/*
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);
}
static void multi_send_status()
{
#ifdef SPORT_POLLING
#ifdef INVERT_SERIAL
USART3_BASE->CR1 &= ~USART_CR1_TE ;
TX_INV_on; //activate inverter for both serial TX and RX signals
USART3_BASE->CR1 |= USART_CR1_TE ;
#endif
rx_pause();
#endif
multi_send_header(MULTI_TELEMETRY_STATUS, 5);
// Build flags
uint8_t flags=0;
if (IS_INPUT_SIGNAL_on)
flags |= 0x01;
if (mode_select==MODE_SERIAL)
flags |= 0x02;
if (remote_callback != 0)
{
flags |= 0x04;
if (IS_WAIT_BIND_on)
flags |= 0x10;
else
if (IS_BIND_IN_PROGRESS)
flags |= 0x08;
#ifdef FAILSAFE_ENABLE
//Is failsafe supported?
switch (protocol)
{
case PROTO_HISKY:
if(sub_protocol!=HK310)
break;
case PROTO_AFHDS2A:
case PROTO_DEVO:
case PROTO_SFHSS:
case PROTO_WK2x01:
case PROTO_FRSKYX:
flags |= 0x20; //Yes
default:
break;
}
#endif
}
Serial_write(flags);
// Version number example: 1.1.6.1
Serial_write(VERSION_MAJOR);
Serial_write(VERSION_MINOR);
Serial_write(VERSION_REVISION);
Serial_write(VERSION_PATCH_LEVEL);
}
#endif
#ifdef DSM_TELEMETRY
#ifdef MULTI_TELEMETRY
void DSM_frame()
{
if (pkt[0] == 0x80)
{
multi_send_header(MULTI_TELEMETRY_DSMBIND, 10);
for (uint8_t i = 1; i < 11; i++) // 10 bytes of DSM bind response
Serial_write(pkt[i]);
}
else
{
multi_send_header(MULTI_TELEMETRY_DSM, 17);
for (uint8_t i = 0; i < 17; i++) // RSSI value followed by 16 bytes of telemetry data
Serial_write(pkt[i]);
}
}
#else
void DSM_frame()
{
Serial_write(0xAA); // Telemetry packet
for (uint8_t i = 0; i < 17; i++) // RSSI value followed by 16 bytes of telemetry data
Serial_write(pkt[i]);
}
#endif
#endif
#ifdef AFHDS2A_FW_TELEMETRY
void AFHDSA_short_frame()
{
#if defined MULTI_TELEMETRY
multi_send_header(MULTI_TELEMETRY_AFHDS2A, 29);
#else
Serial_write(0xAA); // Telemetry packet
#endif
for (uint8_t i = 0; i < 29; i++) // RSSI value followed by 4*7 bytes of telemetry data
Serial_write(pkt[i]);
}
#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(pkt[1] == rx_tx_addr[3] && pkt[2] == rx_tx_addr[2] && len == clen )
{
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;
}
void frsky_link_frame()
{
frame[0] = 0xFE; // Link frame
if (protocol==PROTO_FRSKYD)
{
frame[1] = pktt[3]; // A1
frame[2] = pktt[4]; // A2
frame[3] = pktt[5]; // RX_RSSI
telemetry_link &= ~1 ; // Sent
telemetry_link |= 2 ; // Send hub if available
}
else
if (protocol==PROTO_HUBSAN||protocol==PROTO_AFHDS2A||protocol==PROTO_BAYANG||protocol==PROTO_CABELL||protocol==PROTO_HITEC)
{
frame[1] = v_lipo1;
frame[2] = v_lipo2;
frame[3] = RX_RSSI;
telemetry_link=0;
}
frame[4] = TX_RSSI;
frame[5] = RX_LQI;
frame[6] = TX_LQI;
frame[7] = frame[8] = 0;
#if defined MULTI_TELEMETRY
multi_send_frskyhub();
#else
frskySendStuffed();
#endif
}
#if defined HUB_TELEMETRY
void frsky_user_frame()
{
if(pktt[6])
{//only send valid hub frames
frame[0] = 0xFD; // user frame
if(pktt[6]>USER_MAX_BYTES)
{
frame[1]=USER_MAX_BYTES; // packet size
pktt[6]-=USER_MAX_BYTES;
telemetry_link |= 2 ; // 2 packets need to be sent
}
else
{
frame[1]=pktt[6]; // packet size
telemetry_link=0; // only 1 packet or processing second packet
}
frame[2] = pktt[7];
for(uint8_t i=0;i<USER_MAX_BYTES;i++)
frame[i+3]=pktt[i+8];
if(telemetry_link & 2) // prepare the content of second packet
for(uint8_t i=8;i<USER_MAX_BYTES+8;i++)
pktt[i]=pktt[i+USER_MAX_BYTES];
#if defined MULTI_TELEMETRY
multi_send_frskyhub();
#else
frskySendStuffed();
#endif
}
else
telemetry_link=0;
}
/*
HuB RX packets.
