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RX.h
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/****************************************************
* OpenLRSng receiver code
****************************************************/
uint32_t mavlink_last_inject_time = 0;
MavlinkFrameDetector mavlinkIncomingFrame; // Track the incoming mavlink frames (from Tx)
uint16_t rxerrors = 0;
#include <avr/eeprom.h>
uint8_t RF_channel = 0;
uint32_t lastPacketTimeUs = 0;
uint32_t lastRSSITimeUs = 0;
uint32_t linkLossTimeMs;
uint32_t nextBeaconTimeMs;
uint16_t beaconRSSIavg = 255;
uint8_t RSSI_count = 0;
uint16_t RSSI_sum = 0;
uint8_t lastRSSIvalue = 0;
uint8_t smoothRSSI = 0;
uint8_t compositeRSSI = 0;
uint16_t lastAFCCvalue = 0;
uint16_t linkQuality = 0;
uint8_t linkQ;
uint8_t ppmCountter = 0;
uint16_t ppmSync = 40000;
uint8_t ppmChannels = 8;
volatile uint8_t disablePWM = 0;
volatile uint8_t disablePPM = 0;
uint8_t failsafeActive = 0;
uint16_t failsafePPM[PPM_CHANNELS];
uint8_t linkAcquired = 0;
uint8_t numberOfLostPackets = 0;
volatile uint8_t slaveState = 0; // 0 - no slave, 1 - slave initializing, 2 - slave running, 3- errored
uint32_t slaveFailedMs = 0;
bool willhop = 0, fs_saved = 0;
pinMask_t chToMask[PPM_CHANNELS];
pinMask_t clearMask;
void outputUp(uint8_t no)
{
PORTB |= chToMask[no].B;
PORTC |= chToMask[no].C;
PORTD |= chToMask[no].D;
}
void outputDownAll()
{
PORTB &= clearMask.B;
PORTC &= clearMask.C;
PORTD &= clearMask.D;
}
#if (F_CPU == 16000000)
#define PWM_MULTIPLIER 2
#define PPM_PULSELEN 600
#define PWM_DEJITTER 32
#define PPM_FRAMELEN 40000
#elif (F_CPU == 8000000)
#define PWM_MULTIPLIER 1
#define PPM_PULSELEN 300
#define PWM_DEJITTER 16
#define PPM_FRAMELEN 20000
#else
#error F_CPU not supported
#endif
volatile uint16_t nextICR1;
ISR(TIMER1_OVF_vect)
{
if (ppmCountter < ppmChannels) {
ICR1 = nextICR1;
nextICR1 = servoBits2Us(PPM[ppmCountter]) * PWM_MULTIPLIER;
ppmSync -= nextICR1;
if (ppmSync < (rx_config.minsync * PWM_MULTIPLIER)) {
ppmSync = rx_config.minsync * PWM_MULTIPLIER;
}
if ((disablePPM) || ((rx_config.flags & PPM_MAX_8CH) && (ppmCountter >= 8))) {
#ifdef USE_OCR1B
OCR1B = 65535; //do not generate a pulse
#else
OCR1A = 65535; //do not generate a pulse
#endif
} else {
#ifdef USE_OCR1B
OCR1B = nextICR1 - PPM_PULSELEN;
#else
OCR1A = nextICR1 - PPM_PULSELEN;
#endif
}
while (TCNT1 < PWM_DEJITTER);
outputDownAll();
if ((!disablePWM) && (ppmCountter > 0)) {
outputUp(ppmCountter - 1);
}
ppmCountter++;
} else {
ICR1 = nextICR1;
nextICR1 = ppmSync;
if (disablePPM) {
#ifdef USE_OCR1B
OCR1B = 65535; //do not generate a pulse
#else
OCR1A = 65535; //do not generate a pulse
