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ardupilot/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp

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/*
This program 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.
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
/* Initial protocol implementation was provided by FETtec */
#include "FETtecOneWire.h"
typedef struct FETtecOneWireESC {
uint8_t inBootLoader;
uint8_t firmWareVersion;
uint8_t firmWareSubVersion;
uint8_t ESCtype;
uint8_t serialNumber[12];
} FETtecOneWireESC_t;
static uint8_t FETtecOneWire_activeESC_IDs[25] = {0};
static FETtecOneWireESC_t FETtecOneWire_foundESCs[25];
static uint8_t FETtecOneWire_FoundESCs = 0;
static uint8_t FETtecOneWire_ScanActive = 0;
static uint8_t FETtecOneWire_SetupActive = 0;
static uint8_t FETtecOneWire_IgnoreOwnBytes = 0;
static int8_t FETtecOneWire_minID = 25;
static int8_t FETtecOneWire_maxID = 0;
static uint8_t FETtecOneWire_IDcount = 0;
static uint8_t FETtecOneWire_FastThrottleByteCount = 0;
static uint8_t FETtecOneWire_PullSuccess = 0;
static uint8_t FETtecOneWire_PullBusy = 0;
static uint8_t FETtecOneWire_TLM_request = 0;
static uint8_t FETtecOneWire_lastCRC = 0;
static uint8_t FETtecOneWire_firstInitDone = 0;
uint8_t FETtecOneWire_ResponseLength[54] = {
[OW_OK] = 1,
[OW_BL_PAGE_CORRECT] = 1, // BL only
[OW_NOT_OK] = 1,
[OW_BL_START_FW] = 0, // BL only
[OW_BL_PAGES_TO_FLASH] = 1, // BL only
[OW_REQ_TYPE] = 1,
[OW_REQ_SN] = 12,
[OW_REQ_SW_VER] = 2,
[OW_RESET_TO_BL] = 0,
[OW_THROTTLE] = 1,
[OW_REQ_TLM] = 2,
[OW_BEEP] = 0,
[OW_SET_FAST_COM_LENGTH] = 1,
[OW_GET_ROTATION_DIRECTION] = 1,
[OW_SET_ROTATION_DIRECTION] = 1,
[OW_GET_USE_SIN_START] = 1,
[OW_SET_USE_SIN_START] = 1,
[OW_GET_3D_MODE] = 1,
[OW_SET_3D_MODE] = 1,
[OW_GET_ID] = 1,
[OW_SET_ID] = 1,
/*
[OW_GET_LINEAR_THRUST] = 1,
[OW_SET_LINEAR_THRUST] = 1,
*/
[OW_GET_EEVER] = 1,
[OW_GET_PWM_MIN] = 2,
[OW_SET_PWM_MIN] = 1,
[OW_GET_PWM_MAX] = 2,
[OW_SET_PWM_MAX] = 1,
[OW_GET_ESC_BEEP] = 1,
[OW_SET_ESC_BEEP] = 1,
[OW_GET_CURRENT_CALIB] = 1,
[OW_SET_CURRENT_CALIB] = 1,
[OW_SET_LED_TMP_COLOR] = 0,
[OW_GET_LED_COLOR] = 5,
[OW_SET_LED_COLOR] = 1
};
uint8_t FETtecOneWire_RequestLength[54] = {
[OW_OK] = 1,
[OW_BL_PAGE_CORRECT] = 1, // BL only
[OW_NOT_OK] = 1,
[OW_BL_START_FW] = 1, // BL only
[OW_BL_PAGES_TO_FLASH] = 1, // BL only
[OW_REQ_TYPE] = 1,
[OW_REQ_SN] = 1,
[OW_REQ_SW_VER] = 1,
[OW_RESET_TO_BL] = 1,
[OW_THROTTLE] = 1,
[OW_REQ_TLM] = 1,
[OW_BEEP] = 2,
[OW_SET_FAST_COM_LENGTH] = 4,
[OW_GET_ROTATION_DIRECTION] = 1,
[OW_SET_ROTATION_DIRECTION] = 1,
[OW_GET_USE_SIN_START] = 1,
[OW_SET_USE_SIN_START] = 1,
[OW_GET_3D_MODE] = 1,
[OW_SET_3D_MODE] = 1,
[OW_GET_ID] = 1,
[OW_SET_ID] = 1,
/*
[OW_GET_LINEAR_THRUST] = 1,
[OW_SET_LINEAR_THRUST] = 1,
*/
[OW_GET_EEVER] = 1,
[OW_GET_PWM_MIN] = 1,
[OW_SET_PWM_MIN] = 2,
[OW_GET_PWM_MAX] = 1,
[OW_SET_PWM_MAX] = 2,
[OW_GET_ESC_BEEP] = 1,
[OW_SET_ESC_BEEP] = 1,
[OW_GET_CURRENT_CALIB] = 1,
[OW_SET_CURRENT_CALIB] = 1,
[OW_SET_LED_TMP_COLOR] = 4,
[OW_GET_LED_COLOR] = 1,
[OW_SET_LED_COLOR] = 5
};
/*
initialize FETtecOneWire protocol
*/