pkt[6]|(counter++)|00 01 02 03 04 05 06 07 08 09
%32
01 08 5E 28 12 00 5E 5E 3A 06 00 5E
0A 09 28 12 00 5E 5E 3A 06 00 5E 5E
09 0A 3B 09 00 5E 5E 06 36 7D 5E 5E
03 0B 5E 28 11 00 5E 5E 06 06 6C 5E
0A 0C 00 5E 5E 3A 06 00 5E 5E 3B 09
07 0D 00 5E 5E 06 06 6C 5E 16 72 5E
05 0E 5E 28 11 00 5E 5E 3A 06 00 5E
0A 0F 5E 3A 06 00 5E 5E 3B 09 00 5E
05 10 5E 06 16 72 5E 5E 3A 06 00 5E
*/
#endif
#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
#ifdef MULTI_TELEMETRY
void sportSend(uint8_t *p)
{
#ifdef SPORT_POLLING
#ifdef INVERT_SERIAL
USART3_BASE->CR1 &= ~USART_CR1_TE ;
TX_INV_on; //activate inverter for both serial TX and RX signals
USART3_BASE->CR1 |= USART_CR1_TE ;
#endif
#endif
multi_send_header(MULTI_TELEMETRY_SPORT, 9);
uint16_t crc_s = 0;
uint8_t x = p[0] ;
if ( x <= 0x1B )
x = pgm_read_byte_near( &Indices[x] ) ;
Serial_write(x) ;
for (uint8_t i = 1; i < 9; i++)
{
if (i == 8)
p[i] = 0xff - crc_s;
Serial_write(p[i]);
if (i>0)
{
crc_s += p[i]; //0-1FF
crc_s += crc_s >> 8; //0-100
crc_s &= 0x00ff;
}
}
}
#else
void sportSend(uint8_t *p)
{
uint16_t crc_s = 0;
#ifdef SPORT_POLLING
#ifdef INVERT_SERIAL
USART3_BASE->CR1 &= ~USART_CR1_TE ;
TX_INV_on; //activate inverter for both serial TX and RX signals
USART3_BASE->CR1 |= USART_CR1_TE ;
#endif
#endif
Serial_write(START_STOP);//+9
Serial_write(p[0]) ;
for (uint8_t i = 1; i < 9; i++)
{
if (i == 8)
p[i] = 0xff - crc_s;
if ((p[i] == START_STOP) || (p[i] == BYTESTUFF))
{
Serial_write(BYTESTUFF);//stuff again
Serial_write(STUFF_MASK ^ 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;
}
}
}
#endif
#if defined SPORT_POLLING
uint8_t nextID()
{
uint8_t i ;
uint8_t poll_idx ;
if (phase)
{
poll_idx = 99 ;
for ( i = 0 ; i < 28 ; i++ )
{
if ( sport_rx_index[kindex] )
{
poll_idx = kindex ;
}
kindex++ ;
if ( kindex>= 28 )
{
kindex = 0 ;
phase = 0 ;
break ;
}
if ( poll_idx != 99 )
{
break ;
}
}
if ( poll_idx != 99 )
{
return poll_idx ;
}
}
if ( phase == 0 )
{
for ( i = 0 ; i < 28 ; i++ )
{
if ( sport_rx_index[ukindex] == 0 )
{
poll_idx = ukindex ;
phase = 1 ;
}
ukindex++;
if (ukindex >= 28 )
{
ukindex = 0 ;
}
if ( poll_idx != 99 )
{
return poll_idx ;
}
}
if ( poll_idx == 99 )
{
phase = 1 ;
return 0 ;
}
}
return poll_idx ;
}
#ifdef INVERT_SERIAL
void start_timer4()
{
TIMER4_BASE->PSC = 71; // 72-1;for 72 MHZ / 1.0sec/(71+1)
TIMER4_BASE->CCER = 0 ;
TIMER4_BASE->DIER = 0 ;
TIMER4_BASE->CCMR1 = 0 ;
TIMER4_BASE->CCMR1 = TIMER_CCMR1_OC1M ;
