mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-15 20:35:33 +03:00
Fixed binding for FrSky SPI RX.
This commit is contained in:
mikeller
parent
f9feb03a93
commit
a4be564669
4 changed files with 110 additions and 144 deletions
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@ -59,7 +59,6 @@
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#define FS_THR 960
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static uint32_t missingPackets;
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static uint8_t calData[255][3];
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static uint8_t cnt;
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static int32_t t_out;
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static timeUs_t lastPacketReceivedTime;
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@ -143,59 +142,6 @@ static void telemetry_build_frame(uint8_t *packet)
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#endif // USE_RX_FRSKY_SPI_TELEMETRY
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static void initialize(void)
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{
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cc2500Reset();
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cc2500WriteReg(CC2500_02_IOCFG0, 0x01);
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cc2500WriteReg(CC2500_17_MCSM1, 0x0C);
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cc2500WriteReg(CC2500_18_MCSM0, 0x18);
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cc2500WriteReg(CC2500_06_PKTLEN, 0x19);
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cc2500WriteReg(CC2500_08_PKTCTRL0, 0x05);
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cc2500WriteReg(CC2500_3E_PATABLE, 0xFF);
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cc2500WriteReg(CC2500_0B_FSCTRL1, 0x08);
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cc2500WriteReg(CC2500_0C_FSCTRL0, 0x00);
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cc2500WriteReg(CC2500_0D_FREQ2, 0x5C);
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cc2500WriteReg(CC2500_0E_FREQ1, 0x76);
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cc2500WriteReg(CC2500_0F_FREQ0, 0x27);
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cc2500WriteReg(CC2500_10_MDMCFG4, 0xAA);
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cc2500WriteReg(CC2500_11_MDMCFG3, 0x39);
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cc2500WriteReg(CC2500_12_MDMCFG2, 0x11);
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cc2500WriteReg(CC2500_13_MDMCFG1, 0x23);
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cc2500WriteReg(CC2500_14_MDMCFG0, 0x7A);
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cc2500WriteReg(CC2500_15_DEVIATN, 0x42);
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cc2500WriteReg(CC2500_19_FOCCFG, 0x16);
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cc2500WriteReg(CC2500_1A_BSCFG, 0x6C);
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cc2500WriteReg(CC2500_1B_AGCCTRL2, 0x03);
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cc2500WriteReg(CC2500_1C_AGCCTRL1, 0x40);
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cc2500WriteReg(CC2500_1D_AGCCTRL0, 0x91);
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cc2500WriteReg(CC2500_21_FREND1, 0x56);
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cc2500WriteReg(CC2500_22_FREND0, 0x10);
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cc2500WriteReg(CC2500_23_FSCAL3, 0xA9);
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cc2500WriteReg(CC2500_24_FSCAL2, 0x0A);
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cc2500WriteReg(CC2500_25_FSCAL1, 0x00);
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cc2500WriteReg(CC2500_26_FSCAL0, 0x11);
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cc2500WriteReg(CC2500_29_FSTEST, 0x59);
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cc2500WriteReg(CC2500_2C_TEST2, 0x88);
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cc2500WriteReg(CC2500_2D_TEST1, 0x31);
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cc2500WriteReg(CC2500_2E_TEST0, 0x0B);
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cc2500WriteReg(CC2500_03_FIFOTHR, 0x07);
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cc2500WriteReg(CC2500_09_ADDR, 0x00);
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cc2500Strobe(CC2500_SIDLE);
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cc2500WriteReg(CC2500_07_PKTCTRL1, 0x04);
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cc2500WriteReg(CC2500_0C_FSCTRL0, 0);
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for (uint8_t c = 0; c < 0xFF; c++) {
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cc2500Strobe(CC2500_SIDLE);
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cc2500WriteReg(CC2500_0A_CHANNR, c);
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cc2500Strobe(CC2500_SCAL);
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delayMicroseconds(900);
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calData[c][0] = cc2500ReadReg(CC2500_23_FSCAL3);
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calData[c][1] = cc2500ReadReg(CC2500_24_FSCAL2);
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calData[c][2] = cc2500ReadReg(CC2500_25_FSCAL1);
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}
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}
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#define FRSKY_D_CHANNEL_SCALING (2.0f / 3)
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static void decodeChannelPair(uint16_t *channels, const uint8_t *packet, const uint8_t highNibbleOffset) {
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@ -250,14 +196,14 @@ rx_spi_received_e frSkyDDataReceived(uint8_t *packet)
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case STATE_BIND_BINDING1:
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case STATE_BIND_BINDING2:
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case STATE_BIND_COMPLETE:
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handleBinding(protocolState, packet);
