TX.h

/****************************************************
 * OpenLRSng transmitter code
 ****************************************************/

#ifdef MAVLINK_INJECT
uint32_t last_mavlinkInject_time = 0;
MavlinkFrameDetector frameDetector;
#endif
uint16_t rxerrors = 0;

uint8_t RF_channel = 0;

uint8_t FSstate = 0; // 1 = waiting timer, 2 = send FS, 3 sent waiting btn release
uint32_t FStime = 0;  // time when button went down...

uint32_t lastSent = 0;

uint32_t lastTelemetry = 0;

uint8_t RSSI_rx = 0;
uint8_t RSSI_tx = 0;
uint8_t RX_ain0 = 0;
uint8_t RX_ain1 = 0;
uint32_t sampleRSSI = 0;

uint16_t linkQuality = 0;
uint16_t linkQualityRX = 0;

volatile uint8_t ppmAge = 0; // age of PPM data

volatile uint8_t ppmCounter = 255; // ignore data until first sync pulse

uint8_t serialMode = 0; // 0 normal, 1 spektrum 1024 , 2 spektrum 2048, 3 SBUS, 4 SUMD

struct sbus_help {
  uint16_t ch0 : 11;
  uint16_t ch1 : 11;
  uint16_t ch2 : 11;
  uint16_t ch3 : 11;
  uint16_t ch4 : 11;
  uint16_t ch5 : 11;
  uint16_t ch6 : 11;
  uint16_t ch7 : 11;
} __attribute__ ((__packed__));

struct sbus {
  struct sbus_help ch[2];
  uint8_t status;
}  __attribute__ ((__packed__));

// This is common temporary buffer used by all PPM input methods
union ppm_msg {
  uint8_t  bytes[32];
  uint16_t words[16];
  struct sbus sbus;
} ppmWork;


#ifndef BZ_FREQ
#define BZ_FREQ 2000
#endif

#ifdef DEBUG_DUMP_PPM
uint8_t ppmDump   = 0;
uint32_t lastDump = 0;
#endif

/****************************************************
 * Interrupt Vector
 ****************************************************/

static inline void processPulse(uint16_t pulse)
{
  if (serialMode) {
    return;
  }

  if (!(tx_config.flags & MICROPPM)) {
    pulse >>= 1; // divide by 2 to get servo value on normal PPM
  }

  if (pulse > 2500) {      // Verify if this is the sync pulse (2.5ms)
    if ((ppmCounter>5) && (ppmCounter!=255)) {
      uint8_t i;
      for (i=0; i < ppmCounter; i++) {
        PPM[i] = ppmWork.words[i];
      }
      ppmAge = 0;                 // brand new PPM data received
#ifdef DEBUG_DUMP_PPM
      ppmDump = 1;
#endif
    }
    ppmCounter = 0;             // -> restart the channel counter
  } else if ((pulse > 700) && (ppmCounter < PPM_CHANNELS)) { // extra channels will get ignored here
    ppmWork.words[ppmCounter++] = servoUs2Bits(pulse);   // Store measured pulse length (converted)
  } else {
    ppmCounter = 255; // glitch ignore rest of data
  }
}

#ifdef USE_ICP1 // Use ICP1 in input capture mode
volatile uint16_t startPulse = 0;
ISR(TIMER1_CAPT_vect)
{
  uint16_t stopPulse = ICR1;
  processPulse(stopPulse - startPulse); // as top is 65535 uint16 math will take care of rollover
  startPulse = stopPulse;         // Save time at pulse start
}

void setupPPMinput()
{
  // Setup timer1 for input capture (PSC=8 -> 0.5ms precision)
  TCCR1A = ((1 << WGM10) | (1 << WGM11));
  TCCR1B = ((1 << WGM12) | (1 << WGM13) | (1 << CS11) | (1 <<ICNC1));
  // normally capture on rising edge, allow invertting via SW flag
  if (!(tx_config.flags & INVERTED_PPMIN)) {
    TCCR1B |= (1 << ICES1);
  }
  OCR1A = 65535;
  TIMSK1 |= (1 << ICIE1);   // Enable timer1 input capture interrupt
}

