mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 22:48:12 +00:00
410 lines
8.1 KiB
C++
410 lines
8.1 KiB
C++
//*************************************
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// FrSky Telemetry serial code *
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// By Midelic on RCGroups *
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//*************************************
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#if defined TELEMETRY
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#if defined SPORT_TELEMETRY
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#define SPORT_TIME 12000
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#define FRSKY_SPORT_PACKET_SIZE 8
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uint32_t last = 0;
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uint8_t sport_counter=0;
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uint8_t RxBt = 0;
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uint8_t rssi;
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uint8_t sport = 0;
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#endif
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#if defined HUB_TELEMETRY
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#define USER_MAX_BYTES 6
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uint8_t prev_index;
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#endif
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#define START_STOP 0x7e
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#define BYTESTUFF 0x7d
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#define STUFF_MASK 0x20
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#define MAX_PKTX 10
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uint8_t pktx[MAX_PKTX];
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uint8_t index;
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uint8_t pass = 0;
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uint8_t frame[18];
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#if defined DSM_TELEMETRY
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void DSM2_frame()
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{
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Serial_write(0xAA); // Start
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for (uint8_t i = 0; i < 17; i++) // RSSI value followed by 16 bytes of telemetry data
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Serial_write(pkt[i]);
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}
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#endif
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void frskySendStuffed()
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{
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Serial_write(START_STOP);
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for (uint8_t i = 0; i < 9; i++)
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{
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if ((frame[i] == START_STOP) || (frame[i] == BYTESTUFF))
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{
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Serial_write(BYTESTUFF);
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frame[i] ^= STUFF_MASK;
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}
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Serial_write(frame[i]);
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}
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Serial_write(START_STOP);
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}
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void compute_RSSIdbm()
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{
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RSSI_dBm = (((uint16_t)(pktt[len-2])*18)>>4);
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if(pktt[len-2] >=128)
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RSSI_dBm -= 164;
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else
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RSSI_dBm += 130;
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}
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void frsky_check_telemetry(uint8_t *pkt,uint8_t len)
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{
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if(pkt[1] == rx_tx_addr[3] || pkt[2] == rx_tx_addr[2] || len ==(pkt[0] + 3))
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{
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for (uint8_t i=3;i<len;i++)
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pktt[i]=pkt[i];
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telemetry_link=1;
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if(pktt[6])
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telemetry_counter=(telemetry_counter+1)%32;
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//
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#if defined FRSKYX_CC2500_INO
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if ((cur_protocol[0]&0x1F)==MODE_FRSKYX)
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{
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if ((pktt[5] >> 4 & 0x0f) == 0x08)
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{
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seq_last_sent = 8;
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seq_last_rcvd = 0;
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pass=0;
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}
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else
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{
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if ((pktt[5] >> 4 & 0x03) == (seq_last_rcvd + 1) % 4)
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seq_last_rcvd = (seq_last_rcvd + 1) % 4;
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else
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pass=0;//reset if sequence wrong
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}
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}
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#endif
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}
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}
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void frsky_link_frame()
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{
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frame[0] = 0xFE;
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if ((cur_protocol[0]&0x1F)==MODE_FRSKY)
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{
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compute_RSSIdbm();
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frame[1] = pktt[3];
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frame[2] = pktt[4];
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frame[3] = pktt[5];
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frame[4] = (uint8_t)RSSI_dBm;
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}
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else
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if ((cur_protocol[0]&0x1F)==MODE_HUBSAN)
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{
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frame[1] = v_lipo*2; //v_lipo; common 0x2A=42/10=4.2V
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frame[2] = frame[1];
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frame[3] = 0x00;
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frame[4] = (uint8_t)RSSI_dBm;
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}
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frame[5] = frame[6] = frame[7] = frame[8] = 0;
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frskySendStuffed();
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}
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#if defined HUB_TELEMETRY
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void frsky_user_frame()
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{
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uint8_t indexx = 0, c=0, j=8, n=0, i;
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if(pktt[6]>0 && pktt[6]<=10)
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{//only valid hub frames
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frame[0] = 0xFD;
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frame[2] = pktt[7];
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switch(pass)
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{
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case 0:
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indexx=pktt[6];
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for(i=0;i<indexx;i++)
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{