HWTimer4.attachInterrupt(TIMER_CH1, __irq_timer4); // Assign function to Timer2/Comp2 interrupt
nvic_irq_set_priority( NVIC_TIMER4, 14 ) ;
}
void stop_timer4()
{
TIMER5_BASE->CR1 = 0 ;
nvic_irq_disable( NVIC_TIMER4 ) ;
}
void __irq_timer4(void)
{
TIMER4_BASE->DIER = 0 ;
TIMER4_BASE->CR1 = 0 ;
TX_INV_on; //activate inverter for both serial TX and RX signals
}
#endif
void pollSport()
{
uint8_t pindex = nextID() ;
TxData[0] = START_STOP;
TxData[1] = pgm_read_byte_near(&Indices[pindex]) ;
if(!telemetry_lost && ((TxData[1] &0x1F)== skipped_id ||TxData[1]==0x98))
{//98 ID(RSSI/RxBat and SWR ) and ID's from sport telemetry
pindex = nextID() ;
TxData[1] = pgm_read_byte_near(&Indices[pindex]);
}
SportIndexPolling = pindex ;
RxIndex = 0;
#ifdef INVERT_SERIAL
USART3_BASE->CR1 &= ~USART_CR1_TE ;
TX_INV_on; //activate inverter for both serial TX and RX signals
USART3_BASE->CR1 |= USART_CR1_TE ;
#endif
#ifdef MULTI_TELEMETRY
multi_send_header(MULTI_TELEMETRY_SPORT_POLLING, 1);
#else
Serial_write(TxData[0]);
#endif
RxIndex=0;
Serial_write(TxData[1]);
USART3_BASE->CR1 |= USART_CR1_TCIE ;
#ifdef INVERT_SERIAL
TIMER4_BASE->CNT = 0 ;
TIMER4_BASE->CCR1 = 3000 ;
TIMER4_BASE->DIER = TIMER_DIER_CC1IE ;
TIMER4_BASE->CR1 = TIMER_CR1_CEN ;
#endif
}
bool checkSportPacket()
{
uint8_t *packet = RxData ;
uint16_t crc = 0 ;
if ( RxIndex < 8 )
return 0 ;
for ( uint8_t i = 0 ; i<8 ; i += 1 )
{
crc += packet[i];
crc += crc >> 8;
crc &= 0x00ff;
}
return (crc == 0x00ff) ;
}
uint8_t unstuff()
{
uint8_t i ;
uint8_t j ;
j = 0 ;
for ( i = 0 ; i < RxIndex ; i += 1 )
{
if ( RxData[i] == BYTESTUFF )
{
i += 1 ;
RxData[j] = RxData[i] ^ STUFF_MASK ; ;
}
else
RxData[j] = RxData[i] ;
j += 1 ;
}
return j ;
}
void processSportData(uint8_t *p)
{
RxIndex = unstuff() ;
uint8_t x=checkSportPacket() ;
if (x)
{
SportData[sport_idx]=0x7E;
sport_idx =(sport_idx+1) & (MAX_SPORT_BUFFER-1);
SportData[sport_idx]=TxData[1]&0x1F;
sport_idx =(sport_idx+1) & (MAX_SPORT_BUFFER-1);
for(uint8_t i=0;i<(RxIndex-1);i++)
{//no crc
if(p[i]==START_STOP || p[i]==BYTESTUFF)
{//stuff back
SportData[sport_idx]=BYTESTUFF;
sport_idx =(sport_idx+1) & (MAX_SPORT_BUFFER-1);
SportData[sport_idx]=p[i]^STUFF_MASK;
}
else
SportData[sport_idx]=p[i];
sport_idx =(sport_idx+1) & (MAX_SPORT_BUFFER-1);
}
sport_rx_index[SportIndexPolling] = 1 ;
ok_to_send=true;
RxIndex =0 ;
}
}
inline void rx_pause()
{
USART3_BASE->CR1 &= ~ USART_CR1_RXNEIE; //disable rx interrupt on USART3
