mirror of https://github.com/ArduPilot/ardupilot
460 lines
16 KiB
C++
460 lines
16 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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SRXL2 protocol decoder using Horizon Hobby's open source library https://github.com/SpektrumRC/SRXL2
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Code by Andy Piper
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*/
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#include "AP_RCProtocol.h"
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#include "AP_RCProtocol_SRXL2.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_RCTelemetry/AP_Spektrum_Telem.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <AP_RCTelemetry/AP_VideoTX.h>
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#include "spm_srxl.h"
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extern const AP_HAL::HAL& hal;
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//#define SRXL2_DEBUG
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#ifdef SRXL2_DEBUG
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# define debug(fmt, args...) hal.console->printf("SRXL2:" fmt "\n", ##args)
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#else
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# define debug(fmt, args...) do {} while(0)
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#endif
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AP_RCProtocol_SRXL2* AP_RCProtocol_SRXL2::_singleton;
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AP_RCProtocol_SRXL2::AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend)
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{
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#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
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if (_singleton != nullptr) {
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AP_HAL::panic("Duplicate SRXL2 handler\n");
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}
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_singleton = this;
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#else
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if (_singleton == nullptr) {
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_singleton = this;
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}
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#endif
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}
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void AP_RCProtocol_SRXL2::_bootstrap(uint8_t device_id)
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{
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if (_device_id == device_id) {
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return;
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}
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// Init the local SRXL device
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if (!srxlInitDevice(device_id, SRXL_DEVICE_PRIORITY, SRXL_DEVICE_INFO, device_id)) {
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AP_HAL::panic("Failed to initialize SRXL2 device\n");
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}
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// Init the SRXL bus: The bus index must always be < SRXL_NUM_OF_BUSES -- in this case, it can only be 0
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if (!srxlInitBus(0, 0, SRXL_SUPPORTED_BAUD_RATES)) {
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AP_HAL::panic("Failed to initialize SRXL2 bus\n");
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}
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_device_id = device_id;
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debug("Bootstrapped as 0x%x", _device_id);
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}
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AP_RCProtocol_SRXL2::~AP_RCProtocol_SRXL2() {
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_singleton = nullptr;
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}
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void AP_RCProtocol_SRXL2::_process_byte(uint32_t timestamp_us, uint8_t byte)
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{
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if (_decode_state == STATE_IDLE) {
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switch (byte) {
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case SPEKTRUM_SRXL_ID:
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_decode_state = STATE_NEW;
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break;
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default:
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_decode_state = STATE_IDLE;
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return;
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}
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_frame_len_full = 0U;
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_buflen = 0;
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_decode_state_next = STATE_IDLE;
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}
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switch (_decode_state) {
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case STATE_NEW: // buffer header byte and prepare for frame reception and decoding
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_buffer[0U]=byte;
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_buflen = 1U;
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_decode_state_next = STATE_COLLECT;
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break;
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case STATE_COLLECT: // receive all bytes. After reception decode frame and provide rc channel information to FMU
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_buffer[_buflen] = byte;
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_buflen++;
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// need a header to get the length
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if (_buflen < SRXL2_HEADER_LEN) {
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return;
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}
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// parse the length
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if (_buflen == SRXL2_HEADER_LEN) {
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_frame_len_full = _buffer[2];
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// check for garbage frame
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if (_frame_len_full > SRXL2_FRAMELEN_MAX) {
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_decode_state = STATE_IDLE;
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_buflen = 0;
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_frame_len_full = 0;
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}
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return;
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}
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if (_buflen > _frame_len_full) {
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// a logic bug in the state machine, this shouldn't happen
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_decode_state = STATE_IDLE;
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_buflen = 0;
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_frame_len_full = 0;
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return;
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}
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if (_buflen == _frame_len_full) {
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log_data(AP_RCProtocol::SRXL2, timestamp_us, _buffer, _buflen);
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// we got a full frame but never handshaked before
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if (!is_bootstrapped()) {
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if (_buffer[1] == 0x21) {
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_bootstrap(SRXL_DEVICE_ID);
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_last_handshake_ms = timestamp_us / 1000;
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} else {
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// not a handshake frame so reset without initializing the SRXL2 engine
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_decode_state = STATE_IDLE;
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_buflen = 0;
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_frame_len_full = 0;
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return;
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}
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}
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// Try to parse SRXL packet -- this internally calls srxlRun() after packet is parsed and resets timeout
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if (srxlParsePacket(0, _buffer, _frame_len_full)) {
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add_input(MAX_CHANNELS, _channels, _in_failsafe, _new_rssi);
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}
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_last_run_ms = AP_HAL::millis();
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_decode_state_next = STATE_IDLE;
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_buflen = 0;