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protocolState = handleBinding(protocolState, packet);
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break;
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case STATE_STARTING:
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listLength = 47;
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initialiseData(0);
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protocolState = STATE_UPDATE;
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nextChannel(1, true); //
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nextChannel(1);
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cc2500Strobe(CC2500_SRX);
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ret = RX_SPI_RECEIVED_BIND;
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@ -288,7 +234,7 @@ rx_spi_received_e frSkyDDataReceived(uint8_t *packet)
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if ((packet[1] == rxFrSkySpiConfig()->bindTxId[0]) &&
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(packet[2] == rxFrSkySpiConfig()->bindTxId[1])) {
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IOHi(frSkyLedPin);
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nextChannel(1, true);
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nextChannel(1);
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#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
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if ((packet[3] % 4) == 2) {
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telemetryTime = micros();
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@ -334,7 +280,7 @@ rx_spi_received_e frSkyDDataReceived(uint8_t *packet)
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}
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missingPackets++;
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nextChannel(1, true);
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nextChannel(1);
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} else {
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if (cnt++ & 0x01) {
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IOLo(frSkyLedPin);
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@ -345,7 +291,7 @@ rx_spi_received_e frSkyDDataReceived(uint8_t *packet)
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#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
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setRssiUnfiltered(0, RSSI_SOURCE_RX_PROTOCOL);
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#endif
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nextChannel(13, true);
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nextChannel(13);
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}
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cc2500Strobe(CC2500_SRX);
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@ -381,16 +327,18 @@ void frSkyDInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
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rxRuntimeConfig->channelCount = RC_CHANNEL_COUNT;
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frskySpiRxSetup();
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protocolState = STATE_INIT;
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lastPacketReceivedTime = 0;
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missingPackets = 0;
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t_out = 50;
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#if defined(USE_RX_FRSKY_SPI_TELEMETRY) && defined(USE_TELEMETRY_FRSKY)
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initFrSkyExternalTelemetry(&frSkyTelemetryInitFrameSpi,
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&frSkyTelemetryWriteSpi);
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#endif
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if (rssiSource == RSSI_SOURCE_NONE) {
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rssiSource = RSSI_SOURCE_RX_PROTOCOL;
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}
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frskySpiRxSetup(rxConfig->rx_spi_protocol);
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start_time = millis();
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}
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#endif
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@ -38,14 +38,12 @@
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#include "cc2500_frsky_shared.h"
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static uint32_t missingPackets;
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static rx_spi_protocol_e spiProtocol;
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static uint8_t calData[255][3];
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static timeMs_t timeTunedMs;
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uint8_t listLength;
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static uint8_t bindIdx;
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static uint8_t Lqi;
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static uint8_t protocolState;
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static timeMs_t timeStartedMs;
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static int8_t bindOffset;
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static bool lastBindPinStatus;
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bool bindRequested = false;
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@ -107,6 +105,67 @@ void frSkyBind(void)
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bindRequested = true;
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}
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void initialize() {
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cc2500Reset();
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cc2500WriteReg(CC2500_02_IOCFG0, 0x01);
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cc2500WriteReg(CC2500_17_MCSM1, 0x0C);
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cc2500WriteReg(CC2500_18_MCSM0, 0x18);
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cc2500WriteReg(CC2500_07_PKTCTRL1, 0x04);