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if(pktt[j]==0x5E)
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{
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if(c++)
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{
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c=0;
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n++;
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j++;
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}
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}
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pktx[i]=pktt[j++];
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}
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indexx = indexx-n;
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pass=1;
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case 1:
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index=indexx;
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prev_index = indexx;
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if(index<USER_MAX_BYTES)
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{
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for(i=0;i<index;i++)
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frame[i+3]=pktx[i];
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pktt[6]=0;
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pass=0;
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}
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else
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{
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index = USER_MAX_BYTES;
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for(i=0;i<index;i++)
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frame[i+3]=pktx[i];
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pass=2;
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}
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break;
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case 2:
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index = prev_index - index;
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prev_index=0;
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if(index<(MAX_PKTX-USER_MAX_BYTES)) //10-6=4
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for(i=0;i<index;i++)
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frame[i+3]=pktx[USER_MAX_BYTES+i];
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pass=0;
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pktt[6]=0;
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break;
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default:
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break;
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}
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if(!index)
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return;
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frame[1] = index;
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frskySendStuffed();
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}
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else
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pass=0;
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}
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#endif
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/*
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HuB RX packets.
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pkt[6]|(counter++)|00 01 02 03 04 05 06 07 08 09
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%32
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01 08 5E 28 12 00 5E 5E 3A 06 00 5E
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0A 09 28 12 00 5E 5E 3A 06 00 5E 5E
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09 0A 3B 09 00 5E 5E 06 36 7D 5E 5E
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03 0B 5E 28 11 00 5E 5E 06 06 6C 5E
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0A 0C 00 5E 5E 3A 06 00 5E 5E 3B 09
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07 0D 00 5E 5E 06 06 6C 5E 16 72 5E
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05 0E 5E 28 11 00 5E 5E 3A 06 00 5E
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0A 0F 5E 3A 06 00 5E 5E 3B 09 00 5E
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05 10 5E 06 16 72 5E 5E 3A 06 00 5E
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*/
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#if defined SPORT_TELEMETRY
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/* SPORT details serial
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100K 8E2 normal-multiprotocol
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-every 12ms-or multiple of 12; %36
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1 2 3 4 5 6 7 8 9 CRC DESCR
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7E 98 10 05 F1 20 23 0F 00 A6 SWR_ID
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7E 98 10 01 F1 33 00 00 00 C9 RSSI_ID
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7E 98 10 04 F1 58 00 00 00 A1 BATT_ID
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
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7E BA 10 03 F1 E2 00 00 00 18 ADC2_ID
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Telemetry frames(RF) SPORT info
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15 bytes payload
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SPORT frame valid 6+3 bytes
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[00] PKLEN 0E 0E 0E 0E
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[01] TXID1 DD DD DD DD
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[02] TXID2 6D 6D 6D 6D
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[03] CONST 02 02 02 02
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[04] RS/RB 2C D0 2C CE //D0;CE=2*RSSI;....2C = RX battery voltage(5V from Bec)
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[05] HD-SK 03 10 21 32 //TX/RX telemetry hand-shake bytes
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[06] NO.BT 00 00 06 03 //No.of valid SPORT frame bytes in the frame
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[07] STRM1 00 00 7E 00
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[08] STRM2 00 00 1A 00
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[09] STRM3 00 00 10 00
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[10] STRM4 03 03 03 03
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[11] STRM5 F1 F1 F1 F1
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[12] STRM6 D1 D1 D0 D0
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[13] CHKSUM1 --|2 CRC bytes sent by RX (calculated on RX side crc16/table)
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[14] CHKSUM2 --|
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+2 appended bytes automatically RSSI and LQI/CRC bytes(len=0x0E+3);
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0x06 0x06 0x06 0x06 0x06
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0x7E 0x00 0x03 0x7E 0x00
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0x1A 0x00 0xF1 0x1A 0x00
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0x10 0x00 0xD7 0x10 0x00
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0x03 0x7E 0x00 0x03 0x7E
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0xF1 0x1A 0x00 0xF1 0x1A
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0xD7 0x10 0x00 0xD7 0x10
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0xE1 0x1C 0xD0 0xEE 0x33
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0x34 0x0A 0xC3 0x56 0xF3
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*/
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void sportSend(uint8_t *p)
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{
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uint16_t crc_s = 0;
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Serial_write(START_STOP);//+9
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for (uint8_t i = 0; i < 9; i++)
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{
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if (i == 8)
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p[i] = 0xff - crc_s;
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if ((p[i] == START_STOP) || (p[i] == BYTESTUFF))
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{
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Serial_write(BYTESTUFF);//stuff again
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Serial_write(STUFF_MASK ^ p[i]);
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}
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else
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Serial_write(p[i]);
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if (i>0)
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{
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crc_s += p[i]; //0-1FF