#else // sample PPM using pinchange interrupt
ISR(PPM_Signal_Interrupt)
{
  uint16_t pulseWidth;
  if ( (tx_config.flags & INVERTED_PPMIN) ^ PPM_Signal_Edge_Check) {
    pulseWidth = TCNT1; // read the timer1 value
    TCNT1 = 0; // reset the timer1 value for next
    processPulse(pulseWidth);
  }
}

void setupPPMinput(void)
{
  // Setup timer1 for input capture (PSC=8 -> 0.5ms precision)
  TCCR1A = ((1 << WGM10) | (1 << WGM11));
  TCCR1B = ((1 << WGM12) | (1 << WGM13) | (1 << CS11));
  OCR1A = 65535;
  TIMSK1 = 0;
  PPM_Pin_Interrupt_Setup
}
#endif

void bindMode(void)
{
  uint32_t prevsend = millis();
  uint8_t  tx_buf[sizeof(bind_data) + 1];
  bool  sendBinds = 1;

  init_rfm(1);

  while (Serial.available()) {
    Serial.read();    // flush serial
  }

  Red_LED_OFF;

  while (1) {
    if (sendBinds & (millis() - prevsend > 200)) {
      prevsend = millis();
      Green_LED_ON;
      buzzerOn(BZ_FREQ);
      tx_buf[0] = 'b';
      memcpy(tx_buf + 1, &bind_data, sizeof(bind_data));
      tx_packet(tx_buf, sizeof(bind_data) + 1);
      Green_LED_OFF;
      buzzerOff();
      RF_Mode = Receive;
      rx_reset();
      delay(50);
      if (RF_Mode == Received) {
        RF_Mode = Receive;
        spiSendAddress(0x7f);   // Send the package read command
        if ('B' == spiReadData()) {
          sendBinds = 0;
        }
      }
    }

    if (!digitalRead(BTN)) {
      sendBinds = 1;
    }

    while (Serial.available()) {
      Red_LED_ON;
      Green_LED_ON;
      switch (Serial.read()) {
#ifdef CLI
      case '\n':
      case '\r':
        Serial.println(F("Enter menu..."));
        handleCLI();
        break;
#endif
      case '#':
        scannerMode();
        break;
#ifdef CONFIGURATOR
      case 'B':
        binaryMode();
        break;
#endif
      default:
        break;
      }
      Red_LED_OFF;
      Green_LED_OFF;
    }
  }
}

void checkButton(void)
{
  uint32_t time, loop_time;

  if (digitalRead(BTN) == 0) {     // Check the button
    delay(200);   // wait for 200mS with buzzer ON
    buzzerOff();

    time = millis();  //set the current time
    loop_time = time;

    while (millis() < time + 4800) {
      if (digitalRead(BTN)) {
        goto just_bind;
      }
    }

    // Check the button again, If it is still down reinitialize
    if (0 == digitalRead(BTN)) {
      int8_t bzstate = HIGH;
      uint8_t swapProfile = 0;

      buzzerOn(bzstate ? BZ_FREQ : 0);
      loop_time = millis();

      while (0 == digitalRead(BTN)) {     // wait for button to release
        if (loop_time > time + 9800) {
          buzzerOn(BZ_FREQ);
          swapProfile = 1;
        } else {
          if ((millis() - loop_time) > 200) {
            loop_time = millis();
            bzstate = !bzstate;
            buzzerOn(bzstate ? BZ_FREQ : 0);
          }
        }
      }

      buzzerOff();
      if (swapProfile) {
        profileSwap((activeProfile + 1) % TX_PROFILE_COUNT);
        txReadEeprom();
        return;
      }
      bindRandomize();
      txWriteEeprom();
    }
just_bind:
    // Enter binding mode, automatically after recoding or when pressed for shorter time.
    bindMode();
  }
}

static inline void checkBND(void)
{
  if ((Serial.available() > 3) &&
      (Serial.read() == 'B') && (Serial.read() == 'N') &&
      (Serial.read() == 'D') && (Serial.read() == '!')) {
    buzzerOff();
    bindMode();
  }
}

static inline void checkFS(void)
{

  switch (FSstate) {
  case 0:
    if (!digitalRead(BTN)) {
      FSstate = 1;
      FStime = millis();
    }

    break;