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cc2500WriteReg(CC2500_3E_PATABLE, 0xFF);
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cc2500WriteReg(CC2500_0C_FSCTRL0, 0x00);
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cc2500WriteReg(CC2500_0D_FREQ2, 0x5C);
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cc2500WriteReg(CC2500_0E_FREQ1, 0x76);
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cc2500WriteReg(CC2500_0F_FREQ0, 0x27);
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cc2500WriteReg(CC2500_13_MDMCFG1, 0x23);
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cc2500WriteReg(CC2500_14_MDMCFG0, 0x7A);
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cc2500WriteReg(CC2500_19_FOCCFG, 0x16);
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cc2500WriteReg(CC2500_1A_BSCFG, 0x6C);
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cc2500WriteReg(CC2500_1B_AGCCTRL2, 0x03);
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cc2500WriteReg(CC2500_1C_AGCCTRL1, 0x40);
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cc2500WriteReg(CC2500_1D_AGCCTRL0, 0x91);
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cc2500WriteReg(CC2500_21_FREND1, 0x56);
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cc2500WriteReg(CC2500_22_FREND0, 0x10);
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cc2500WriteReg(CC2500_23_FSCAL3, 0xA9);
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cc2500WriteReg(CC2500_24_FSCAL2, 0x0A);
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cc2500WriteReg(CC2500_25_FSCAL1, 0x00);
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cc2500WriteReg(CC2500_26_FSCAL0, 0x11);
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cc2500WriteReg(CC2500_29_FSTEST, 0x59);
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cc2500WriteReg(CC2500_2C_TEST2, 0x88);
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cc2500WriteReg(CC2500_2D_TEST1, 0x31);
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cc2500WriteReg(CC2500_2E_TEST0, 0x0B);
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cc2500WriteReg(CC2500_03_FIFOTHR, 0x07);
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cc2500WriteReg(CC2500_09_ADDR, 0x00);
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if (spiProtocol == RX_SPI_FRSKY_D) {
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cc2500WriteReg(CC2500_06_PKTLEN, 0x19);
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cc2500WriteReg(CC2500_08_PKTCTRL0, 0x05);
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cc2500WriteReg(CC2500_0B_FSCTRL1, 0x08);
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cc2500WriteReg(CC2500_10_MDMCFG4, 0xAA);
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cc2500WriteReg(CC2500_11_MDMCFG3, 0x39);
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cc2500WriteReg(CC2500_12_MDMCFG2, 0x11);
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cc2500WriteReg(CC2500_15_DEVIATN, 0x42);
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} else {
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cc2500WriteReg(CC2500_06_PKTLEN, 0x1E);
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cc2500WriteReg(CC2500_08_PKTCTRL0, 0x01);
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cc2500WriteReg(CC2500_0B_FSCTRL1, 0x0A);
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cc2500WriteReg(CC2500_10_MDMCFG4, 0x7B);
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cc2500WriteReg(CC2500_11_MDMCFG3, 0x61);
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cc2500WriteReg(CC2500_12_MDMCFG2, 0x13);
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cc2500WriteReg(CC2500_15_DEVIATN, 0x51);
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}
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for(uint8_t c=0;c<0xFF;c++)
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{//calibrate all channels
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cc2500Strobe(CC2500_SIDLE);
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cc2500WriteReg(CC2500_0A_CHANNR, c);
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cc2500Strobe(CC2500_SCAL);
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delayMicroseconds(900); //
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calData[c][0] = cc2500ReadReg(CC2500_23_FSCAL3);
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calData[c][1] = cc2500ReadReg(CC2500_24_FSCAL2);
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calData[c][2] = cc2500ReadReg(CC2500_25_FSCAL1);
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}
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}
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void initialiseData(uint8_t adr)
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{
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cc2500WriteReg(CC2500_0C_FSCTRL0, (uint8_t)rxFrSkySpiConfig()->bindOffset);
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@ -151,7 +210,7 @@ static bool tuneRx(uint8_t *packet)
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cc2500ReadFifo(packet, ccLen);
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if (packet[ccLen - 1] & 0x80) {
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if (packet[2] == 0x01) {
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Lqi = packet[ccLen - 1] & 0x7F;
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uint8_t Lqi = packet[ccLen - 1] & 0x7F;
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if (Lqi < 50) {
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rxFrSkySpiConfigMutable()->bindOffset = bindOffset;
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@ -199,6 +258,8 @@ static bool getBind1(uint8_t *packet)
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packet[6 + n];
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}
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rxFrSkySpiConfigMutable()->rxNum = packet[12];
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return true;
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}
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}
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@ -231,6 +292,7 @@ static bool getBind2(uint8_t *packet)