#endif
} else {
#ifdef USE_OCR1B
OCR1B = nextICR1 - PPM_PULSELEN;
#else
OCR1A = nextICR1 - PPM_PULSELEN;
#endif
}
ppmSync = PPM_FRAMELEN;
while (TCNT1 < PWM_DEJITTER);
outputDownAll();
if (!disablePWM) {
outputUp(ppmChannels - 1);
}
ppmCountter = 0 ;
}
}
uint16_t RSSI2Bits(uint8_t rssi)
{
uint16_t ret = (uint16_t)rssi << 2;
if (ret < 12) {
ret = 12;
} else if (ret > 1012) {
ret = 1012;
}
return ret;
}
void set_PPM_rssi()
{
if (rx_config.RSSIpwm < 48) {
uint8_t out;
switch (rx_config.RSSIpwm & 0x30) {
case 0x00:
out = compositeRSSI;
break;
case 0x10:
out = (linkQ << 4);
break;
default:
out = smoothRSSI;
break;
}
PPM[rx_config.RSSIpwm & 0x0f] = RSSI2Bits(out);
} else if (rx_config.RSSIpwm < 63) {
PPM[(rx_config.RSSIpwm & 0x0f)] = RSSI2Bits(linkQ << 4);
PPM[(rx_config.RSSIpwm & 0x0f)+1] = RSSI2Bits(smoothRSSI);
}
}
void set_RSSI_output()
{
linkQ = countSetBits(linkQuality & 0x7fff);
if (linkQ == 15) {
// RSSI 0 - 255 mapped to 192 - ((255>>2)+192) == 192-255
compositeRSSI = (smoothRSSI >> 1) + 128;
} else {
// linkquality gives 0 to 14*9 == 126
compositeRSSI = linkQ * 9;
}
cli();
set_PPM_rssi();
sei();
if (rx_config.pinMapping[RSSI_OUTPUT] == PINMAP_RSSI) {
if ((compositeRSSI == 0) || (compositeRSSI == 255)) {
TCCR2A &= ~(1 << COM2B1); // disable RSSI PWM output
digitalWrite(OUTPUT_PIN[RSSI_OUTPUT], (compositeRSSI == 0) ? LOW : HIGH);
} else {
OCR2B = compositeRSSI;
TCCR2A |= (1 << COM2B1); // enable RSSI PWM output
}
}
}
static const uint16_t switchThresholds[3] = { 178, 500, 844 };
void updateSwitches()
{
uint8_t i;
for (i = 0; i < OUTPUTS; i++) {
uint8_t map = rx_config.pinMapping[i];
if ((map & 0xf0) == 0x10) { // 16-31
digitalWrite(OUTPUT_PIN[i], (PPM[map & 0x0f] > switchThresholds[i%3]) ? HIGH : LOW);
}
}
}
void failsafeApply()
{
for (int16_t i = 0; i < PPM_CHANNELS; i++) {
if ((i == (rx_config.RSSIpwm & 0x0f)) ||
((i == (rx_config.RSSIpwm & 0x0f) + 1) && (rx_config.RSSIpwm > 47))) {
continue;
}
if (failsafePPM[i] & 0xfff) {
cli();
PPM[i] = servoUs2Bits(failsafePPM[i] & 0xfff);
sei();
}
updateSwitches();
}
}
void setupOutputs()
{
uint8_t i;
ppmChannels = getChannelCount(&bind_data);
if ((rx_config.RSSIpwm & 0x0f) == ppmChannels) {
ppmChannels += 1;
}
if ((rx_config.RSSIpwm > 47) &&
(rx_config.RSSIpwm < 63) &&
((rx_config.RSSIpwm & 0x0f) == ppmChannels-1)) {
ppmChannels += 1;
}
if (ppmChannels > 16) {
ppmChannels=16;
}
for (i = 0; i < OUTPUTS; i++) {
chToMask[i].B = 0;
chToMask[i].C = 0;
chToMask[i].D = 0;
}
clearMask.B = 0xff;
clearMask.C = 0xff;
clearMask.D = 0xff;
for (i = 0; i < OUTPUTS; i++) {
if (rx_config.pinMapping[i] < PPM_CHANNELS) {
chToMask[rx_config.pinMapping[i]].B |= OUTPUT_MASKS[i].B;