  case 1:
    if (!digitalRead(BTN)) {
      if ((millis() - FStime) > 1000) {
        FSstate = 2;
        buzzerOn(BZ_FREQ);
      }
    } else {
      FSstate = 0;
    }

    break;

  case 2:
    if (digitalRead(BTN)) {
      buzzerOff();
      FSstate = 0;
    }

    break;
  }
}

uint8_t tx_buf[21];
uint8_t rx_buf[64];


uint8_t serial_resend[64];
uint8_t serial_okToSend; // 2 if it is ok to send serial instead of servo

void setup(void)
{
  uint32_t start;

  watchdogConfig(WATCHDOG_OFF);

  setupSPI();
#ifdef SDN_pin
  pinMode(SDN_pin, OUTPUT); //SDN
  digitalWrite(SDN_pin, 0);
#endif
  //LED and other interfaces
  pinMode(Red_LED, OUTPUT); //RED LED
  pinMode(Green_LED, OUTPUT); //GREEN LED
#ifdef Red_LED2
  pinMode(Red_LED2, OUTPUT); //RED LED
  pinMode(Green_LED2, OUTPUT); //GREEN LED
#endif
  pinMode(BTN, INPUT); //Buton
  pinMode(PPM_IN, INPUT); //PPM from TX
  digitalWrite(PPM_IN, HIGH); // enable pullup for TX:s with open collector output
#if defined (RF_OUT_INDICATOR)
  pinMode(RF_OUT_INDICATOR, OUTPUT);
  digitalWrite(RF_OUT_INDICATOR, LOW);
#endif
  buzzerInit();

#ifdef __AVR_ATmega32U4__
  Serial.begin(0); // Suppress warning on overflow on Leonardo
#else
  Serial.begin(115200, SERIAL_RX_BUFFERSIZE, SERIAL_TX_BUFFERSIZE);
#endif
  profileInit();
  txReadEeprom();

  setupPPMinput();
  ppmAge = 255;

  setupRfmInterrupt();

  sei();

  start = millis();
  while ((ppmAge == 255) && ((millis() - start) < 2000));

  buzzerOn(BZ_FREQ);
  digitalWrite(BTN, HIGH);
  Red_LED_ON ;

  Serial.print("OpenLRSng TX starting ");
  printVersion(version);
  Serial.print(" on HW ");
  Serial.println(BOARD_TYPE);

  delay(50);

  checkBND();

  if (bind_data.serial_baudrate && (bind_data.serial_baudrate < 5)) {
    serialMode = bind_data.serial_baudrate;
    TelemetrySerial.begin((serialMode == 3) ? 100000 : 115200, SERIAL_RX_BUFFERSIZE, SERIAL_TX_BUFFERSIZE); // SBUS is 100000 rest 115200
  } else {
    // switch to userdefined baudrate here
    TelemetrySerial.begin(bind_data.serial_baudrate, SERIAL_RX_BUFFERSIZE, SERIAL_TX_BUFFERSIZE);
  }
  checkButton();

  Red_LED_OFF;
  buzzerOff();

  setupPPMinput(); // need to do this to make sure ppm polarity is correct if profile was changed

  init_rfm(0);
  rfmSetChannel(RF_channel);
  rx_reset();

  serial_okToSend = 0;

  for (uint8_t i = 0; i <= activeProfile; i++) {
    delay(50);
    buzzerOn(BZ_FREQ);
    delay(50);
    buzzerOff();
  }

  if (bind_data.flags & TELEMETRY_FRSKY) {
    frskyInit((bind_data.flags & TELEMETRY_MASK) == TELEMETRY_SMARTPORT);
  }
  watchdogConfig(WATCHDOG_2S);
}

uint8_t compositeRSSI(uint8_t rssi, uint8_t linkq)
{
  if (linkq >= 15) {
    // RSSI 0 - 255 mapped to 192 - ((255>>2)+192) == 192-255
    return (rssi >> 2) + 192;
  } else {
    // linkquality gives 0 to 14*13 == 182
    return linkq * 13;
  }
}

