|
||||
//packet[21]=crc_Byte(ptr[p]);//???
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||||
//p=(p+1)%4;//repeating 4 bytes sequence pattern every 4th frame.
|
||||
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pass_=lpass+1;
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||||
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for (uint8_t i=22;i<28;i++)
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packet[i]=crc_Byte(0);
|
||||
|
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packet[28]=highByte(crc);
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packet[29]=lowByte(crc);
|
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packet[9+i] = lowByte(chan_0);//3 bytes*4
|
||||
packet[9+i+1]=(((chan_0>>8) & 0x0F)|(chan_1 << 4));
|
||||
packet[9+i+2]=chan_1>>4;
|
||||
}
|
||||
|
||||
uint16_t ReadFrSkyX()
|
||||
{
|
||||
switch(state)
|
||||
{
|
||||
default:
|
||||
set_start(47);
|
||||
CC2500_SetPower();
|
||||
cc2500_strobe(CC2500_SFRX);
|
||||
//
|
||||
frskyX_build_bind_packet();
|
||||
cc2500_strobe(CC2500_SIDLE);
|
||||
cc2500_writeFifo(packet, packet[0]+1);
|
||||
state++;
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||||
return 9000;
|
||||
case FRSKY_BIND_DONE:
|
||||
initialize_data(0);
|
||||
channr=0;
|
||||
BIND_DONE;
|
||||
state++;
|
||||
break;
|
||||
case FRSKY_DATA1:
|
||||
LED_ON;
|
||||
CC2500_SetTxRxMode(TX_EN);
|
||||
set_start(channr);
|
||||
CC2500_SetPower();
|
||||
cc2500_strobe(CC2500_SFRX);
|
||||
channr = (channr+chanskip)%47;
|
||||
cc2500_strobe(CC2500_SIDLE);
|
||||
cc2500_writeFifo(packet, packet[0]+1);
|
||||
//
|
||||
frskyX_data_frame();
|
||||
state++;
|
||||
return 5500;
|
||||
case FRSKY_DATA2:
|
||||
CC2500_SetTxRxMode(RX_EN);
|
||||
cc2500_strobe(CC2500_SIDLE);
|
||||
state++;
|
||||
return 200;
|
||||
case FRSKY_DATA3:
|
||||
cc2500_strobe(CC2500_SRX);
|
||||
state++;
|
||||
return 3000;
|
||||
case FRSKY_DATA4:
|
||||
len = cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
|
||||
if (len &&(len<MAX_PKT))
|
||||
{
|
||||
cc2500_readFifo(pkt, len);
|
||||
#if defined TELEMETRY
|
||||
frsky_check_telemetry(pkt,len); //check if valid telemetry packets
|
||||
//parse telemetry packets here
|
||||
//The same telemetry function used by FrSky(D8).
|
||||
#endif
|
||||
}
|
||||
state = FRSKY_DATA1;
|
||||
return 300;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
packet[21] = seq_last_sent << 4 | seq_last_rcvd;//8 at start
|
||||
if (seq_last_sent < 0x08 && seq_last_rcvd < 8)
|
||||
seq_last_sent = (seq_last_sent + 1) % 4;
|
||||
else if (seq_last_rcvd == 0x00)
|
||||
seq_last_sent = 1;
|
||||
|
||||
if(sub_protocol== CH_8 )// in X8 mode send only 8ch every 9ms
|
||||
lpass = 0 ;
|
||||
else
|
||||
lpass += 1 ;
|
||||
|
||||
for (uint8_t i=22;i<28;i++)
|
||||
packet[i]=0;
|
||||
uint16_t lcrc = crc_x(&packet[3], 25);
|
||||
|
||||
packet[28]=lcrc>>8;//high byte
|
||||
packet[29]=lcrc;//low byte
|
||||
}
|
||||
|
||||
uint16_t initFrSkyX()
|
||||
{
|
||||
while(!chanskip)
|
||||
{
|
||||
randomSeed((uint32_t)analogRead(A6) << 10 | analogRead(A7));