chToMask[rx_config.pinMapping[i]].C |= OUTPUT_MASKS[i].C;
chToMask[rx_config.pinMapping[i]].D |= OUTPUT_MASKS[i].D;
clearMask.B &= ~OUTPUT_MASKS[i].B;
clearMask.C &= ~OUTPUT_MASKS[i].C;
clearMask.D &= ~OUTPUT_MASKS[i].D;
}
}
for (i = 0; i < OUTPUTS; i++) {
switch (rx_config.pinMapping[i]) {
case PINMAP_ANALOG:
pinMode(OUTPUT_PIN[i], INPUT);
break;
case PINMAP_TXD:
case PINMAP_RXD:
case PINMAP_SDA:
case PINMAP_SCL:
break; //ignore serial/I2C for now
default:
if (i == RXD_OUTPUT) {
UCSR0B &= 0xEF; //disable serial RXD
}
if (i == TXD_OUTPUT) {
UCSR0B &= 0xF7; //disable serial TXD
}
pinMode(OUTPUT_PIN[i], OUTPUT); //PPM,PWM,RSSI,LBEEP
break;
}
}
if (rx_config.pinMapping[PPM_OUTPUT] == PINMAP_PPM) {
digitalWrite(OUTPUT_PIN[PPM_OUTPUT], HIGH);
#ifdef USE_OCR1B
TCCR1A = (1 << WGM11) | (1 << COM1B1);
#else
TCCR1A = (1 << WGM11) | (1 << COM1A1);
#endif
} else {
TCCR1A = (1 << WGM11);
}
disablePWM = 1;
disablePPM = 1;
if ((rx_config.pinMapping[RSSI_OUTPUT] == PINMAP_RSSI) ||
(rx_config.pinMapping[RSSI_OUTPUT] == PINMAP_LBEEP)) {
pinMode(OUTPUT_PIN[RSSI_OUTPUT], OUTPUT);
digitalWrite(OUTPUT_PIN[RSSI_OUTPUT], LOW);
if (rx_config.pinMapping[RSSI_OUTPUT] == PINMAP_RSSI) {
TCCR2A = (1 << WGM20);
TCCR2B = (1 << CS20);
} else { // LBEEP
TCCR2A = (1 << WGM21); // mode=CTC
#if (F_CPU == 16000000)
TCCR2B = (1 << CS22) | (1 << CS20); // prescaler = 128
#elif (F_CPU == 8000000)
TCCR2B = (1 << CS22); // prescaler = 64
#else
#error F_CPU not supported
#endif
OCR2A = 62; // 1KHz
}
}
TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11);
#ifdef USE_OCR1B
OCR1B = 65535; // no pulse =)
#else
OCR1A = 65535; // no pulse =)
#endif
ICR1 = 2000; // just initial value, will be constantly updated
ppmSync = PPM_FRAMELEN;
nextICR1 = PPM_FRAMELEN;
ppmCountter = 0;
TIMSK1 |= (1 << TOIE1);
if ((rx_config.flags & IMMEDIATE_OUTPUT) && (failsafePPM[0] & 0xfff)) {
failsafeApply();
disablePPM=0;
disablePWM=0;
}
}
void updateLBeep(bool packetLost)
{
#if defined(LLIND_OUTPUT)
if (rx_config.pinMapping[LLIND_OUTPUT] == PINMAP_LLIND) {
digitalWrite(OUTPUT_PIN[LLIND_OUTPUT],packetLost);
}
#endif
if (rx_config.pinMapping[RSSI_OUTPUT] == PINMAP_LBEEP) {
if (packetLost) {
TCCR2A |= (1 << COM2B0); // enable tone
} else {
TCCR2A &= ~(1 << COM2B0); // disable tone
}
}
}
uint8_t bindReceive(uint32_t timeout)
{
uint32_t start = millis();
uint8_t rxb;
init_rfm(1);
RF_Mode = Receive;
to_rx_mode();
Serial.println("Waiting bind\n");
while ((!timeout) || ((millis() - start) < timeout)) {
if (RF_Mode == Received) {
Serial.println("Got pkt\n");
spiSendAddress(0x7f); // Send the package read command
rxb = spiReadData();