#define SBUS_SYNC 0x0f
#define SBUS_TAIL 0x00
#define SPKTRM_SYNC1 0x03
#define SPKTRM_SYNC2 0x01
#define SUMD_HEAD 0xa8

uint8_t frameIndex=0;
uint32_t srxLast=0;
uint8_t srxFlags=0;
uint8_t srxChannels=0;

static inline void processSpektrum(uint8_t c)
{
  if (frameIndex == 0) {
    frameIndex++;
  } else if (frameIndex == 1) {
    frameIndex++;
  } else if (frameIndex < 16) {
    ppmWork.bytes[frameIndex++] = c;
    if (frameIndex==16) { // frameComplete
      for (uint8_t i=1; i<8; i++) {
        uint8_t ch,v;
        if (serialMode == 1) {
          ch = ppmWork.words[i] >> 10;
          v = ppmWork.words[i] & 0x3ff;
        } else {
          ch = ppmWork.words[i] >> 11;
          v = (ppmWork.words[i] & 0x7ff)>>1;
        }
        if (ch<16) {
          PPM[ch] = v;
        }
#ifdef DEBUG_DUMP_PPM
        ppmDump = 1;
#endif
        ppmAge = 0;
      }
    }
  } else {
    frameIndex = 0;
  }
}

static inline void processSBUS(uint8_t c)
{
  if (frameIndex == 0) {
    if (c == SBUS_SYNC) {
      frameIndex++;
    }
  } else if (frameIndex < 24) {
    ppmWork.bytes[(frameIndex++)-1] = c;
  } else {
    if ((frameIndex == 24) && (c == SBUS_TAIL)) {
      uint8_t set;
      for (set = 0; set < 2; set++) {
        PPM[(set<<3)] = ppmWork.sbus.ch[set].ch0 >> 1;
        PPM[(set<<3)+1] = ppmWork.sbus.ch[set].ch1 >> 1;
        PPM[(set<<3)+2] = ppmWork.sbus.ch[set].ch2 >> 1;
        PPM[(set<<3)+3] = ppmWork.sbus.ch[set].ch3 >> 1;
        PPM[(set<<3)+4] = ppmWork.sbus.ch[set].ch4 >> 1;
        PPM[(set<<3)+5] = ppmWork.sbus.ch[set].ch5 >> 1;
        PPM[(set<<3)+6] = ppmWork.sbus.ch[set].ch6 >> 1;
        PPM[(set<<3)+7] = ppmWork.sbus.ch[set].ch7 >> 1;
      }
      if ((ppmWork.sbus.status & 0x08)==0) {
#ifdef DEBUG_DUMP_PPM
        ppmDump = 1;
#endif
        ppmAge = 0;
      }
    }
    frameIndex = 0;
  }
}

static inline void processSUMD(uint8_t c)
{
  if ((frameIndex == 0) && (c == SUMD_HEAD)) {
    CRC16_reset();
    CRC16_add(c);
    frameIndex=1;
  } else {
    if (frameIndex == 1) {
      srxFlags = c;
      CRC16_add(c);
    } else if (frameIndex == 2) {
      srxChannels = c;
      CRC16_add(c);
    } else if (frameIndex < (3 + (srxChannels << 1))) {
      if (frameIndex < 35) {
        ppmWork.bytes[frameIndex-3] = c;
      }
      CRC16_add(c);
    } else if (frameIndex == (3 + (srxChannels << 1))) {
      CRC16_value ^= (uint16_t)c << 8;
    } else {
      if ((CRC16_value == c) && (srxFlags == 0x01)) {
        uint8_t ch;
        if (srxChannels > 16) {
          srxChannels = 16;
        }
        for (ch = 0; ch < srxChannels; ch++) {
          uint16_t val = (uint16_t)ppmWork.bytes[ch*2]<<8 | (uint16_t)ppmWork.bytes[ch*2+1];
          PPM[ch] = servoUs2Bits(val >> 3);
        }
#ifdef DEBUG_DUMP_PPM
        ppmDump = 1;
#endif
        ppmAge = 0;
      }
      frameIndex = 0;
    }
    if (frameIndex > 0) {
      frameIndex++;
    }
  }
}

void processChannelsFromSerial(uint8_t c)
{
  uint32_t now = micros();
  if ((now - srxLast) > 5000) {
    frameIndex=0;
  }
  srxLast=now;