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} else {
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_decode_state_next = STATE_COLLECT;
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}
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break;
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default:
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break;
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}
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_decode_state = _decode_state_next;
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}
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void AP_RCProtocol_SRXL2::update(void)
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{
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// on a SPM4650 with telemetry the frame rate is 91Hz equating to around 10ms per frame
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// however only half of them can return telemetry, so the maximum telemetry rate is 46Hz
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// also update() is run immediately after check_added_uart() and so in general the delay is < 5ms
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// to be safe we will only run if the timeout exceeds 50ms
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if (_last_run_ms > 0) {
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uint32_t now = AP_HAL::millis();
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// there have been no updates since we were last called
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const uint32_t delay = now - _last_run_ms;
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if (delay > 50) {
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srxlRun(0, delay);
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_last_run_ms = now;
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}
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}
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}
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void AP_RCProtocol_SRXL2::capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t new_rssi)
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{
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AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
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if (srxl2 != nullptr) {
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srxl2->_capture_scaled_input(values_p, in_failsafe, new_rssi);
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}
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}
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// capture SRXL2 encoded values
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void AP_RCProtocol_SRXL2::_capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t new_rssi)
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{
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_in_failsafe = in_failsafe;
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// AP rssi: -1 for unknown, 0 for no link, 255 for maximum link
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// SRXL2 rssi: -ve rssi in dBM, +ve rssi in percentage
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if (new_rssi >= 0) {
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_new_rssi = new_rssi * 255 / 100;
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}
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for (uint8_t i = 0; i < MAX_CHANNELS; i++) {
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/*
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* Store the decoded channel into the R/C input buffer, taking into
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* account the different ideas about channel assignement that we have.
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*
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* Specifically, the first four channels in rc_channel_data are roll, pitch, thrust, yaw,
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* but the first four channels from the DSM receiver are thrust, roll, pitch, yaw.
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*/
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uint8_t channel = i;
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switch (channel) {
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case 0:
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channel = 2;
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break;
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case 1:
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channel = 0;
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break;
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case 2:
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channel = 1;
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break;
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default:
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break;
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}
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/*
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* Each channel data value is sent as an unsigned 16-bit value from 0 to 65532 (0xFFFC)
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* with 32768 (0x8000) representing "Servo Center". The channel value must be bit-shifted
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* to the right to match the applications's accepted resolution.
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*
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* So here we scale to DSMX-2048 and then use our regular Spektrum conversion.
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*/
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const uint16_t v = le16toh_ptr(&values_p[i*2]);
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_channels[channel] = ((int32_t)(v >> 5) * 1194) / 2048 + 903;
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}
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}
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// start bind on DSM satellites
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void AP_RCProtocol_SRXL2::start_bind(void)
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{
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srxlEnterBind(DSMX_11MS, true);
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}
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// process a byte provided by a uart
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void AP_RCProtocol_SRXL2::process_byte(uint8_t byte, uint32_t baudrate)
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{
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if (baudrate != 115200) {
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return;
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}
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_process_byte(AP_HAL::micros(), byte);
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}
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// handshake
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void AP_RCProtocol_SRXL2::process_handshake(uint32_t baudrate)
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{
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// only bootstrap if only SRXL2 is enabled
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if (baudrate != 115200 || (get_rc_protocols_mask() & ~(1U<<(uint8_t(AP_RCProtocol::SRXL2)+1)))) {
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_handshake_start_ms = 0;
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return;
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}
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uint32_t now = AP_HAL::millis();
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// record the time of the first request in this cycle
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if (_handshake_start_ms == 0) {
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_handshake_start_ms = now;
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// it seems the handshake protocol only sets the baudrate after receiving data
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// since we are sending data unprompted make sure that the uart is set up correctly
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_change_baud_rate(baudrate);
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}
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// we have not bootstrapped and attempts to listen first have failed
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// we should receive a handshake request within the first 250ms
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if (!is_bootstrapped() && now - _handshake_start_ms > 250) {
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_bootstrap(SRXL_DEVICE_ID_BASE_RX);
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}
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// certain RXs (e.g. AR620) are "listen-only" - they require the flight controller to initiate
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// a handshake in order to switch to SRXL2 mode. This requires that we send data on the UART even
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// if we have not decoded SRXL2 (recently). We try this every 50ms.