}
inline void rx_resume()
{
USART3_BASE->CR1 |= USART_CR1_RXNEIE; //enable rx interrupt on USART3
}
#endif//end SPORT_POLLING
void sportIdle()
{
#if !defined MULTI_TELEMETRY
Serial_write(START_STOP);
#endif
}
void sportSendFrame()
{
#if defined SPORT_POLLING
rx_pause();
#endif
uint8_t i;
sport_counter = (sport_counter + 1) %36;
if(telemetry_lost)
{
#ifdef SPORT_POLLING
pollSport();
#else
sportIdle();
#endif
return;
}
if(sport_counter<6)
{
frame[0] = 0x98;
frame[1] = 0x10;
for (i=5;i<8;i++)
frame[i]=0;
}
switch (sport_counter)
{
case 0:
frame[2] = 0x05;
frame[3] = 0xf1;
frame[4] = 0x02 ;//dummy values if swr 20230f00
frame[5] = 0x23;
frame[6] = 0x0F;
break;
case 2: // RSSI
frame[2] = 0x01;
frame[3] = 0xf1;
frame[4] = RX_RSSI;
frame[5] = TX_RSSI;
frame[6] = RX_LQI;
frame[7] = TX_LQI;
break;
case 4: //BATT
frame[2] = 0x04;
frame[3] = 0xf1;
frame[4] = RxBt;//a1;
break;
default:
if(sport)
{
for (i=0;i<FRSKY_SPORT_PACKET_SIZE;i++)
frame[i]=pktx1[i];
sport -= 1 ;
#ifdef SPORT_POLLING
skipped_id=frame[0];
#endif
if ( sport )
{
uint8_t j = sport * FRSKY_SPORT_PACKET_SIZE ;
for (i=0;i<j;i++)
pktx1[i] = pktx1[i+FRSKY_SPORT_PACKET_SIZE] ;
}
break;
}
else
{
#ifdef SPORT_POLLING
pollSport();
#else
sportIdle();
#endif
return;
}
}
sportSend(frame);
}
void proces_sport_data(uint8_t data)
{
switch (pass)
{
case 0:
if (data == START_STOP)
{//waiting for 0x7e
indx = 0;
pass = 1;
}
break;
case 1:
if (data == START_STOP) // Happens if missed packet
{//waiting for 0x7e
indx = 0;
pass = 1;
break;
}
if(data == BYTESTUFF) //if they are stuffed
pass=2;
else
if (indx < MAX_PKTX)
pktx[indx++] = data;
break;
case 2:
if (indx < MAX_PKTX)
pktx[indx++] = data ^ STUFF_MASK; //unstuff bytes
pass=1;
break;
} // end switch
if (indx >= FRSKY_SPORT_PACKET_SIZE)
{//8 bytes no crc
if ( sport < FX_BUFFERS )
{
uint8_t dest = sport * FRSKY_SPORT_PACKET_SIZE ;
uint8_t i ;
for ( i = 0 ; i < FRSKY_SPORT_PACKET_SIZE ; i += 1 )
pktx1[dest++] = pktx[i] ; // Triple buffer
sport += 1 ;//ok to send
}
// else
// {
// // Overrun
// }
pass = 0;//reset
}
}
#endif
void TelemetryUpdate()
{
// check for space in tx buffer
#ifdef BASH_SERIAL
uint8_t h ;
uint8_t t ;
h = SerialControl.head ;
t = SerialControl.tail ;
if ( h >= t )
t += TXBUFFER_SIZE - h ;
else
t -= h ;
if ( t < 64 )
{
return ;
}
#else
uint8_t h ;
uint8_t t ;
h = tx_head ;
t = tx_tail ;
if ( h >= t )
t += TXBUFFER_SIZE - h ;
else
t -= h ;