  if ((serialMode == 1) || (serialMode == 2)) { // SPEKTRUM
    processSpektrum(c);
  } else if (serialMode==3) { // SBUS
    processSBUS(c);
  } else if (serialMode==4) { // SUMD
    processSUMD(c);
  }
}

void loop(void)
{
#ifdef DEBUG_DUMP_PPM
  if (ppmDump) {
    uint32_t timeTMP = millis();
    Serial.print(timeTMP - lastDump);
    lastDump = timeTMP;
    TelemetrySerial.print(':');
    for (uint8_t i = 0; i < 16; i++) {
      TelemetrySerial.print(PPM[i]);
      TelemetrySerial.print(',');
    }
    TelemetrySerial.println();
    ppmDump = 0;
  }
#endif

  if (spiReadRegister(0x0C) == 0) {     // detect the locked module and reboot
    Serial.println("module locked?");
    Red_LED_ON;
    init_rfm(0);
    rx_reset();
    Red_LED_OFF;
  }

#ifdef __AVR_ATmega32U4__
  if (serialMode) {
    while (Serial.available()) {
      processChannelsFromSerial(Serial.read());
    }
  }
#else
  if (serialMode) {
    while (TelemetrySerial.available()) {
      processChannelsFromSerial(TelemetrySerial.read());
    }
  }
#endif

  if (RF_Mode == Received) {
    const uint32_t time = micros();
    // got telemetry packet
    lastTelemetry = time;
    if (!lastTelemetry) {
      lastTelemetry = 1; //fixup rare case of zero
    }
    linkQuality |= 1;
    RF_Mode = Receive;
    spiSendAddress(0x7f); // Send the package read command
    for (int16_t i = 0; i < bind_data.serial_downlink; i++) {
      rx_buf[i] = spiReadData();
    }

    if ((tx_buf[0] ^ rx_buf[0]) & 0x40) {
      tx_buf[0] ^= 0x40; // swap sequence to ack

#if MAVLINK_INJECT == 0
      if ((rx_buf[0] & 0x38) == 0x38) {
        uint8_t i;
        // transparent serial data...
        for (i = 0; i<= (rx_buf[0] & 7);) {
          i++;
          if (bind_data.flags & TELEMETRY_FRSKY) {
            frskyUserData(rx_buf[i]);
          } else {
            TelemetrySerial.write(rx_buf[i]);
          }
        }
      } else if ((rx_buf[0] & 0x3F) == 0) {
        RSSI_rx = rx_buf[1];
        RX_ain0 = rx_buf[2];
        RX_ain1 = rx_buf[3];
#ifdef TEST_DUMP_AFCC
#define SIGNIT(x) ((int16_t)(((x&0x200)?0xFC00U:0)|(x&0x3FF)))
        Serial.print(SIGNIT(rfmGetAFCC()));
        Serial.print(':');
        Serial.println(SIGNIT((rx_buf[4] << 8) + rx_buf[5]));
#endif
        linkQualityRX = rx_buf[6];
      }
#else
      // transparent serial data...
      const uint8_t serialByteCount = rx_buf[0] & 0x3F;
      if (serialByteCount > 0) {
        //char dbg[14];
        //sprintf(dbg, "got: %d", serialByteCount);
        //TelemetrySerial.println(dbg);

        for (uint8_t i = 1; i <= serialByteCount; i++) {
          // Check mavlink frames of incoming serial stream before injection of mavlink radio status packet.
          // Inject packet right after a completed packet
          const uint8_t ch = rx_buf[i];
          TelemetrySerial.write(ch);
          if (frameDetector.Parse(ch) && time - last_mavlinkInject_time > MAVLINK_INJECT_INTERVAL) {
            // Inject Mavlink radio modem status package.
            MAVLink_report(&TelemetrySerial, 0, RSSI_tx, rxerrors); // uint8_t RSSI_remote, uint16_t RSSI_local, uint16_t rxerrors)
            last_mavlinkInject_time = time;
          }
        }
      }
#endif
    }
    if (serial_okToSend == 1) {
      serial_okToSend = 2;
    }
    if (serial_okToSend == 3) {
      serial_okToSend = 0;
    }
  }

  uint32_t time = micros();

  if ((sampleRSSI) && ((time - sampleRSSI) >= 3000)) {
    RSSI_tx = rfmGetRSSI();
    sampleRSSI = 0;
  }

  if ((time - lastSent) >= getInterval(&bind_data)) {
    lastSent = time;

    watchdogReset();

