mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 08:15:30 +03:00
Removed needless memory copy operation. Removed checksum bytes from
HoTT packet structures, checksum is always sent by the response sending code. Reduce ram usage by 173+ bytes. Corrected accreditations. Updating documentation to match code. Replaced comments that commented out code with #ifdef blocks because commented out code is not found by refactoring tools.
This commit is contained in:
Dominic Clifton
parent
55f14d2158
commit
1051cbcf52
2 changed files with 69 additions and 58 deletions
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@ -2,24 +2,47 @@
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* telemetry_hott.c
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*
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* Created on: 6 Apr 2014
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* Author: Hydra/cGiesen
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* Authors:
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* Dominic Clifton - Hydra - Software Serial, Electronics, Hardware Integration and debugging, HoTT Code cleanup and fixes, general telemetry improvements.
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* Carsten Giesen - cGiesen - Baseflight port
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* Oliver Bayer - oBayer - MultiWii-HoTT, HoTT reverse engineering
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*
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* It should be noted that the initial cut of code that deals with the handling of requests and formatting and
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* sending of responses comes from the MultiHoTT-module project, here: https://github.com/cGiesen/MultiHoTT-Module
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* It should be noted that the initial cut of code that deals with the handling of requests and formatting and
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* sending of responses comes from the MultiWii-Meets-HoTT and MultiHoTT-module projects
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*
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* https://github.com/obayer/MultiWii-HoTT
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* https://github.com/oBayer/MultiHoTT-Module
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*
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*/
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/*
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* HoTT is implemented in Graupner equipment using a bi-directional protocol over a single wire.
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*
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* Generally the receiver sends a single request byte out using normal uart signals, then waits a short period for a
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* multiple byte response and checksum byte before it sends out the next request byte.
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* Each response byte must be send with a protocol specific delay between them.
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*
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* Serial ports use two wires so connect the receiver's HoTT signal to a uart/softserial RX pin via a diode
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* and then also connect a uart/softserial TX pin to the same HoTT pin on the receiver, but NOT via a diode.
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* Serial ports use two wires but HoTT uses a single wire so some electronics are required so that
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* the signals don't get mixed up. When baseflight transmits it should not receive it's own transmission.
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*
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* This is so that when baseflight transmits it does not receive it's own transmission.
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* Connect as follows:
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* HoTT TX/RX -> 1N4148 Diode -(| )- -> Serial RX
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* Serial TX -> 1N4148 Diode -(| )- -> 10k Resistor -(||| |) -> HoTT TX/RX
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*
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* Diodes should be arranged to allow the data signals to flow the right way
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* -(| )- == Diode, | indicates cathode marker.
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* 10k Resistor is Brown Black Orange, Gold (5%)
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*
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* Note the above connections are not 100% reliable, the signal at the HoTT port is not clean, perhaps a
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* transistor on the serial RX line is needed?
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*
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* As noticed by Skrebber the GR-12 (and probably GR-16/24, too) are based on a PIC 24FJ64GA-002, which digitals pins are 5V tolerant.
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*
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* Note: The softserial ports are not listed as 5V tolerant in the STM32F103xx data sheet pinouts and pin description
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* section. No 5v/3.3v level shifters are required. The softserial port should not be inverted.
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*
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* Technically it is possible to use less components and disable softserial RX when transmitting but that is
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* not currently supported.
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*
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* There is a technical discussion (in German) about HoTT here
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* http://www.rc-network.de/forum/showthread.php/281496-Graupner-HoTT-Telemetrie-Sensoren-Eigenbau-DIY-Telemetrie-Protokoll-entschl%C3%BCsselt/page21
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*/
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#include "board.h"
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@ -31,7 +54,6 @@
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const uint8_t kHoTTv4BinaryPacketSize = 45;
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const uint8_t kHoTTv4TextPacketSize = 173;
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static uint8_t outBuffer[173];
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static void hottV4SerialWrite(uint8_t c);
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static void hottV4Respond(uint8_t *data, uint8_t size);
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@ -48,6 +70,8 @@ bool batteryWarning;
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void hottV4FormatAndSendGPSResponse(void)
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{
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memset(&HoTTV4GPSModule, 0, sizeof(HoTTV4GPSModule));
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/** Minimum data set for EAM */
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HoTTV4GPSModule.startByte = 0x7C;
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HoTTV4GPSModule.sensorID = HOTTV4_GPS_SENSOR_ID;
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@ -61,14 +85,8 @@ void hottV4FormatAndSendGPSResponse(void)
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hottV4GPSUpdate();
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// Clear output buffer
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memset(&outBuffer, 0, sizeof(outBuffer));
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// Copy EAM data to output buffer
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memcpy(&outBuffer, &HoTTV4GPSModule, kHoTTv4BinaryPacketSize);
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// Send data from output buffer
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hottV4Respond(outBuffer, kHoTTv4BinaryPacketSize);
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hottV4Respond((uint8_t*)&HoTTV4GPSModule, sizeof(HoTTV4GPSModule));
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}
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void hottV4GPSUpdate(void)
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@ -119,45 +137,51 @@ void hottV4GPSUpdate(void)
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}
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}
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/**
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* Writes cell 1-4 high, low values and if not available
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* calculates vbat.
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*/
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static void hottV4EAMUpdateBattery() {
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// HoTTV4ElectricAirModule.cell1L = 0;
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// HoTTV4ElectricAirModule.cell1H = 0;
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/**
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* Writes cell 1-4 high, low values and if not available
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* calculates vbat.