if ( t < 32 )
{
return ;
}
#endif
#if ( defined(MULTI_TELEMETRY) || defined(MULTI_STATUS) )
{
uint32_t now = millis();
if ((now - lastMulti) > MULTI_TIME)
{
multi_send_status();
lastMulti = now;
return;
}
}
#endif
#if defined SPORT_TELEMETRY
if (protocol==PROTO_FRSKYX)
{ // FrSkyX
for(;;)
{
struct t_fx_rx_frame *p ;
uint8_t count ;
p = &FrskyxRxFrames[NextFxFrameToForward] ;
if ( p->valid )
{
count = p->count ;
for (uint8_t i=0; i < count ; i++)
proces_sport_data(p->payload[i]) ;
p->valid = 0 ; // Sent on
NextFxFrameToForward = ( NextFxFrameToForward + 1 ) & 3 ;
}
else
{
break ;
}
}
if(telemetry_link)
{
if(pktt[4] & 0x80)
RX_RSSI=pktt[4] & 0x7F ;
else
RxBt = (pktt[4]<<1) + 1 ;
telemetry_link=0;
}
uint32_t now = micros();
if ((now - last) > SPORT_TIME)
{
#if defined SPORT_POLLING
processSportData(RxData); //process arrived data before polling
#endif
sportSendFrame();
#ifdef STM32_BOARD
last=now;
#else
last += SPORT_TIME ;
#endif
}
}
#endif // SPORT_TELEMETRY
#if defined DSM_TELEMETRY
if(telemetry_link && protocol == PROTO_DSM)
{ // DSM
DSM_frame();
telemetry_link=0;
return;
}
#endif
#if defined AFHDS2A_FW_TELEMETRY
if(telemetry_link == 2 && protocol == PROTO_AFHDS2A)
{
AFHDSA_short_frame();
telemetry_link=0;
return;
}
#endif
if((telemetry_link & 1 )&& protocol != PROTO_FRSKYX)
{ // FrSkyD + Hubsan + AFHDS2A + Bayang + Cabell
frsky_link_frame();
return;
}
#if defined HUB_TELEMETRY
if((telemetry_link & 2) && protocol == PROTO_FRSKYD)
{ // FrSkyD
frsky_user_frame();
return;
}
#endif
}
/**************************/
/**************************/
/** Serial TX routines **/
/**************************/
/**************************/
#ifndef BASH_SERIAL
// Routines for normal serial output
void Serial_write(uint8_t data)
{
uint8_t nextHead ;
nextHead = tx_head + 1 ;
if ( nextHead >= TXBUFFER_SIZE )
nextHead = 0 ;
tx_buff[nextHead]=data;
tx_head = nextHead ;
tx_resume();
}
void initTXSerial( uint8_t speed)
{
#ifdef ENABLE_PPM
if(speed==SPEED_9600)
{ // 9600
#ifdef ORANGE_TX
USARTC0.BAUDCTRLA = 207 ;
USARTC0.BAUDCTRLB = 0 ;
USARTC0.CTRLB = 0x18 ;
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
USARTC0.CTRLC = 0x03 ;
#else
#ifdef STM32_BOARD
usart3_begin(9600,SERIAL_8N1); //USART3
USART3_BASE->CR1 &= ~ USART_CR1_RE; //disable RX leave TX enabled
#else
UBRR0H = 0x00;
UBRR0L = 0x67;
UCSR0A = 0 ; // Clear X2 bit
//Set frame format to 8 data bits, none, 1 stop bit
UCSR0C = (1<<UCSZ01)|(1<<UCSZ00);
