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cc2500_frsky_d.c
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cc2500_frsky_d.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "platform.h"
#ifdef USE_RX_FRSKY_SPI_D
#include "build/build_config.h"
#include "build/debug.h"
#include "common/maths.h"
#include "common/utils.h"
#include "config/feature.h"
#include "drivers/adc.h"
#include "drivers/rx/rx_cc2500.h"
#include "drivers/io.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "config/config.h"
#include "pg/rx.h"
#include "pg/rx_spi.h"
#include "pg/rx_spi_cc2500.h"
#include "rx/rx_spi_common.h"
#include "rx/cc2500_common.h"
#include "rx/cc2500_frsky_common.h"
#include "rx/cc2500_frsky_shared.h"
#include "sensors/battery.h"
#include "telemetry/frsky_hub.h"
#include "cc2500_frsky_d.h"
#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
static uint8_t frame[20];
static uint8_t telemetryId;
#if defined(USE_TELEMETRY_FRSKY_HUB)
static bool telemetryEnabled = false;
#define MAX_SERIAL_BYTES 64
#define A1_CONST_D 100
static uint8_t telemetryBytesGenerated;
static uint8_t serialBuffer[MAX_SERIAL_BYTES]; // buffer for telemetry serial data
static uint8_t appendFrSkyHubData(uint8_t *buf)
{
static uint8_t telemetryBytesSent = 0;
static uint8_t telemetryBytesAcknowledged = 0;
static uint8_t telemetryIdExpected = 0;
if (telemetryId == telemetryIdExpected) {
telemetryBytesAcknowledged = telemetryBytesSent;
telemetryIdExpected = (telemetryId + 1) & 0x1F;
if (!telemetryBytesGenerated) {
telemetryBytesSent = 0;
processFrSkyHubTelemetry(micros());
}
} else { // rx re-requests last packet
telemetryBytesSent = telemetryBytesAcknowledged;
}
uint8_t index = 0;
for (uint8_t i = 0; i < 10; i++) {
if (telemetryBytesSent == telemetryBytesGenerated) {
telemetryBytesGenerated = 0;
break;
}
buf[i] = serialBuffer[telemetryBytesSent];
telemetryBytesSent = (telemetryBytesSent + 1) & (MAX_SERIAL_BYTES - 1);
index++;
}
return index;
}
static void frSkyDTelemetryWriteByte(const char data)
{
if (telemetryBytesGenerated < MAX_SERIAL_BYTES) {
serialBuffer[telemetryBytesGenerated++] = data;
}
}
#endif
static void buildTelemetryFrame(uint8_t *packet)
{
uint8_t a1Value;
switch (rxCc2500SpiConfig()->a1Source) {
case FRSKY_SPI_A1_SOURCE_EXTADC:
a1Value = (adcGetChannel(ADC_EXTERNAL1) & 0xff0) >> 4;
break;
case FRSKY_SPI_A1_SOURCE_CONST:
a1Value = A1_CONST_D & 0xff;
break;
case FRSKY_SPI_A1_SOURCE_VBAT:
default:
a1Value = (getBatteryVoltage() / 5) & 0xff;
break;
}
const uint8_t a2Value = (adcGetChannel(ADC_RSSI)) >> 4;
telemetryId = packet[4];
frame[0] = 0x11; // length
frame[1] = rxCc2500SpiConfig()->bindTxId[0];
frame[2] = rxCc2500SpiConfig()->bindTxId[1];
frame[3] = a1Value;
frame[4] = a2Value;
frame[5] = (uint8_t)cc2500getRssiDbm();
uint8_t bytesUsed = 0;
#if defined(USE_TELEMETRY_FRSKY_HUB)
if (telemetryEnabled) {
bytesUsed = appendFrSkyHubData(&frame[8]);
}
#endif
frame[6] = bytesUsed;
frame[7] = telemetryId;
}
#endif // USE_RX_FRSKY_SPI_TELEMETRY
#define FRSKY_D_CHANNEL_SCALING (2.0f / 3)
static void decodeChannelPair(uint16_t *channels, const uint8_t *packet, const uint8_t highNibbleOffset) {
channels[0] = FRSKY_D_CHANNEL_SCALING * (uint16_t)((packet[highNibbleOffset] & 0xf) << 8 | packet[0]);
channels[1] = FRSKY_D_CHANNEL_SCALING * (uint16_t)((packet[highNibbleOffset] & 0xf0) << 4 | packet[1]);
}
void frSkyDSetRcData(uint16_t *rcData, const uint8_t *packet)
{
static uint16_t dataErrorCount = 0;