if (rxb == 'b') {
for (uint8_t i = 0; i < sizeof(bind_data); i++) {
*(((uint8_t*) &bind_data) + i) = spiReadData();
}
if (bind_data.version == BINDING_VERSION) {
Serial.println("data good\n");
rxb = 'B';
tx_packet(&rxb, 1); // ACK that we got bound
Green_LED_ON; //signal we got bound on LED:s
return 1;
}
} else if ((rxb == 'p') || (rxb == 'i')) {
uint8_t rxc_buf[sizeof(rx_config) + 1];
if (rxb == 'p') {
rxc_buf[0] = 'P';
timeout = 0;
} else {
rxInitDefaults(1);
rxc_buf[0] = 'I';
}
if (watchdogUsed) {
rx_config.flags|=WATCHDOG_USED;
} else {
rx_config.flags&=~WATCHDOG_USED;
}
memcpy(rxc_buf + 1, &rx_config, sizeof(rx_config));
tx_packet(rxc_buf, sizeof(rx_config) + 1);
} else if (rxb == 't') {
uint8_t rxc_buf[sizeof(rxSpecialPins) + 5];
timeout = 0;
rxc_buf[0] = 'T';
rxc_buf[1] = (version >> 8);
rxc_buf[2] = (version & 0xff);
rxc_buf[3] = OUTPUTS;
rxc_buf[4] = sizeof(rxSpecialPins) / sizeof(rxSpecialPins[0]);
memcpy(rxc_buf + 5, &rxSpecialPins, sizeof(rxSpecialPins));
tx_packet(rxc_buf, sizeof(rxSpecialPins) + 5);
} else if (rxb == 'u') {
for (uint8_t i = 0; i < sizeof(rx_config); i++) {
*(((uint8_t*) &rx_config) + i) = spiReadData();
}
accessEEPROM(0, true);
rxb = 'U';
tx_packet(&rxb, 1); // ACK that we updated settings
} else if (rxb == 'f') {
uint8_t rxc_buf[33];
rxc_buf[0]='F';
for (uint8_t i = 0; i < 16; i++) {
uint16_t us = failsafePPM[i];
rxc_buf[i * 2 + 1] = (us >> 8);
rxc_buf[i * 2 + 2] = (us & 0xff);
}
tx_packet(rxc_buf, 33);
} else if (rxb == 'g') {
for (uint8_t i = 0; i < 16 ; i++) {
failsafePPM[i] = ((uint16_t)spiReadData() << 8) + spiReadData();
}
rxb = 'G';
failsafeSave();
tx_packet(&rxb, 1);
} else if (rxb == 'G') {
for (uint8_t i = 0; i < 16 ; i++) {
failsafePPM[i] = 0;
}
failsafeSave();
rxb = 'G';
tx_packet(&rxb, 1);
}
RF_Mode = Receive;
rx_reset();
}
}
return 0;
}
int8_t checkIfConnected(uint8_t pin1, uint8_t pin2)
{
int8_t ret = 0;
pinMode(pin1, OUTPUT);
digitalWrite(pin1, 1);
digitalWrite(pin2, 1);
delayMicroseconds(10);
if (digitalRead(pin2)) {
digitalWrite(pin1, 0);
delayMicroseconds(10);
if (!digitalRead(pin2)) {
ret = 1;
}
}
pinMode(pin1, INPUT);
digitalWrite(pin1, 0);
digitalWrite(pin2, 0);
return ret;
}
uint8_t rx_buf[21]; // RX buffer (uplink)
// First byte of RX buf is
// MSB..LSB [1bit uplink seqno.] [1bit downlink seqno] [6bits type)
// type 0x00 normal servo, 0x01 failsafe set
// type 0x38..0x3f uplinkked serial data
uint8_t tx_buf[COM_BUF_MAXSIZE]; // TX buffer (downlink)(1 byte reserved for transmit flags and data length)
// First byte is meta
// MSB..LSB [1 bit uplink seq] [1bit downlink seqno] [6b telemtype]
// 0x00 link info [RSSI] [AFCC]*2 etc...