void FETtecOneWire_Init(){
if(FETtecOneWire_firstInitDone == 0){
FETtecOneWire_FoundESCs = 0;
FETtecOneWire_ScanActive = 0;
FETtecOneWire_SetupActive = 0;
FETtecOneWire_minID = 25;
FETtecOneWire_maxID = 0;
FETtecOneWire_IDcount = 0;
FETtecOneWire_FastThrottleByteCount = 0;
for(uint8_t i = 0; i < 25; i++) FETtecOneWire_activeESC_IDs[i] = 0;
}
FETtecOneWire_IgnoreOwnBytes = 0;
FETtecOneWire_PullSuccess = 0;
FETtecOneWire_PullBusy = 0;
FETOW_UART_DEINIT;
FETOW_UART_INIT;
FETtecOneWire_firstInitDone = 1;
}
/*
deinitialize FETtecOneWire protocol
*/
void FETtecOneWire_DeInit(){
FETOW_UART_DEINIT;
}
/*
generates used 8 bit CRC
crc = byte to be added to CRC
crc_seed = CRC where it gets added too
returns 8 bit CRC
*/
uint8_t FETtecOneWire_UpdateCrc8(uint8_t crc, uint8_t crc_seed){
uint8_t crc_u, i;
crc_u = crc;
crc_u ^= crc_seed;
for ( i=0; i<8; i++) crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 );
return (crc_u);
}
/*
generates used 8 bit CRC for arrays
Buf = 8 bit byte array
BufLen = count of bytes that should be used for CRC calculation
returns 8 bit CRC
*/
uint8_t FETtecOneWire_GetCrc8(uint8_t *Buf, uint16_t BufLen){
uint8_t crc = 0;
for(uint16_t i=0; i<BufLen; i++) crc = FETtecOneWire_UpdateCrc8(Buf[i], crc);
return (crc);
}
/*
transmitts a FETtecOneWire frame to a ESC
ESC_id = id of the ESC
Bytes = 8 bit array of bytes. Where byte 1 contains the command, and all following bytes can be the payload
Length = length of the Bytes array
returns nothing
*/
void FETtecOneWire_Transmit(uint8_t ESC_id, uint8_t *Bytes, uint8_t Length){
/*
a frame lookes like:
byte 1 = fremae header (master is always 0x01)
byte 2 = target ID (5bit)
byte 3 & 4 = frame type (always 0x00, 0x00 used for bootloader. here just for compatibility)
byte 5 = frame length over all bytes
byte 6 - X = request type, followed by the payload
byte X+1 = 8bit CRC
*/
uint8_t transmitArr[256] = {0x01,ESC_id,0x00,0x00};
transmitArr[4] = Length+6;
for(uint8_t i = 0; i < Length; i++) transmitArr[i+5] = Bytes[i];
transmitArr[Length+5] = FETtecOneWire_GetCrc8(transmitArr, Length+5); // crc
FETOW_UART_SEND_BYTES(transmitArr, Length+6);
FETtecOneWire_IgnoreOwnBytes += Length+6;
}
/*
reads the answer frame of a ESC
Bytes = 8 bit byte array, where the received answer gets stored in
Length = the expected answer length
returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME
returns 1 if the expected answer frame was there, 0 if dont
*/
uint8_t FETtecOneWire_Receive(uint8_t *Bytes, uint8_t Length, uint8_t returnFullFrame){
/*
a frame lookes like:
byte 1 = fremae header (0x02 = bootloader, 0x03 = ESC firmware)
byte 2 = sender ID (5bit)
byte 3 & 4 = frame type (always 0x00, 0x00 used for bootloader. here just for compatibility)
byte 5 = frame length over all bytes
byte 6 - X = answer type, followed by the payload
byte X+1 = 8bit CRC
*/
//ignore own bytes
while(FETtecOneWire_IgnoreOwnBytes > 0 && FETOW_UART_BYTES_AVAILABLE){
FETtecOneWire_IgnoreOwnBytes--;
FETOW_UART_READ_BYTE;
}
// look for the real answer
if(FETOW_UART_BYTES_AVAILABLE >= Length+6){
// sync to frame starte byte
