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https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-12-30 08:43:16 +00:00
FrSky R9: telemetry TX to RX attempt
This commit is contained in:
Pascal Langer
@@ -98,87 +98,11 @@ static void __attribute__((unused)) FrSkyX_build_packet()
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packet[5] = FrSkyX_chanskip>>2;
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packet[6] = RX_num;
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//Channels
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FrSkyX_channels(7); // Set packet[7]=failsafe, packet[8]=0?? and packet[9..20]=channels data
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//sequence and send SPort
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for (uint8_t i=22;i<packet_size-1;i++)
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packet[i]=0;
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packet[21] = FrSkyX_RX_Seq << 4; //TX=8 at startup
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#ifdef SPORT_SEND
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if (FrSkyX_TX_IN_Seq!=0xFF)
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{//RX has replied at least once
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if (FrSkyX_TX_IN_Seq & 0x08)
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{//Request init
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//debugln("Init");
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FrSkyX_TX_Seq = 0 ;
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for(uint8_t i=0;i<4;i++)
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FrSkyX_TX_Frames[i].count=0; //Discard frames in current output buffer
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}
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else if (FrSkyX_TX_IN_Seq & 0x04)
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{//Retransmit the requested packet
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debugln("Retry:%d",FrSkyX_TX_IN_Seq&0x03);
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packet[21] |= FrSkyX_TX_IN_Seq&0x03;
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packet[22] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].count;
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for (uint8_t i=23;i<23+FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].count;i++)
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packet[i] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].payload[i];
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}
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else if ( FrSkyX_TX_Seq != 0x08 )
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{
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if(FrSkyX_TX_Seq==FrSkyX_TX_IN_Seq)
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{//Send packet from the incoming radio buffer
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//debugln("Send:%d",FrSkyX_TX_Seq);
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packet[21] |= FrSkyX_TX_Seq;
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uint8_t nbr_bytes=0;
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for (uint8_t i=23;i<packet_size-1;i++)
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{
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if(SportHead==SportTail)
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break; //buffer empty
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packet[i]=SportData[SportHead];
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FrSkyX_TX_Frames[FrSkyX_TX_Seq].payload[i-23]=SportData[SportHead];
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SportHead=(SportHead+1) & (MAX_SPORT_BUFFER-1);
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nbr_bytes++;
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}
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packet[22]=nbr_bytes;
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FrSkyX_TX_Frames[FrSkyX_TX_Seq].count=nbr_bytes;
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if(nbr_bytes)
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{//Check the buffer status
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uint8_t used = SportTail;
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if ( SportHead > SportTail )
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used += MAX_SPORT_BUFFER - SportHead ;
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else
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used -= SportHead ;
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if ( used < (MAX_SPORT_BUFFER>>1) )
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{
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DATA_BUFFER_LOW_off;
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debugln("Ok buf:%d",used);
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}
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}
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FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ; //Next iteration send next packet
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}
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else
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{//Not in sequence somehow, transmit what the receiver wants but why not asking for retransmit...
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//debugln("RX_Seq:%d,TX:%d",FrSkyX_TX_IN_Seq,FrSkyX_TX_Seq);
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packet[21] |= FrSkyX_TX_IN_Seq;
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packet[22] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].count;
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for (uint8_t i=23;i<23+FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].count;i++)
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packet[i] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].payload[i-23];
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}
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}
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else
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packet[21] |= 0x08 ; //FrSkyX_TX_Seq=8 at startup
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}
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if(packet[22])
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{//Debug
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debug("SP: ");
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for(uint8_t i=0;i<packet[22];i++)
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debug("%02X ",packet[23+i]);
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debugln("");
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}
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#else
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packet[21] |= FrSkyX_TX_Seq ;//TX=8 at startup
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if ( !(FrSkyX_TX_IN_Seq & 0xF8) )
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FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ; // Next iteration send next packet
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#endif // SPORT_SEND
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//Sequence and send SPort
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FrSkyX_seq_sport(21,packet_size-2); //21=RX|TXseq, 22=bytes count, 23..packet_size-2=data
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//CRC
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uint16_t lcrc = FrSkyX_crc(&packet[3], packet_size-4);
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@@ -274,7 +198,6 @@ uint16_t ReadFrSkyX()
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telemetry_set_input_sync(9000);
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#endif
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#if defined TELEMETRY
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telemetry_link=1; //Send telemetry out anyway
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len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
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if (len && len <= 17) //Telemetry frame is 17 bytes
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{
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@@ -289,28 +212,33 @@ uint16_t ReadFrSkyX()
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len=17;
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}
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}
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if(len==17 && (protocol==PROTO_FRSKYX || (protocol==PROTO_FRSKYX2 && (packet_in[len-1] & 0x80))) )
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{//Telemetry received with valid crc for FRSKYX2
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//Debug
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//for(uint8_t i=0;i<len;i++)
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// debug(" %02X",packet_in[i]);
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if(frsky_process_telemetry(packet_in,len)) //Check and process telemetry packets
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packet_count=0; // good
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else
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len=0; // bad
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if(len==17 && (protocol==PROTO_FRSKYX || (protocol==PROTO_FRSKYX2 && (packet_in[len-1] & 0x80))) )
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{//Telemetry received with valid crc for FRSKYX2
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//Debug
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//for(uint8_t i=0;i<len;i++)
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// debug(" %02X",packet_in[i]);
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if(frsky_process_telemetry(packet_in,len)) //Check and process telemetry packet
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{//good packet received
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pps_counter++;
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if(TX_LQI==0)
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TX_LQI++; //Recover telemetry right away
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}
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}
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//debugln("");
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}
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if(len!=17)
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{
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packet_count++;
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//debugln("M %d",packet_count);
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// restart sequence on missed packet - might need count or timeout instead of one missed
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if(packet_count>100)//~1sec
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FrSkyX_telem_init();
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if (millis() - pps_timer >= 900)
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{//1 packet every 9ms
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pps_timer = millis();
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debugln("%d pps", pps_counter);
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TX_LQI = pps_counter; //Max=100%
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pps_counter = 0;
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}
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if(TX_LQI==0)
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FrSkyX_telem_init(); //Reset telemetry
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else
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telemetry_link=1; //Send telemetry out anyway
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#endif
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CC2500_Strobe(CC2500_SFRX); //Flush the RXFIFO
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CC2500_Strobe(CC2500_SFRX); //Flush the RXFIFO
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state = FRSKY_DATA1;
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return 400; // FCC & LBT
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}
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