|
||||
chanskip=random(0xfefefefe)%47;
|
||||
}
|
||||
while((chanskip-ctr)%4)
|
||||
ctr=(ctr+1)%4;
|
||||
|
||||
counter_rst=(chanskip-ctr)>>2;
|
||||
//for test***************
|
||||
//rx_tx_addr[3]=0xB3;
|
||||
//rx_tx_addr[2]=0xFD;
|
||||
//************************
|
||||
frskyX_init();
|
||||
//
|
||||
if(IS_AUTOBIND_FLAG_on)
|
||||
{
|
||||
state = FRSKY_BIND;
|
||||
initialize_data(1);
|
||||
}
|
||||
else
|
||||
{
|
||||
state = FRSKY_DATA1;
|
||||
uint16_t ReadFrSkyX()
|
||||
{
|
||||
switch(state)
|
||||
{
|
||||
default:
|
||||
set_start(47);
|
||||
CC2500_SetPower();
|
||||
CC2500_Strobe(CC2500_SFRX);
|
||||
//
|
||||
frskyX_build_bind_packet();
|
||||
CC2500_Strobe(CC2500_SIDLE);
|
||||
CC2500_WriteData(packet, packet[0]+1);
|
||||
state++;
|
||||
return 9000;
|
||||
case FRSKY_BIND_DONE:
|
||||
initialize_data(0);
|
||||
}
|
||||
return 10000;
|
||||
}
|
||||
channr=0;
|
||||
BIND_DONE;
|
||||
state++;
|
||||
break;
|
||||
case FRSKY_DATA1:
|
||||
LED_ON;
|
||||
CC2500_SetTxRxMode(TX_EN);
|
||||
set_start(channr);
|
||||
CC2500_SetPower();
|
||||
CC2500_Strobe(CC2500_SFRX);
|
||||
channr = (channr+chanskip)%47;
|
||||
CC2500_Strobe(CC2500_SIDLE);
|
||||
CC2500_WriteData(packet, packet[0]+1);
|
||||
//
|
||||
frskyX_data_frame();
|
||||
state++;
|
||||
return 5500;
|
||||
case FRSKY_DATA2:
|
||||
CC2500_SetTxRxMode(RX_EN);
|
||||
CC2500_Strobe(CC2500_SIDLE);
|
||||
state++;
|
||||
return 200;
|
||||
case FRSKY_DATA3:
|
||||
CC2500_Strobe(CC2500_SRX);
|
||||
state++;
|
||||
return 3000;
|
||||
case FRSKY_DATA4:
|
||||
len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
|
||||
if (len && (len<MAX_PKT))
|
||||
{
|
||||
CC2500_ReadData(pkt, len);
|
||||
#if defined TELEMETRY
|
||||
frsky_check_telemetry(pkt,len); //check if valid telemetry packets
|
||||
//parse telemetry packets here
|
||||
//The same telemetry function used by FrSky(D8).
|
||||
#endif
|
||||
}
|
||||
else
|
||||
{
|
||||
counter++;
|
||||
// restart sequence on missed packet - might need count or timeout instead of one missed
|
||||
if(counter>100)
|
||||
{//~1sec
|
||||
seq_last_sent = 0;
|
||||
seq_last_rcvd = 8;
|
||||
counter=0;
|
||||
}
|
||||
}
|
||||
state = FRSKY_DATA1;
|
||||
return 300;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
uint16_t initFrSkyX()
|
||||
{
|
||||
while(!chanskip)
|
||||
{
|
||||
randomSeed((uint32_t)analogRead(A6) << 10 | analogRead(A7));
|
||||
chanskip=random(0xfefefefe)%47;
|
||||
}
|
||||
while((chanskip-ctr)%4)
|
||||
ctr=(ctr+1)%4;
|
||||
|
||||
counter_rst=(chanskip-ctr)>>2;
|
||||
//for test***************
|
||||
//rx_tx_addr[3]=0xB3;
|
||||
//rx_tx_addr[2]=0xFD;
|
||||
//************************
|
||||
frskyX_init();
|
||||
CC2500_SetTxRxMode(TX_EN);
|
||||
//
|
||||
if(IS_AUTOBIND_FLAG_on)
|
||||
{
|
||||
state = FRSKY_BIND;
|
||||
initialize_data(1);
|
||||
}
|
||||
else
|
||||
{
|
||||
state = FRSKY_DATA1;
|
||||
initialize_data(0);
|
||||
}
|
||||
seq_last_sent = 0;
|
||||
seq_last_rcvd = 8;
|
||||
return 10000;
|
||||
}
|
||||
#endif
|
||||
Reference in New Issue
Block a user