uint8_t testFrameStart = 0;
do{
testFrameStart = FETOW_UART_READ_BYTE;
}while(testFrameStart != 0x02 && testFrameStart != 0x03 && FETOW_UART_BYTES_AVAILABLE);
// copy message
if(FETOW_UART_BYTES_AVAILABLE >= Length+5){
uint8_t ReceiveBuf[20] = {0};
ReceiveBuf[0] = testFrameStart;
for(uint8_t i=1; i<Length+6;i++) ReceiveBuf[i] = FETOW_UART_READ_BYTE;
// check CRC
if(FETtecOneWire_GetCrc8(ReceiveBuf, Length+5) == ReceiveBuf[Length+5]){
if(!returnFullFrame) for(uint8_t i=0; i<Length; i++) Bytes[i] = ReceiveBuf[5+i];
else for(uint8_t i=0; i<Length+6; i++) Bytes[i] = ReceiveBuf[i];
return 1;
}else return 0; // crc missmatch
}else return 0; // no answer yet
}else return 0; // no answer yet
}
/*
makes all connected ESC's beep
beepFreqency = a 8 bit value from 0-255. higher make a higher beep
*/
void FETtecOneWire_Beep(uint8_t beepFreqency){
if(FETtecOneWire_IDcount > 0){
uint8_t request[2] = {OW_BEEP, beepFreqency};
uint8_t spacer[2] = {0,0};
for(uint8_t i=FETtecOneWire_minID; i<FETtecOneWire_maxID+1; i++){
FETtecOneWire_Transmit(i, request, FETtecOneWire_RequestLength[request[0]]);
// add two zeros to make sure all ESC's can catch their command as we dont wait for a response here
FETOW_UART_SEND_BYTES(spacer, 2);
FETtecOneWire_IgnoreOwnBytes += 2;
}
}
}
/*
sets the racewire color for all ESC's
R, G, B = 8bit colors
*/
void FETtecOneWire_RW_LEDcolor(uint8_t R, uint8_t G, uint8_t B){
if(FETtecOneWire_IDcount > 0){
uint8_t request[4] = {OW_SET_LED_TMP_COLOR, R, G, B};
uint8_t spacer[2] = {0,0};
for(uint8_t i=FETtecOneWire_minID; i<FETtecOneWire_maxID+1; i++){
FETtecOneWire_Transmit(i, request, FETtecOneWire_RequestLength[request[0]]);
// add two zeros to make sure all ESC's can catch their command as we dont wait for a response here
FETOW_UART_SEND_BYTES(spacer, 2);
FETtecOneWire_IgnoreOwnBytes += 2;
}
}
}
/*
Resets a pending pull request
returns nothing
*/
void FETtecOneWire_PullReset(){
FETtecOneWire_PullSuccess = 0;
FETtecOneWire_PullBusy = 0;
}
/*
Pulls a complete request between for ESC
ESC_id = id of the ESC
command = 8bit array containing the command that thould be send including the possible payload
response = 8bit array where the response will be stored in
returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME
returns 1 if the request is completed, 0 if dont
*/
uint8_t FETtecOneWire_PullCommand(uint8_t ESC_id, uint8_t *command, uint8_t *response, uint8_t returnFullFrame){
if(!FETtecOneWire_PullBusy){
FETtecOneWire_PullBusy = 1;
FETtecOneWire_PullSuccess = 0;
FETtecOneWire_Transmit(ESC_id, command, FETtecOneWire_RequestLength[command[0]]);
}else{
if(FETtecOneWire_Receive(response, FETtecOneWire_ResponseLength[command[0]], returnFullFrame)){
FETtecOneWire_PullSuccess = 1;
FETtecOneWire_PullBusy = 0;
}
}
return FETtecOneWire_PullSuccess;
}
/*
scans for ESC's in bus. should be called intill FETtecOneWire_ScanActive >= 25
returns the currend scanned ID
*/
uint8_t FETtecOneWire_ScanESCs(){
static uint16_t delayLoops = 500;
static uint8_t scanID = 0;
static uint8_t scanState = 0;
static uint8_t scanTimeOut = 0;
uint8_t response[18] = {0};