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return true;
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}
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#endif
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for (uint8_t n = 0; n < 5; n++) {
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if (packet[6 + n] == packet[ccLen - 3] || (packet[6 + n] == 0)) {
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if (bindIdx >= 0x2D) {
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@ -280,7 +342,7 @@ bool checkBindRequested(bool reset)
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}
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}
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void handleBinding(uint8_t protocolState, uint8_t *packet)
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uint8_t handleBinding(uint8_t protocolState, uint8_t *packet)
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{
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switch (protocolState) {
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case STATE_BIND:
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@ -295,7 +357,7 @@ void handleBinding(uint8_t protocolState, uint8_t *packet)
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break;
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case STATE_BIND_TUNING:
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if (tuneRx(packet)) {
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if (tuneRx(packet)) {
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initGetBind();
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initialiseData(1);
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@ -334,9 +396,11 @@ void handleBinding(uint8_t protocolState, uint8_t *packet)
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break;
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}
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return protocolState;
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}
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void nextChannel(uint8_t skip, bool sendStrobe)
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void nextChannel(uint8_t skip)
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{
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static uint8_t channr = 0;
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@ -352,13 +416,21 @@ void nextChannel(uint8_t skip, bool sendStrobe)
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cc2500WriteReg(CC2500_25_FSCAL1,
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calData[rxFrSkySpiConfig()->bindHopData[channr]][2]);
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cc2500WriteReg(CC2500_0A_CHANNR, rxFrSkySpiConfig()->bindHopData[channr]);
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if (sendStrobe) {
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if (spiProtocol == RX_SPI_FRSKY_D) {
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cc2500Strobe(CC2500_SFRX);
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}
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}
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void frskySpiRxSetup()
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void frskySpiRxSetup(rx_spi_protocol_e protocol)
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{
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spiProtocol = protocol;
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#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
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if (rssiSource == RSSI_SOURCE_NONE) {
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rssiSource = RSSI_SOURCE_RX_PROTOCOL;
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}
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#endif
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// gpio init here
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gdoPin = IOGetByTag(IO_TAG(RX_FRSKY_SPI_GDO_0_PIN));
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IOInit(gdoPin, OWNER_RX_BIND, 0);
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@ -388,9 +460,6 @@ void frskySpiRxSetup()
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lastBindPinStatus = IORead(bindPin);
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#endif
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timeStartedMs = millis();
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missingPackets = 0;
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protocolState = STATE_INIT;
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#if defined(USE_RX_FRSKY_SPI_PA_LNA)
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#if defined(USE_RX_FRSKY_SPI_DIVERSITY)
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IOHi(antSelPin);
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@ -398,10 +467,6 @@ void frskySpiRxSetup()
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RxEnable();
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#endif // USE_RX_FRSKY_SPI_PA_LNA
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if (rssiSource == RSSI_SOURCE_NONE) {
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rssiSource = RSSI_SOURCE_RX_PROTOCOL;
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}
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// if(!frSkySpiDetect())//detect spi working routine
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// return;
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}
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@ -17,6 +17,8 @@
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#pragma once
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#include "rx/rx_spi.h"
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#define MAX_MISSING_PKT 100
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#define DEBUG_DATA_ERROR_COUNT 0
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@ -47,15 +49,16 @@ extern IO_t antSelPin;
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void setRssiDbm(uint8_t value);
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void frskySpiRxSetup();