// type 0x38-0x3f downlink serial data 1-COM_BUF_MAXSIZE bytes
#define SERIAL_BUF_RX_SIZE 256
#define SERIAL_BUF_TX_SIZE 64
uint8_t serial_rxbuffer[SERIAL_BUF_RX_SIZE];
uint8_t serial_txbuffer[SERIAL_BUF_TX_SIZE];
uint8_t hopcount;
uint8_t slaveAct = 0;
uint8_t slaveCnt = 0;
uint8_t slaveHandler(uint8_t *data, uint8_t flags)
{
if (flags & MYI2C_SLAVE_ISTX) {
if (flags & MYI2C_SLAVE_ISFIRST) {
*data = slaveState;
slaveCnt=0;
} else {
if (slaveCnt < getPacketSize(&bind_data)) {
*data = rx_buf[slaveCnt++];
} else {
return 0;
}
}
} else {
if (flags & MYI2C_SLAVE_ISFIRST) {
slaveAct = *data;
slaveCnt = 0;
if ((slaveAct & 0xe0) == 0x60) {
if (slaveState >= 2) {
RF_channel = (*data & 0x1f);
slaveState=3; // to RX mode
}
return 0;
} else if (slaveAct==0xfe) {
// deinitialize
slaveState=0;
return 0;
}
} else {
if (slaveAct==0xff) {
// load bind_data
if (slaveCnt<sizeof(bind_data)) {
((uint8_t *)(&bind_data))[slaveCnt++] = *data;
if (slaveCnt == sizeof(bind_data)) {
slaveState=1;
return 0;
}
} else {
return 0;
}
}
}
}
return 1;
}
void slaveLoop()
{
myI2C_slaveSetup(32, 0, 0, slaveHandler);
slaveState=0;
while(1) {
if (slaveState == 1) {
init_rfm(0); // Configure the RFM22B's registers for normal operation
slaveState = 2; // BIND applied
Red_LED_OFF;
} else if (slaveState == 3) {
Green_LED_OFF;
rfmSetChannel(RF_channel);
RF_Mode = Receive;
rx_reset();
slaveState = 4; // in RX mode
} else if (slaveState == 4) {
if (RF_Mode == Received) {
spiSendAddress(0x7f); // Send the package read command
for (int16_t i = 0; i < getPacketSize(&bind_data); i++) {
rx_buf[i] = spiReadData();
}
slaveState = 5;
Green_LED_ON;
}
}
}
}
void reinitSlave()
{
uint8_t ret, buf[sizeof(bind_data)+1];
buf[0] = 0xff;
memcpy(buf+1,&bind_data,sizeof(bind_data));
ret = myI2C_writeTo(32, buf, sizeof(bind_data)+1, MYI2C_WAIT);
if (ret==0) {
ret = myI2C_readFrom(32, buf, 1, MYI2C_WAIT);
if ((ret==0)) {
slaveState = 2;
} else {
slaveState = 255;
}
} else {
slaveState = 255;
}
if (slaveState==2) {
} else {
slaveFailedMs = millis();
}
}
void setup()
{
watchdogConfig(WATCHDOG_OFF);
//LEDs
pinMode(Green_LED, OUTPUT);
pinMode(Red_LED, OUTPUT);
setupSPI();
#ifdef SDN_pin
pinMode(SDN_pin, OUTPUT); //SDN
digitalWrite(SDN_pin, 0);
#endif
pinMode(0, INPUT); // Serial Rx
pinMode(1, OUTPUT); // Serial Tx
Serial.setBuffers(serial_rxbuffer, SERIAL_BUF_RX_SIZE, serial_txbuffer, SERIAL_BUF_TX_SIZE);
Serial.begin(115200);
rxReadEeprom();
failsafeLoad();
Serial.print("OpenLRSng RX (gitsly) ");
printVersion(version);
Serial.print(" on HW ");
Serial.println(BOARD_TYPE);
setupRfmInterrupt();
sei();
Red_LED_ON;