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*/
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static void hottV4EAMUpdateBattery() {
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#if 0
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HoTTV4ElectricAirModule.cell1L = 4.2f * 10 * 5; // 2mv step
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HoTTV4ElectricAirModule.cell1H = 0;
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// HoTTV4ElectricAirModule.cell2L = 0;
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// HoTTV4ElectricAirModule.cell2H = 0;
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HoTTV4ElectricAirModule.cell2L = 0;
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HoTTV4ElectricAirModule.cell2H = 0;
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// HoTTV4ElectricAirModule.cell3L = 0;
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// HoTTV4ElectricAirModule.cell3H = 0;
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HoTTV4ElectricAirModule.cell3L = 0;
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HoTTV4ElectricAirModule.cell3H = 0;
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// HoTTV4ElectricAirModule.cell4L = 0;
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// HoTTV4ElectricAirModule.cell4H = 0;
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HoTTV4ElectricAirModule.cell4L = 0;
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HoTTV4ElectricAirModule.cell4H = 0;
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#endif
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HoTTV4ElectricAirModule.driveVoltageLow = vbat & 0xFF;
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HoTTV4ElectricAirModule.driveVoltageHigh = vbat >> 8;
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HoTTV4ElectricAirModule.battery1Low = vbat & 0xFF;
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HoTTV4ElectricAirModule.battery1High = vbat >> 8;
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// HoTTV4ElectricAirModule.battery2Low = 0 & 0xFF;
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// HoTTV4ElectricAirModule.battery2High = 0 >> 8;
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#if 0
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HoTTV4ElectricAirModule.battery2Low = 0 & 0xFF;
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HoTTV4ElectricAirModule.battery2High = 0 >> 8;
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if (batteryWarning) {
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HoTTV4ElectricAirModule.alarmTone = HoTTv4NotificationUndervoltage;
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HoTTV4ElectricAirModule.alarmInverse1 |= 0x80; // Invert Voltage display
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}
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}
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#endif
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}
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static void hottV4EAMUpdateTemperatures() {
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static void hottV4EAMUpdateTemperatures() {
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HoTTV4ElectricAirModule.temp1 = 20 + 0;
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HoTTV4ElectricAirModule.temp2 = 20;
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//if (HoTTV4ElectricAirModule.temp1 >= (20 + MultiHoTTModuleSettings.alarmTemp1)) {
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// HoTTV4ElectricAirModule.alarmTone = HoTTv4NotificationMaxTemperature;
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// HoTTV4ElectricAirModule.alarmInverse |= 0x8; // Invert Temp1 display
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//}
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#if 0
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if (HoTTV4ElectricAirModule.temp1 >= (20 + MultiHoTTModuleSettings.alarmTemp1)) {
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HoTTV4ElectricAirModule.alarmTone = HoTTv4NotificationMaxTemperature;
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HoTTV4ElectricAirModule.alarmInverse |= 0x8; // Invert Temp1 display
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}
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#endif
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}
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@ -165,6 +189,8 @@ void hottV4GPSUpdate(void)
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* Sends HoTTv4 capable EAM telemetry frame.
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*/
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void hottV4FormatAndSendEAMResponse(void) {
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memset(&HoTTV4ElectricAirModule, 0, sizeof(HoTTV4ElectricAirModule));
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/** Minimum data set for EAM */
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HoTTV4ElectricAirModule.startByte = 0x7C;
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HoTTV4ElectricAirModule.sensorID = HOTTV4_ELECTRICAL_AIR_SENSOR_ID;
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@ -184,21 +210,10 @@ void hottV4FormatAndSendEAMResponse(void) {
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HoTTV4ElectricAirModule.m2s = OFFSET_M2S;
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HoTTV4ElectricAirModule.m3s = OFFSET_M3S;
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// Clear output buffer
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memset(&outBuffer, 0, sizeof(outBuffer));
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// Copy EAM data to output buffer
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memcpy(&outBuffer, &HoTTV4ElectricAirModule, kHoTTv4BinaryPacketSize);
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// Send data from output buffer
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hottV4Respond(outBuffer, kHoTTv4BinaryPacketSize);
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hottV4Respond((uint8_t*)&HoTTV4ElectricAirModule, sizeof(HoTTV4ElectricAirModule));
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}
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/**
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* Expects an array of at least size bytes. All bytes till size will be transmitted
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* to the HoTT capable receiver. Last byte will always be treated as checksum and is
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* calculated on the fly.
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*/
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static void hottV4Respond(uint8_t *data, uint8_t size) {
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if (serialTotalBytesWaiting(core.telemport) != 0 ) {
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@ -208,7 +223,7 @@ static void hottV4Respond(uint8_t *data, uint8_t size) {
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uint16_t crc = 0;
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uint8_t i;
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for (i = 0; i < (size - 1); i++) {
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for (i = 0; i < size; i++) {
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crc += data[i];
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hottV4SerialWrite(data[i]);
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@ -218,12 +233,10 @@ static void hottV4Respond(uint8_t *data, uint8_t size) {
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// Write package checksum
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hottV4SerialWrite(crc & 0xFF);
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delayMicroseconds(HOTTV4_TX_DELAY);
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}
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/**
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* Writes out given byte to HoTT serial interface.
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* If in debug mode, data is also written to UART serial interface.
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*/
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static void hottV4SerialWrite(uint8_t c) {
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serialWrite(core.telemport, c);
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}
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