uint16_t channels[RC_CHANNEL_COUNT_FRSKY_D];
bool dataError = false;
decodeChannelPair(channels, packet + 6, 4);
decodeChannelPair(channels + 2, packet + 8, 3);
decodeChannelPair(channels + 4, packet + 12, 4);
decodeChannelPair(channels + 6, packet + 14, 3);
for (int i = 0; i < RC_CHANNEL_COUNT_FRSKY_D; i++) {
if ((channels[i] < 800) || (channels[i] > 2200)) {
dataError = true;
break;
}
}
if (!dataError) {
for (int i = 0; i < RC_CHANNEL_COUNT_FRSKY_D; i++) {
rcData[i] = channels[i];
}
} else {
DEBUG_SET(DEBUG_RX_FRSKY_SPI, DEBUG_DATA_ERROR_COUNT, ++dataErrorCount);
}
}
rx_spi_received_e frSkyDHandlePacket(uint8_t * const packet, uint8_t * const protocolState)
{
static timeUs_t lastPacketReceivedTime = 0;
static timeUs_t telemetryTimeUs;
rx_spi_received_e ret = RX_SPI_RECEIVED_NONE;
const timeUs_t currentPacketReceivedTime = micros();
switch (*protocolState) {
case STATE_STARTING:
listLength = 47;
initialiseData(false);
*protocolState = STATE_UPDATE;
nextChannel(1);
cc2500Strobe(CC2500_SRX);
break;
case STATE_UPDATE:
lastPacketReceivedTime = currentPacketReceivedTime;
*protocolState = STATE_DATA;
if (rxSpiCheckBindRequested(false)) {
lastPacketReceivedTime = 0;
timeoutUs = 50;
missingPackets = 0;
*protocolState = STATE_INIT;
break;
}
FALLTHROUGH; //!!TODO -check this fall through is correct
// here FS code could be
case STATE_DATA:
if (cc2500getGdo()) {
uint8_t ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
bool packetOk = false;
if (ccLen >= 20) {
cc2500ReadFifo(packet, 20);
if (packet[19] & 0x80) {
packetOk = true;
missingPackets = 0;
timeoutUs = 1;
if (packet[0] == 0x11) {
if ((packet[1] == rxCc2500SpiConfig()->bindTxId[0]) &&
(packet[2] == rxCc2500SpiConfig()->bindTxId[1])) {
rxSpiLedOn();
nextChannel(1);
cc2500setRssiDbm(packet[18]);
#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
if ((packet[3] % 4) == 2) {
telemetryTimeUs = micros();
buildTelemetryFrame(packet);
*protocolState = STATE_TELEMETRY;
} else
#endif
{
cc2500Strobe(CC2500_SRX);
*protocolState = STATE_UPDATE;
}
ret = RX_SPI_RECEIVED_DATA;
lastPacketReceivedTime = currentPacketReceivedTime;
}
}
}
}
if (!packetOk) {
cc2500Strobe(CC2500_SFRX);
}
}
if (cmpTimeUs(currentPacketReceivedTime, lastPacketReceivedTime) > (timeoutUs * SYNC_DELAY_MAX)) {
#if defined(USE_RX_CC2500_SPI_PA_LNA)
cc2500TxDisable();
#endif
if (timeoutUs == 1) {
#if defined(USE_RX_CC2500_SPI_PA_LNA) && defined(USE_RX_CC2500_SPI_DIVERSITY) // SE4311 chip
if (missingPackets >= 2) {
cc2500switchAntennae();
}
#endif
if (missingPackets > MAX_MISSING_PKT) {
timeoutUs = 50;
setRssiDirect(0, RSSI_SOURCE_RX_PROTOCOL);
}
missingPackets++;
nextChannel(1);
} else {
rxSpiLedToggle();
setRssi(0, RSSI_SOURCE_RX_PROTOCOL);
nextChannel(13);
}
cc2500Strobe(CC2500_SRX);
*protocolState = STATE_UPDATE;
}
break;
#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
case STATE_TELEMETRY:
if (cmpTimeUs(micros(), telemetryTimeUs) >= 1380) {
cc2500Strobe(CC2500_SIDLE);
cc2500SetPower(6);
cc2500Strobe(CC2500_SFRX);
#if defined(USE_RX_CC2500_SPI_PA_LNA)
cc2500TxEnable();
#endif
cc2500Strobe(CC2500_SIDLE);
cc2500WriteFifo(frame, frame[0] + 1);
*protocolState = STATE_DATA;
lastPacketReceivedTime = currentPacketReceivedTime;
}
break;
#endif
}
return ret;
}
void frSkyDInit(void)
{
#if defined(USE_RX_FRSKY_SPI_TELEMETRY) && defined(USE_TELEMETRY_FRSKY_HUB)
if (featureIsEnabled(FEATURE_TELEMETRY)) {
telemetryEnabled = initFrSkyHubTelemetryExternal(frSkyDTelemetryWriteByte);
}
#endif
}
#endif