#ifdef TEST_HALT_TX_BY_CH3
    while (PPM[2] > 1013);
#endif

    if (1/*ppmAge < 8*/) {
      ppmAge++;

      if (lastTelemetry) {
        if ((time - lastTelemetry) > getInterval(&bind_data)) {
          // telemetry lost
          if (!(tx_config.flags & MUTE_TX)) {
            buzzerOn(BZ_FREQ);
          }
          rxerrors++;
          lastTelemetry = 0;
        } else {
          // telemetry link re-established
          buzzerOff();
        }
      }

      // Construct packet to be sent
      tx_buf[0] &= 0xc0; //preserve seq. bits
      if (TelemetrySerial.available() && (serial_okToSend == 2)) {
        tx_buf[0] ^= 0x80; // signal new data on line
        uint8_t bytes = 0;
        uint8_t maxbytes = 8;
        if (getPacketSize(&bind_data) < 9) {
          maxbytes = getPacketSize(&bind_data) - 1;
        }
        while ((bytes < maxbytes) && TelemetrySerial.available()) {
          bytes++;
          uint8_t readByte;
          TelemetrySerial.readBytes((char*)&readByte, 1);
          tx_buf[bytes] = readByte;
          serial_resend[bytes] = readByte;
        }
        tx_buf[0] |= (0x37 + bytes);
        serial_resend[0] = bytes;
        serial_okToSend = 3; // sent but not acked
      } else if (serial_okToSend == 4) {
        uint8_t i;
        for (i = 0; i < serial_resend[0]; i++) {
          tx_buf[i + 1] = serial_resend[i + 1];
        }
        tx_buf[0] |= (0x37 + serial_resend[0]);
        serial_okToSend = 3; // sent but not acked
      } else {
        if (FSstate == 2) {
          tx_buf[0] |= 0x01; // save failsafe
          Red_LED_ON
        } else {
          tx_buf[0] |= 0x00; // servo positions
          Red_LED_OFF
          if (serial_okToSend == 0) {
            serial_okToSend = 1;
          }
          if (serial_okToSend == 3) {
            serial_okToSend = 4;  // resend
          }
        }
        cli(); // disable interrupts when copying servo positions, to avoid race on 2 byte variable
        packChannels(bind_data.flags & 7, PPM, tx_buf + 1);
        sei();
      }
      //Green LED will be on during transmission
      Green_LED_ON;

      // Send the data over RF
      rfmSetChannel(RF_channel);

      tx_packet_async(tx_buf, getPacketSize(&bind_data));

      //Hop to the next frequency
      RF_channel++;

      if ((RF_channel == MAXHOPS) || (bind_data.hopchannel[RF_channel] == 0)) {
        RF_channel = 0;
      }

    } else {
      if (ppmAge == 8) {
        Red_LED_ON
      }
      ppmAge = 9;
      // PPM data outdated - do not send packets
    }
  }

  if ((bind_data.flags & TELEMETRY_MASK) && (RF_Mode == Transmitted)) {
    linkQuality <<= 1;
    RF_Mode = Receive;
    rx_reset();
    // tell loop to sample downlink RSSI
    sampleRSSI = micros();
    if (sampleRSSI == 0) {
      sampleRSSI = 1;
    }
  }

  if (bind_data.flags & TELEMETRY_FRSKY) {
    uint8_t linkQualityTX = countSetBits(linkQuality & 0xfffe);

    uint8_t compRX = compositeRSSI(RSSI_rx, linkQualityRX);
    uint8_t compTX = compositeRSSI(RSSI_tx, linkQualityTX);

    frskyUpdate(RX_ain0, RX_ain1, compRX, compTX, activeProfile);
    //frskyUpdate(RX_ain0,RX_ain1,lastTelemetry?RSSI_rx:0,lastTelemetry?RSSI_tx:0);
  }
  //Green LED will be OFF
  Green_LED_OFF;

  checkFS();
}