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crc_s += crc_s >> 8; //0-100
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crc_s &= 0x00ff;
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}
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}
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}
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void sportIdle()
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{
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Serial_write(START_STOP);
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}
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void sportSendFrame()
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{
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uint8_t i;
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sport_counter = (sport_counter + 1) %36;
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if(sport_counter<3)
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{
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frame[0] = 0x98;
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frame[1] = 0x10;
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for (i=5;i<8;i++)
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frame[i]=0;
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}
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switch (sport_counter)
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{
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case 0:
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frame[2] = 0x05;
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frame[3] = 0xf1;
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frame[4] = 0x20;//dummy values if swr 20230f00
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frame[5] = 0x23;
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frame[6] = 0x0F;
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break;
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case 1: // RSSI
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frame[2] = 0x01;
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frame[3] = 0xf1;
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frame[4] = rssi;
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break;
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case 2: //BATT
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frame[2] = 0x04;
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frame[3] = 0xf1;
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frame[4] = RxBt;//a1;
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break;
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default:
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if(sport)
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{
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for (i=0;i<FRSKY_SPORT_PACKET_SIZE;i++)
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frame[i]=pktx[i];
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sport=0;
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break;
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}
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else
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{
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sportIdle();
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return;
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}
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}
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sportSend(frame);
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}
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void proces_sport_data(uint8_t data)
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{
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switch (pass)
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{
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case 0:
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if (data == START_STOP)
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{//waiting for 0x7e
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index = 0;
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pass = 1;
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}
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break;
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case 1:
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if(data == BYTESTUFF)//if they are stuffed
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pass=2;
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else
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if (index < MAX_PKTX)
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pktx[index++] = data;
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break;
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case 2:
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if (index < MAX_PKTX)
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pktx[index++] = data ^ STUFF_MASK; //unstuff bytes
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pass=1;
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break;
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} // end switch
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if (index >= FRSKY_SPORT_PACKET_SIZE)
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{//8 bytes no crc
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sport = 1;//ok to send
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pass = 0;//reset
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}
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}
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#endif
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void frskyUpdate()
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{
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#if defined DSM_TELEMETRY
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if(telemetry_link && (cur_protocol[0]&0x1F) == MODE_DSM2 )
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{ // DSM2
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DSM2_frame();
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telemetry_link=0;
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return;
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}
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#endif
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if(telemetry_link && (cur_protocol[0]&0x1F) != MODE_FRSKYX )
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{ // FrSky + Hubsan
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frsky_link_frame();
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telemetry_link=0;
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return;
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}
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#if defined HUB_TELEMETRY
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if(!telemetry_link && (cur_protocol[0]&0x1F) == MODE_FRSKY)
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{ // FrSky
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frsky_user_frame();
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return;
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}
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#endif
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#if defined SPORT_TELEMETRY
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if ((cur_protocol[0]&0x1F)==MODE_FRSKYX)
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{ // FrSkyX
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if(telemetry_link)
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{
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if(pktt[4]>0x36)
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rssi=pktt[4]>>1;
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else
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RxBt=pktt[4];
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for (uint8_t i=0; i < pktt[6]; i++)
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proces_sport_data(pktt[7+i]);
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telemetry_link=0;
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}
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uint32_t now = micros();
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if ((now - last) > SPORT_TIME)
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{
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sportSendFrame();
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last = now;
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}
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}
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#endif
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}
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#endif |