uint8_t request[1] = {0};
if(FETtecOneWire_ScanActive == 0){
delayLoops = 500;
scanID = 0;
scanState = 0;
scanTimeOut = 0;
return FETtecOneWire_ScanActive+1;
}
if(delayLoops > 0){
delayLoops--;
return FETtecOneWire_ScanActive;
}
if(scanID < FETtecOneWire_ScanActive){
scanID = FETtecOneWire_ScanActive;
scanState = 0;
scanTimeOut = 0;
}
if(scanTimeOut == 3 || scanTimeOut == 6 || scanTimeOut == 9 || scanTimeOut == 12) FETtecOneWire_PullReset();
if(scanTimeOut < 15){
switch(scanState){
case 0:
request[0] = OW_OK;
if(FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_FULL_FRAME)){
scanTimeOut = 0;
FETtecOneWire_activeESC_IDs[scanID] = 1;
FETtecOneWire_FoundESCs++;
if(response[0] == 0x02) FETtecOneWire_foundESCs[scanID].inBootLoader = 1;
else FETtecOneWire_foundESCs[scanID].inBootLoader = 0;
delayLoops = 1;
scanState++;
}else scanTimeOut++;
break;
case 1:
request[0] = OW_REQ_TYPE;
if(FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_RESPONSE)){
scanTimeOut = 0;
FETtecOneWire_foundESCs[scanID].ESCtype = response[0];
delayLoops = 1;
scanState++;
}else scanTimeOut++;
break;
case 2:
request[0] = OW_REQ_SW_VER;
if(FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_RESPONSE)){
scanTimeOut = 0;
FETtecOneWire_foundESCs[scanID].firmWareVersion = response[0];
FETtecOneWire_foundESCs[scanID].firmWareSubVersion = response[1];
delayLoops = 1;
scanState++;
}else scanTimeOut++;
break;
case 3:
request[0] = OW_REQ_SN;
if(FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_RESPONSE)){
scanTimeOut = 0;
for(uint8_t i=0; i<12; i++) FETtecOneWire_foundESCs[scanID].serialNumber[i] = response[i];
delayLoops = 1;
return scanID+1;
}else scanTimeOut++;
break;
}
}else{
FETtecOneWire_PullReset();
return scanID+1;
}
return scanID;
}
/*
starts all ESC's in bus and prepares them for receiving teh fast throttle command should be called untill FETtecOneWire_SetupActive >= 25
returns the current used ID
*/
uint8_t FETtecOneWire_InitESCs(){
static uint8_t delayLoops = 0;
static uint8_t activeID = 1;
static uint8_t State = 0;
static uint8_t TimeOut = 0;
static uint8_t wakeFromBL = 1;
static uint8_t setFastCommand[4] = {OW_SET_FAST_COM_LENGTH,0,0,0};
uint8_t response[18] = {0};
uint8_t request[1] = {0};
if(FETtecOneWire_SetupActive == 0){
delayLoops = 0;
activeID = 1;
State = 0;
TimeOut = 0;
wakeFromBL = 1;
return FETtecOneWire_SetupActive+1;
}
while(FETtecOneWire_activeESC_IDs[FETtecOneWire_SetupActive] == 0 && FETtecOneWire_SetupActive < 25) FETtecOneWire_SetupActive++;
if(FETtecOneWire_SetupActive == 25 && wakeFromBL == 0) return FETtecOneWire_SetupActive;
else if(FETtecOneWire_SetupActive == 25 && wakeFromBL){
wakeFromBL = 0;
activeID = 1;
FETtecOneWire_SetupActive = 1;
State = 0;
TimeOut = 0;
FETtecOneWire_minID = 25;
FETtecOneWire_maxID = 0;
FETtecOneWire_IDcount = 0;
for(uint8_t i=0; i<25; i++){
if(FETtecOneWire_activeESC_IDs[i] != 0){
FETtecOneWire_IDcount++;
if(i < FETtecOneWire_minID) FETtecOneWire_minID = i;
if(i > FETtecOneWire_maxID) FETtecOneWire_maxID = i;
}
}
if(FETtecOneWire_IDcount == 0 || FETtecOneWire_maxID-FETtecOneWire_minID > FETtecOneWire_IDcount-1){ // loop forever