#endif
#endif
}
else if(speed==SPEED_57600)
{ // 57600
#ifdef ORANGE_TX
/*USARTC0.BAUDCTRLA = 207 ;
USARTC0.BAUDCTRLB = 0 ;
USARTC0.CTRLB = 0x18 ;
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
USARTC0.CTRLC = 0x03 ;*/
#else
#ifdef STM32_BOARD
usart3_begin(57600,SERIAL_8N1); //USART3
USART3_BASE->CR1 &= ~ USART_CR1_RE; //disable RX leave TX enabled
#else
UBRR0H = 0x00;
UBRR0L = 0x22;
UCSR0A = 0x02 ; // Set X2 bit
//Set frame format to 8 data bits, none, 1 stop bit
UCSR0C = (1<<UCSZ01)|(1<<UCSZ00);
#endif
#endif
}
else if(speed==SPEED_125K)
{ // 125000
#ifdef ORANGE_TX
/*USARTC0.BAUDCTRLA = 207 ;
USARTC0.BAUDCTRLB = 0 ;
USARTC0.CTRLB = 0x18 ;
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
USARTC0.CTRLC = 0x03 ;*/
#else
#ifdef STM32_BOARD
usart3_begin(125000,SERIAL_8N1); //USART3
USART3_BASE->CR1 &= ~ USART_CR1_RE; //disable RX leave TX enabled
#else
UBRR0H = 0x00;
UBRR0L = 0x07;
UCSR0A = 0x00 ; // Clear X2 bit
//Set frame format to 8 data bits, none, 1 stop bit
UCSR0C = (1<<UCSZ01)|(1<<UCSZ00);
#endif
#endif
}
#else
(void)speed;
#endif
#ifndef ORANGE_TX
#ifndef STM32_BOARD
UCSR0B |= (1<<TXEN0);//tx enable
#endif
#endif
}
//Serial TX
#ifdef ORANGE_TX
ISR(USARTC0_DRE_vect)
#else
#ifdef STM32_BOARD
void __irq_usart3()
#else
ISR(USART_UDRE_vect)
#endif
#endif
{ // Transmit interrupt
#ifdef STM32_BOARD
#ifdef SPORT_POLLING
if(USART3_BASE->SR & USART_SR_TC)
{
if ( USART3_BASE->CR1 & USART_CR1_TCIE )
{
USART3_BASE->CR1 &= ~USART_CR1_TCIE ;
TX_INV_off;
}
}
if(USART3_BASE->SR & USART_SR_RXNE)
{
USART3_BASE->SR &= ~USART_SR_RXNE;
if (RxIndex < 16 )
{
if(RxData[0]==TxData[0] && RxData[1]==TxData[1])
RxIndex=0;
RxData[RxIndex++] = USART3_BASE->DR & 0xFF ;
}
}
#endif
if(USART3_BASE->SR & USART_SR_TXE)
{
#endif
if(tx_head!=tx_tail)
{
if(++tx_tail>=TXBUFFER_SIZE)//head
tx_tail=0;
#ifdef STM32_BOARD
USART3_BASE->DR=tx_buff[tx_tail];//clears TXE bit
#else
UDR0=tx_buff[tx_tail];
#endif
}
if (tx_tail == tx_head)
{
tx_pause(); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
#ifdef SPORT_POLLING
rx_resume();
#endif
}
#ifdef STM32_BOARD
}
#endif
}
#else //BASH_SERIAL
// Routines for bit-bashed serial output
// Speed is 0 for 100K and 1 for 9600
void initTXSerial( uint8_t speed)
{
TIMSK0 = 0 ; // Stop all timer 0 interrupts
#ifdef INVERT_SERIAL
SERIAL_TX_off;
#else
SERIAL_TX_on;
#endif
UCSR0B &= ~(1<<TXEN0) ;
SerialControl.speed = speed ;
if ( speed == SPEED_9600 )