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if (now - _handshake_start_ms > 250 && (_last_handshake_ms == 0 || (now - _last_run_ms > 50 && now - _last_handshake_ms > 50))) {
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_in_bootstrap_or_failsafe = true;
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srxlRun(0, 50); // 50 is a magic number at which the handshake protocol is initiated
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_in_bootstrap_or_failsafe = false;
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_last_handshake_ms = now;
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}
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}
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// send data to the uart
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void AP_RCProtocol_SRXL2::send_on_uart(uint8_t* pBuffer, uint8_t length)
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{
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AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
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if (srxl2 != nullptr) {
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srxl2->_send_on_uart(pBuffer, length);
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}
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}
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// configure the video transmitter, the input values are Spektrum-oriented
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void AP_RCProtocol_SRXL2::configure_vtx(uint8_t band, uint8_t channel, uint8_t power, uint8_t pitmode)
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{
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AP_VideoTX& vtx = AP::vtx();
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// VTX Band (0 = Fatshark, 1 = Raceband, 2 = E, 3 = B, 4 = A)
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// map to TBS band A, B, E, Race, Airwave, LoRace
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switch (band) {
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case VTX_BAND_FATSHARK:
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vtx.set_configured_band(AP_VideoTX::VideoBand::FATSHARK);
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break;
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case VTX_BAND_RACEBAND:
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vtx.set_configured_band(AP_VideoTX::VideoBand::RACEBAND);
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break;
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case VTX_BAND_E_BAND:
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vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_E);
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break;
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case VTX_BAND_B_BAND:
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vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_B);
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break;
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case VTX_BAND_A_BAND:
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vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_A);
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break;
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default:
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break;
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}
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// VTX Channel (0-7)
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vtx.set_configured_channel(channel);
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if (pitmode) {
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vtx.set_configured_options(vtx.get_options() | uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
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} else {
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vtx.set_configured_options(vtx.get_options() & ~uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
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}
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switch (power) {
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case VTX_POWER_1MW_14MW:
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case VTX_POWER_15MW_25MW:
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vtx.set_configured_power_mw(25);
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break;
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case VTX_POWER_26MW_99MW:
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case VTX_POWER_100MW_299MW:
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vtx.set_configured_power_mw(100);
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break;
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case VTX_POWER_300MW_600MW:
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vtx.set_configured_power_mw(400);
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break;
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case VTX_POWER_601_PLUS:
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vtx.set_configured_power_mw(800);
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break;
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default:
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break;
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}
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}
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// send data to the uart
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void AP_RCProtocol_SRXL2::_send_on_uart(uint8_t* pBuffer, uint8_t length)
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{
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AP_HAL::UARTDriver* uart = get_available_UART();
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if (uart != nullptr && uart->is_initialized()) {
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// check that we haven't been too slow in responding to the new UART data. If we respond too late then we will
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// corrupt the next incoming control frame. incoming packets at max 800bits @91Hz @115k baud gives total budget of 11ms
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// per packet of which we need 7ms to receive a packet. outgoing packets are 220 bits which require 2ms to send
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// leaving at most 2ms of delay that can be tolerated
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uint64_t tend = uart->receive_time_constraint_us(1);
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uint64_t now = AP_HAL::micros64();
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uint64_t tdelay = now - tend;
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if (tdelay > 2000 && !_in_bootstrap_or_failsafe) {
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// we've been too slow in responding
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return;
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}
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// debug telemetry packets
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if (pBuffer[1] == 0x80 && pBuffer[4] != 0) {