wakeFromBL = 1;
return activeID;
}
FETtecOneWire_FastThrottleByteCount = 1;
int8_t bitCount = 12+(FETtecOneWire_IDcount*11);
while(bitCount > 0){
FETtecOneWire_FastThrottleByteCount++;
bitCount -= 8;
}
setFastCommand[1] = FETtecOneWire_FastThrottleByteCount; // just for older ESC FW versions since 1.0 001 this byte is ignored as the ESC calculates it itself
setFastCommand[2] = FETtecOneWire_minID; // min ESC id
setFastCommand[3] = FETtecOneWire_IDcount; // count of ESC's that will get signals
}
if(delayLoops > 0){
delayLoops--;
return FETtecOneWire_SetupActive;
}
if(activeID < FETtecOneWire_SetupActive){
activeID = FETtecOneWire_SetupActive;
State = 0;
TimeOut = 0;
}
if(TimeOut == 3 || TimeOut == 6 || TimeOut == 9 || TimeOut == 12) FETtecOneWire_PullReset();
if(TimeOut < 15){
if(wakeFromBL){
switch(State){
case 0:
request[0] = OW_BL_START_FW;
if(FETtecOneWire_foundESCs[activeID].inBootLoader == 1){
FETtecOneWire_Transmit(activeID, request, FETtecOneWire_RequestLength[request[0]]);
delayLoops = 5;
}else return activeID+1;
State = 1;
break;
case 1:
request[0] = OW_OK;
if(FETtecOneWire_PullCommand(activeID, request, response, OW_RETURN_FULL_FRAME)){
TimeOut = 0;
if(response[0] == 0x02){
FETtecOneWire_foundESCs[activeID].inBootLoader = 1;
State = 0;
}else{
FETtecOneWire_foundESCs[activeID].inBootLoader = 0;
delayLoops = 1;
return activeID+1;
}
}else TimeOut++;
break;
}
}else{
if(FETtecOneWire_PullCommand(activeID, setFastCommand, response, OW_RETURN_RESPONSE)){
TimeOut = 0;
delayLoops = 1;
return activeID+1;
}else TimeOut++;
}
}else{
FETtecOneWire_PullReset();
return activeID+1;
}
return activeID;
}
/*
checks if the requested telemetry is available.
Telemetry = 16bit array where the read Telemetry will be stored in.
returns the telemetry request number or -1 if unavailable
*/
int8_t FETtecOneWire_CheckForTLM(uint16_t *Telemetry){
int8_t return_TLM_request = 0;
if(FETtecOneWire_IDcount > 0){
// empty buffer
while(FETtecOneWire_IgnoreOwnBytes > 0 && FETOW_UART_BYTES_AVAILABLE){
FETOW_UART_READ_BYTE;
FETtecOneWire_IgnoreOwnBytes--;
}
// first two byte are the ESC Telemetry of the first ESC. next two byte of the second....
if(FETOW_UART_BYTES_AVAILABLE == (FETtecOneWire_IDcount*2)+1){
// look if first byte in buffer is equal to last byte of throttle command (crc)
if(FETOW_UART_READ_BYTE == FETtecOneWire_lastCRC){
for(uint8_t i=0; i<FETtecOneWire_IDcount; i++){
Telemetry[i] = FETOW_UART_READ_BYTE<<8;
Telemetry[i] |= FETOW_UART_READ_BYTE;
}
return_TLM_request = FETtecOneWire_TLM_request;
}else return_TLM_request = -1;
}else return_TLM_request = -1;
}else return_TLM_request = -1;
return return_TLM_request;
}
/*
does almost all of the job.
scans for ESC's if not already done.
initializes the ESC's if not already done.
sends fast throttle signals if init is complete.
motorValues = a 16bit array containing the throttle signals that should be sent to the motors. 0-2000 where 1001-2000 is positive rotation and 999-0 reversed rotation
Telemetry = 16bit array where the read telemetry will be stored in.