if (checkIfConnected(OUTPUT_PIN[2], OUTPUT_PIN[3])) { // ch1 - ch2 --> force scannerMode
while (1) {
Red_LED_OFF;
Green_LED_OFF;
scannerMode();
}
}
if (checkIfConnected(OUTPUT_PIN[0], OUTPUT_PIN[1]) || (!bindReadEeprom())) {
Serial.print("EEPROM data not valid or bind jumper set, forcing bind\n");
if (bindReceive(0)) {
bindWriteEeprom();
Serial.println("Saved bind data to EEPROM\n");
Green_LED_ON;
}
setupOutputs();
} else {
setupOutputs();
if ((rx_config.pinMapping[SDA_OUTPUT] != PINMAP_SDA) ||
(rx_config.pinMapping[SCL_OUTPUT] != PINMAP_SCL)) {
rx_config.flags &= ~SLAVE_MODE;
}
if ((rx_config.flags & ALWAYS_BIND) && (!(rx_config.flags & SLAVE_MODE))) {
if (bindReceive(500)) {
bindWriteEeprom();
Serial.println("Saved bind data to EEPROM\n");
setupOutputs(); // parameters may have changed
Green_LED_ON;
}
}
}
if ((rx_config.pinMapping[SDA_OUTPUT] == PINMAP_SDA) &&
(rx_config.pinMapping[SCL_OUTPUT] == PINMAP_SCL)) {
myI2C_init(1);
if (rx_config.flags & SLAVE_MODE) {
Serial.println("I am slave");
slaveLoop();
} else {
uint8_t ret,buf;
delay(20);
ret = myI2C_readFrom(32, &buf, 1, MYI2C_WAIT);
if (ret==0) {
slaveState = 1;
}
}
}
Serial.print("Entering normal mode");
watchdogConfig(WATCHDOG_2S);
init_rfm(0); // Configure the RFM22B's registers for normal operation
RF_channel = 0;
rfmSetChannel(RF_channel);
// Count hopchannels as we need it later
hopcount=0;
while ((hopcount < MAXHOPS) && (bind_data.hopchannel[hopcount] != 0)) {
hopcount++;
}
//################### RX SYNC AT STARTUP #################
RF_Mode = Receive;
to_rx_mode();
if (slaveState) {
reinitSlave();
}
if ((rx_config.pinMapping[TXD_OUTPUT] == PINMAP_SPKTRM) ||
(rx_config.pinMapping[TXD_OUTPUT] == PINMAP_SUMD)) {
Serial.begin(115200);
} else if (rx_config.pinMapping[TXD_OUTPUT] == PINMAP_SBUS) {
Serial.begin(100000);
UCSR0C |= 1<<UPM01; // set even parity
} else if ((bind_data.flags & TELEMETRY_MASK) == TELEMETRY_FRSKY) {
Serial.begin(9600);
} else {
if (bind_data.serial_baudrate < 10) {
Serial.begin(9600);
} else {
Serial.begin(bind_data.serial_baudrate);
}
}
Serial.flush();
if (rx_config.pinMapping[RXD_OUTPUT]!=PINMAP_RXD) {
UCSR0B &= 0xEF; //disable serial RXD
}
if ((rx_config.pinMapping[TXD_OUTPUT]!=PINMAP_TXD) &&
(rx_config.pinMapping[TXD_OUTPUT]!=PINMAP_SUMD) &&
(rx_config.pinMapping[TXD_OUTPUT]!=PINMAP_SBUS) &&
(rx_config.pinMapping[TXD_OUTPUT]!=PINMAP_SPKTRM)) {
UCSR0B &= 0xF7; //disable serial TXD
}
linkAcquired = 0;
lastPacketTimeUs = micros();
mavlinkIncomingFrame.Reset();
}
void slaveHop()
{
if (slaveState == 2) {
uint8_t buf;
buf = 0x60 + RF_channel;