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debug("0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x: %s",
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pBuffer[0], pBuffer[1], pBuffer[2], pBuffer[3], pBuffer[4], pBuffer[5], pBuffer[6], pBuffer[7], pBuffer[8], pBuffer[9], &pBuffer[7]);
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}
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uart->write(pBuffer, length);
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}
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}
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// change the uart baud rate
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void AP_RCProtocol_SRXL2::change_baud_rate(uint32_t baudrate)
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{
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AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
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if (srxl2 != nullptr) {
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srxl2->_change_baud_rate(baudrate);
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}
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}
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// change the uart baud rate
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void AP_RCProtocol_SRXL2::_change_baud_rate(uint32_t baudrate)
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{
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AP_HAL::UARTDriver* uart = get_available_UART();
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if (uart != nullptr) {
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uart->begin(baudrate);
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uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
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uart->set_unbuffered_writes(true);
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uart->set_blocking_writes(false);
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}
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}
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// SRXL2 library callbacks below
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// User-provided routine to change the baud rate settings on the given UART:
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// uart - the same uint8_t value as the uart parameter passed to srxlInit()
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// baudRate - the actual baud rate (currently either 115200 or 400000)
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void srxlChangeBaudRate(uint8_t uart, uint32_t baudRate)
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{
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AP_RCProtocol_SRXL2::change_baud_rate(baudRate);
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}
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// User-provided routine to actually transmit a packet on the given UART:
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// uart - the same uint8_t value as the uart parameter passed to srxlInit()
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// pBuffer - a pointer to an array of uint8_t values to send over the UART
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// length - the number of bytes contained in pBuffer that should be sent
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void srxlSendOnUart(uint8_t uart, uint8_t* pBuffer, uint8_t length)
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{
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AP_RCProtocol_SRXL2::send_on_uart(pBuffer, length);
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}
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// User-provided callback routine to fill in the telemetry data to send to the master when requested:
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// pTelemetryData - a pointer to the 16-byte SrxlTelemetryData transmit buffer to populate
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// NOTE: srxlTelemData is available as a global variable, so the memcpy line commented out below
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// could be used if you would prefer to just populate that with the next outgoing telemetry packet.
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void srxlFillTelemetry(SrxlTelemetryData* pTelemetryData)
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{
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#if HAL_SPEKTRUM_TELEM_ENABLED && !APM_BUILD_TYPE(APM_BUILD_iofirmware)
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AP_Spektrum_Telem::get_telem_data(pTelemetryData->raw);
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#endif
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}
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// User-provided callback routine that is called whenever a control data packet is received:
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// pChannelData - a pointer to the received SrxlChannelData structure for manual parsing
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// isFailsafe - true if channel data is set to failsafe values, else false.
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// this is called from within srxlParsePacket() and before the SRXL2 state machine has been run
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// so be very careful to only do local operations
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void srxlReceivedChannelData(SrxlChannelData* pChannelData, bool isFailsafe)
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{
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if (isFailsafe) {
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AP_RCProtocol_SRXL2::capture_scaled_input((const uint8_t *)pChannelData->values, true, pChannelData->rssi);
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} else {
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AP_RCProtocol_SRXL2::capture_scaled_input((const uint8_t *)srxlChData.values, false, srxlChData.rssi);
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}
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}
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// User-provided callback routine to handle reception of a bound data report (either requested or unprompted).
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// Return true if you want this bind information set automatically for all other receivers on all SRXL buses.
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bool srxlOnBind(SrxlFullID device, SrxlBindData info)
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{
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return true;
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}
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// User-provided callback routine to handle reception of a VTX control packet.
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void srxlOnVtx(SrxlVtxData* pVtxData)
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{
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AP_RCProtocol_SRXL2::configure_vtx(pVtxData->band, pVtxData->channel, pVtxData->power, pVtxData->pit);
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}
|