motorCount = the count of motors that should get values send
tlmRequest = the requested telemetry type (OW_TLM_XXXXX)
returns the telemetry request if telemetry was available, -1 if dont
*/
int8_t FETtecOneWire_ESCsSetValues(uint16_t *motorValues, uint16_t *Telemetry, uint8_t motorCount, uint8_t tlmRequest){
static uint32_t lastTime = 0;
int8_t return_TLM_request = -2;
// init should not be done too fast. as at last the bootloader has some timing requirements with messages. so loop delays must fit more or less
if(FETtecOneWire_ScanActive < 25 || FETtecOneWire_SetupActive < 25){
if((uint32_t)micros() -(uint32_t)lastTime < 700) return 0;
else lastTime = micros();
if(FETtecOneWire_ScanActive < 25){
// scan for all ESC's in onewire bus
FETtecOneWire_ScanActive = FETtecOneWire_ScanESCs();
}else if(FETtecOneWire_SetupActive < 25){
if(FETtecOneWire_FoundESCs == 0){
FETtecOneWire_ScanActive = 0;
}else{
// check if in bootloader, start ESC's FW if they are and prepare fast throttle command
FETtecOneWire_SetupActive = FETtecOneWire_InitESCs();
}
}
}else{
//send fast throttle signals
if(FETtecOneWire_IDcount > 0){
// check for telemetry
return_TLM_request = FETtecOneWire_CheckForTLM(Telemetry);
FETtecOneWire_TLM_request = tlmRequest;
//prepare fast throttle signals
uint16_t useSignals[24] = {0};
uint8_t OneWireFastThrottleCommand[36] = {0};
if(motorCount > FETtecOneWire_IDcount) motorCount = FETtecOneWire_IDcount;
for(uint8_t i=0; i < motorCount; i++) useSignals[i] = constrain(motorValues[i], 0, 2000);
uint8_t actThrottleCommand = 0;
// byte 1:
// bit 0 = TLMrequest, bit 1,2,3 = TLM type, bit 4 = first bit of first ESC (11bit)signal, bit 5,6,7 = frame header
// so ABBBCDDD
// A = TLM request yes or no
// B = TLM request type (temp, volt, current, erpm, consumption, debug1, debug2, debug3)
// C = first bit from first throttle signal
// D = frame header
OneWireFastThrottleCommand[0] = 128 | (FETtecOneWire_TLM_request << 4);
OneWireFastThrottleCommand[0] |= ((useSignals[actThrottleCommand] >> 10) & 0x01) << 3;
OneWireFastThrottleCommand[0] |= 0x01;
// byte 2:
// AAABBBBB
// A = next 3 bits from (11bit)throttle signal
// B = 5bit target ID
OneWireFastThrottleCommand[1] = (((useSignals[actThrottleCommand] >> 7) & 0x07)) << 5;
OneWireFastThrottleCommand[1] |= ALL_ID;
// following bytes are the rest 7 bit of the first (11bit)throttle signal, and all bit from all other signals, followed by the CRC byte
uint8_t BitsLeftFromCommand = 7;
uint8_t actByte = 2;
uint8_t bitsFromByteLeft = 8;
uint8_t bitsToAddLeft = (12 + (((FETtecOneWire_maxID - FETtecOneWire_minID) + 1) * 11)) - 16;
while (bitsToAddLeft > 0) {
if (bitsFromByteLeft >= BitsLeftFromCommand) {
OneWireFastThrottleCommand[actByte] |= (useSignals[actThrottleCommand] & ((1 << BitsLeftFromCommand) - 1)) << (bitsFromByteLeft - BitsLeftFromCommand);
bitsToAddLeft -= BitsLeftFromCommand;
bitsFromByteLeft -= BitsLeftFromCommand;
actThrottleCommand++;
BitsLeftFromCommand = 11;
if (bitsToAddLeft == 0) {
actByte++;
bitsFromByteLeft = 8;
}
} else {
OneWireFastThrottleCommand[actByte] |= (useSignals[actThrottleCommand] >> (BitsLeftFromCommand - bitsFromByteLeft)) & ((1 << bitsFromByteLeft) - 1);
bitsToAddLeft -= bitsFromByteLeft;
BitsLeftFromCommand -= bitsFromByteLeft;
actByte++;
bitsFromByteLeft = 8;
if (BitsLeftFromCommand == 0) {
actThrottleCommand++;
BitsLeftFromCommand = 11;
}
}
}
// empty buffer
while(FETOW_UART_BYTES_AVAILABLE) FETOW_UART_READ_BYTE;
// send throttle signal
OneWireFastThrottleCommand[FETtecOneWire_FastThrottleByteCount-1] = FETtecOneWire_GetCrc8(OneWireFastThrottleCommand, FETtecOneWire_FastThrottleByteCount-1);
FETOW_UART_SEND_BYTES(OneWireFastThrottleCommand, FETtecOneWire_FastThrottleByteCount);
// last byte of signal can be used to make sure the first TLM byte is correct, in case of spike corruption
FETtecOneWire_IgnoreOwnBytes = FETtecOneWire_FastThrottleByteCount-1;
FETtecOneWire_lastCRC = OneWireFastThrottleCommand[FETtecOneWire_FastThrottleByteCount-1];
// the ESC's will answer the TLM as 16bit each ESC, so 2byte each ESC.
}
}
return return_TLM_request; // returns the readed tlm as it is 1 loop delayed
}
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