if (myI2C_writeTo(32, &buf, 1, MYI2C_WAIT)) {
slaveState = 255;
slaveFailedMs = millis();
}
}
}
// Return slave state or 255 in case of error
uint8_t readSlaveState()
{
uint8_t ret = 255, buf;
if (slaveState == 2) {
ret = myI2C_readFrom(32, &buf, 1, MYI2C_WAIT);
if (ret) {
slaveState = 255;
slaveFailedMs = millis();
ret=255;
} else {
ret=buf;
}
}
return ret;
}
//#define SLAVE_STATISTICS
#ifdef SLAVE_STATISTICS
uint16_t rxBoth = 0;
uint16_t rxSlave = 0;
uint16_t rxMaster = 0;
uint32_t rxStatsMs = 0;
#endif
//############ MAIN LOOP ##############
void loop()
{
uint32_t timeUs, timeMs;
watchdogReset();
if (spiReadRegister(0x0C) == 0) { // detect the locked module and reboot
Serial.println("RX hang");
init_rfm(0);
to_rx_mode();
}
timeUs = micros();
uint8_t slaveReceived = 0;
if (5 == readSlaveState()) {
slaveReceived = 1;
}
retry:
if ((RF_Mode == Received) || (slaveReceived)) {
uint32_t timeTemp = micros();
if (RF_Mode == Received) {
spiSendAddress(0x7f); // Send the package read command
for (int16_t i = 0; i < getPacketSize(&bind_data); i++) {
rx_buf[i] = spiReadData();
}
lastAFCCvalue = rfmGetAFCC();
Green_LED_ON;
} else {
uint8_t ret, slave_buf[22];
ret = myI2C_readFrom(32, slave_buf, getPacketSize(&bind_data) + 1, MYI2C_WAIT);
if (ret) {
slaveState = 255;
slaveFailedMs = millis();
slaveReceived = 0;
goto retry; //slave failed when reading packet...
} else {
memcpy(rx_buf, slave_buf + 1, getPacketSize(&bind_data));
}
}
lastPacketTimeUs = timeTemp; // used saved timestamp to avoid skew by I2C
numberOfLostPackets = 0;
linkQuality <<= 1;
linkQuality |= 1;
Red_LED_OFF;
updateLBeep(false);
if ((bind_data.flags & TELEMETRY_MASK) == TELEMETRY_MAVLINK
&& mavlinkIncomingFrame.IsIdle()
&& timeUs - mavlink_last_inject_time > MAVLINK_INJECT_INTERVAL) {
const uint8_t space = serial_space(Serial.available(), SERIAL_BUF_RX_SIZE);
MAVLink_report(space, 0, smoothRSSI, rxerrors);
mavlink_last_inject_time = timeUs;
}
#ifdef SLAVE_STATISTICS
if (5 == readSlaveState()) {
if (RF_Mode == Received) {
rxBoth++;
} else {
rxSlave++;
}
} else {
rxMaster++;
}
#endif
if ((rx_buf[0] & 0x3e) == 0x00) {
cli();
unpackChannels(bind_data.flags & 7, PPM, rx_buf + 1);
set_PPM_rssi();
sei();
#ifdef DEBUG_DUMP_PPM
for (uint8_t i = 0; i < 8; i++) {
Serial.print(PPM[i]);
Serial.print(',');
}
Serial.println();
#endif
if (rx_buf[0] & 0x01) {
if (!fs_saved) {
for (int16_t i = 0; i < PPM_CHANNELS; i++) {
if (!(failsafePPM[i] & 0x1000)) {
failsafePPM[i] = servoBits2Us(PPM[i]);
}
}
failsafeSave();
fs_saved = 1;
}
} else if (fs_saved) {
fs_saved = 0;
}
} else {
// something else than servo data...