{
OCR0A = 207 ; // 104uS period
TCCR0A = 3 ;
TCCR0B = 0x0A ; // Fast PMM, 2MHz
}
else // 100K
{
TCCR0A = 0 ;
TCCR0B = 2 ; // Clock/8 (0.5uS)
}
}
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();
}
void resumeBashSerial()
{
cli() ;
if ( SerialControl.busy == 0 )
{
sei() ;
// Start the transmission here
#ifdef INVERT_SERIAL
GPIOR2 = 0 ;
#else
GPIOR2 = 0x01 ;
#endif
if ( SerialControl.speed == SPEED_100K )
{
GPIOR1 = 1 ;
OCR0B = TCNT0 + 40 ;
OCR0A = OCR0B + 210 ;
TIFR0 = (1<<OCF0A) | (1<<OCF0B) ;
TIMSK0 |= (1<<OCIE0B) ;
SerialControl.busy = 1 ;
}
else
{
GPIOR1 = 1 ;
TIFR0 = (1<<TOV0) ;
TIMSK0 |= (1<<TOIE0) ;
SerialControl.busy = 1 ;
}
}
else
{
sei() ;
}
}
// Assume timer0 at 0.5uS clock
ISR(TIMER0_COMPA_vect)
{
uint8_t byte ;
byte = GPIOR0 ;
if ( byte & 0x01 )
SERIAL_TX_on;
else
SERIAL_TX_off;
byte /= 2 ; // Generates shorter code than byte >>= 1
GPIOR0 = byte ;
if ( --GPIOR1 == 0 )
{
TIMSK0 &= ~(1<<OCIE0A) ;
GPIOR1 = 3 ;
}
else
OCR0A += 20 ;
}
ISR(TIMER0_COMPB_vect)
{
uint8_t byte ;
byte = GPIOR2 ;
if ( byte & 0x01 )
SERIAL_TX_on;
else
SERIAL_TX_off;
byte /= 2 ; // Generates shorter code than byte >>= 1
GPIOR2 = byte ;
if ( --GPIOR1 == 0 )
{
if ( IS_TX_PAUSE_on )
{
SerialControl.busy = 0 ;
TIMSK0 &= ~(1<<OCIE0B) ;
}
else
{
// prepare next byte and allow for 2 stop bits
volatile struct t_serial_bash *ptr = &SerialControl ;
if ( ptr->head != ptr->tail )
{
GPIOR0 = ptr->data[ptr->tail] ;
GPIOR2 = ptr->data[ptr->tail+1] ;
uint8_t nextTail = ptr->tail + 2 ;
if ( nextTail >= TXBUFFER_SIZE )
nextTail = 0 ;
ptr->tail = nextTail ;
GPIOR1 = 8 ;
OCR0A = OCR0B + 40 ;
OCR0B = OCR0A + 8 * 20 ;
TIMSK0 |= (1<<OCIE0A) ;
}
else
{
SerialControl.busy = 0 ;
TIMSK0 &= ~(1<<OCIE0B) ;
}
}
}
else
OCR0B += 20 ;
}
ISR(TIMER0_OVF_vect)
{
uint8_t byte ;
if ( GPIOR1 > 2 )
byte = GPIOR0 ;
else
byte = GPIOR2 ;
if ( byte & 0x01 )
SERIAL_TX_on;
else
SERIAL_TX_off;
byte /= 2 ; // Generates shorter code than byte >>= 1
if ( GPIOR1 > 2 )
GPIOR0 = byte ;
else
GPIOR2 = byte ;
if ( --GPIOR1 == 0 )
{ // prepare next byte
volatile struct t_serial_bash *ptr = &SerialControl ;
if ( ptr->head != ptr->tail )
{
GPIOR0 = ptr->data[ptr->tail] ;
GPIOR2 = ptr->data[ptr->tail+1] ;
uint8_t nextTail = ptr->tail + 2 ;
if ( nextTail >= TXBUFFER_SIZE )
nextTail = 0 ;
ptr->tail = nextTail ;
GPIOR1 = 10 ;
}
else
{
SerialControl.busy = 0 ;
TIMSK0 &= ~(1<<TOIE0) ;
}
}
}
#endif // BASH_SERIAL
#endif // TELEMETRY