if ((rx_buf[0] & 0x38) == 0x38) {
if ((rx_buf[0] ^ tx_buf[0]) & 0x80) {
// We got new data... (not retransmission)
uint8_t i;
tx_buf[0] ^= 0x80; // signal that we got it
if (rx_config.pinMapping[TXD_OUTPUT] == PINMAP_TXD) {
if ((bind_data.flags & TELEMETRY_MASK) == TELEMETRY_MAVLINK) {
for (i = 0; i <= (rx_buf[0] & 7);) {
i++;
const uint8_t ch = rx_buf[i];
Serial.write(ch);
mavlinkIncomingFrame.Parse(ch);
}
} else {
for (i = 0; i <= (rx_buf[0] & 7);) {
i++;
Serial.write(rx_buf[i]);
}
}
}
}
}
}
if (linkAcquired == 0) {
linkAcquired = 1;
}
failsafeActive = 0;
disablePWM = 0;
disablePPM = 0;
if (bind_data.flags & TELEMETRY_MASK) {
if ((tx_buf[0] ^ rx_buf[0]) & 0x40) {
// resend last message
} else {
tx_buf[0] &= 0xc0;
tx_buf[0] ^= 0x40; // swap sequence as we have new data
if((bind_data.flags & TELEMETRY_MASK) == TELEMETRY_MAVLINK) {
uint8_t bytes = 0;
while ((bytes < bind_data.serial_downlink - 1) && Serial.available() > 0) {
bytes++;
const uint8_t ch = Serial.read();
tx_buf[bytes] = ch;
}
tx_buf[0] |= (0x3F & bytes);
} else {
if (Serial.available() > 0) {
uint8_t bytes = 0;
while ((bytes < bind_data.serial_downlink - 1) && Serial.available() > 0) {
bytes++;
tx_buf[bytes] = Serial.read();
}
tx_buf[0] |= (0x37 & bytes);
} else {
// tx_buf[0] lowest 6 bits left at 0
tx_buf[1] = lastRSSIvalue;
if (rx_config.pinMapping[ANALOG0_OUTPUT] == PINMAP_ANALOG) {
tx_buf[2] = analogRead(OUTPUT_PIN[ANALOG0_OUTPUT]) >> 2;
#ifdef ANALOG0_OUTPUT_ALT
} else if (rx_config.pinMapping[ANALOG0_OUTPUT_ALT] == PINMAP_ANALOG) {
tx_buf[2] = analogRead(OUTPUT_PIN[ANALOG0_OUTPUT_ALT]) >> 2;
#endif
} else {
tx_buf[2] = 0;
}
if (rx_config.pinMapping[ANALOG1_OUTPUT] == PINMAP_ANALOG) {
tx_buf[3] = analogRead(OUTPUT_PIN[ANALOG1_OUTPUT]) >> 2;
#ifdef ANALOG1_OUTPUT_ALT
} else if (rx_config.pinMapping[ANALOG1_OUTPUT_ALT] == PINMAP_ANALOG) {
tx_buf[3] = analogRead(OUTPUT_PIN[ANALOG1_OUTPUT_ALT]) >> 2;
#endif
} else {
tx_buf[3] = 0;
}
tx_buf[4] = (lastAFCCvalue >> 8);
tx_buf[5] = lastAFCCvalue & 0xff;
tx_buf[6] = countSetBits(linkQuality & 0x7fff);
} // else (no serial data available, send misc stuff).
}
}
#ifdef TEST_NO_ACK_BY_CH1
if (PPM[0]<900) {
tx_packet_async(tx_buf, bind_data.serial_downlink);
while(!tx_done()) {
}
}
#else
tx_packet_async(tx_buf, bind_data.serial_downlink);
while(!tx_done()) {
}
#endif
#ifdef TEST_HALT_RX_BY_CH2
if (PPM[1]>1013) {
fatalBlink(3);
}
#endif
}
updateSwitches();
RF_Mode = Receive;
rx_reset();
willhop = 1;
Green_LED_OFF;
}
timeUs = micros();
timeMs = millis();
// sample RSSI when packet is in the 'air'
if ((numberOfLostPackets < 2) && (lastRSSITimeUs != lastPacketTimeUs) &&
(timeUs - lastPacketTimeUs) > (getInterval(&bind_data) - 1500)) {
lastRSSITimeUs = lastPacketTimeUs;
lastRSSIvalue = rfmGetRSSI(); // Read the RSSI value
RSSI_sum += lastRSSIvalue; // tally up for average
RSSI_count++;
if (RSSI_count > 8) {
RSSI_sum /= RSSI_count;
smoothRSSI = (((uint16_t)smoothRSSI * 3 + (uint16_t)RSSI_sum * 1) / 4);
set_RSSI_output();
RSSI_sum = 0;
RSSI_count = 0;