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void frskySpiRxSetup(rx_spi_protocol_e protocol);
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void RxEnable(void);
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void TxEnable(void);
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void initialize();
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void initialiseData(uint8_t adr);
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bool checkBindRequested(bool reset);
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void handleBinding(uint8_t protocolState, uint8_t *packet);
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uint8_t handleBinding(uint8_t protocolState, uint8_t *packet);
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void nextChannel(uint8_t skip, bool sendStrobe);
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void nextChannel(uint8_t skip);
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@ -146,7 +146,6 @@ static telemetrySequenceMarker_t responseToSend;
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static uint8_t ccLen;
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static uint32_t missingPackets;
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static uint8_t calData[255][3];
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static uint8_t cnt;
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static timeDelta_t t_out;
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static timeUs_t packet_timer;
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@ -295,59 +294,6 @@ static void frSkyXTelemetryWriteFrame(const smartPortPayload_t *payload)
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#endif // USE_RX_FRSKY_SPI_TELEMETRY
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static void initialize() {
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cc2500Reset();
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cc2500WriteReg(CC2500_02_IOCFG0, 0x01);
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cc2500WriteReg(CC2500_17_MCSM1, 0x0C);
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cc2500WriteReg(CC2500_18_MCSM0, 0x18);
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cc2500WriteReg(CC2500_06_PKTLEN, 0x1E);
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cc2500WriteReg(CC2500_07_PKTCTRL1, 0x04);
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cc2500WriteReg(CC2500_08_PKTCTRL0, 0x01);
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cc2500WriteReg(CC2500_3E_PATABLE, 0xFF);
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cc2500WriteReg(CC2500_0B_FSCTRL1, 0x0A);
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cc2500WriteReg(CC2500_0C_FSCTRL0, 0x00);
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cc2500WriteReg(CC2500_0D_FREQ2, 0x5C);
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cc2500WriteReg(CC2500_0E_FREQ1, 0x76);
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cc2500WriteReg(CC2500_0F_FREQ0, 0x27);
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cc2500WriteReg(CC2500_10_MDMCFG4, 0x7B);
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cc2500WriteReg(CC2500_11_MDMCFG3, 0x61);
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cc2500WriteReg(CC2500_12_MDMCFG2, 0x13);
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cc2500WriteReg(CC2500_13_MDMCFG1, 0x23);
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cc2500WriteReg(CC2500_14_MDMCFG0, 0x7A);
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cc2500WriteReg(CC2500_15_DEVIATN, 0x51);
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cc2500WriteReg(CC2500_19_FOCCFG, 0x16);
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cc2500WriteReg(CC2500_1A_BSCFG, 0x6C);
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cc2500WriteReg(CC2500_1B_AGCCTRL2, 0x03);
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cc2500WriteReg(CC2500_1C_AGCCTRL1, 0x40);
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cc2500WriteReg(CC2500_1D_AGCCTRL0, 0x91);
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cc2500WriteReg(CC2500_21_FREND1, 0x56);
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cc2500WriteReg(CC2500_22_FREND0, 0x10);
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||||
cc2500WriteReg(CC2500_23_FSCAL3, 0xA9);
|
||||
cc2500WriteReg(CC2500_24_FSCAL2, 0x0A);
|
||||
cc2500WriteReg(CC2500_25_FSCAL1, 0x00);
|
||||
cc2500WriteReg(CC2500_26_FSCAL0, 0x11);
|
||||
cc2500WriteReg(CC2500_29_FSTEST, 0x59);
|
||||
cc2500WriteReg(CC2500_2C_TEST2, 0x88);
|
||||
cc2500WriteReg(CC2500_2D_TEST1, 0x31);
|
||||
cc2500WriteReg(CC2500_2E_TEST0, 0x0B);
|
||||
cc2500WriteReg(CC2500_03_FIFOTHR, 0x07);
|
||||
cc2500WriteReg(CC2500_09_ADDR, 0x00);
|
||||
cc2500Strobe(CC2500_SIDLE); // Go to idle...
|
||||
|
||||
for(uint8_t c=0;c<0xFF;c++)
|
||||
{//calibrate all channels
|
||||
cc2500Strobe(CC2500_SIDLE);
|
||||
cc2500WriteReg(CC2500_0A_CHANNR, c);
|
||||
cc2500Strobe(CC2500_SCAL);
|
||||
delayMicroseconds(900); //
|
||||
calData[c][0] = cc2500ReadReg(CC2500_23_FSCAL3);
|
||||
calData[c][1] = cc2500ReadReg(CC2500_24_FSCAL2);
|
||||
calData[c][2] = cc2500ReadReg(CC2500_25_FSCAL1);
|
||||
}
|
||||
//#######END INIT########
|
||||
}
|
||||
|
||||
|
||||
void frSkyXSetRcData(uint16_t *rcData, const uint8_t *packet)
|
||||
{
|
||||
uint16_t c[8];
|
||||
|
|
@ -396,14 +342,14 @@ rx_spi_received_e frSkyXDataReceived(uint8_t *packet)
|
|||
case STATE_BIND_BINDING1:
|
||||
case STATE_BIND_BINDING2:
|
||||
case STATE_BIND_COMPLETE:
|
||||
handleBinding(protocolState, packet);
|
||||
protocolState = handleBinding(protocolState, packet);
|
||||
|
||||
break;
|
||||
case STATE_STARTING:
|
||||
listLength = 47;
|
||||
initialiseData(0);
|
||||
protocolState = STATE_UPDATE;
|
||||
nextChannel(1, false); //
|
||||
nextChannel(1);
|
||||
cc2500Strobe(CC2500_SRX);
|
||||
ret = RX_SPI_RECEIVED_BIND;
|
||||
break;
|
||||
|
|
@ -433,7 +379,7 @@ rx_spi_received_e frSkyXDataReceived(uint8_t *packet)
|
|||
if (packet[0] == 0x1D) {
|
||||
if ((packet[1] == rxFrSkySpiConfig()->bindTxId[0]) &&
|
||||
(packet[2] == rxFrSkySpiConfig()->bindTxId[1]) &&
|
||||
(packet[6]==rxFrSkySpiConfig()->rxNum)) {
|
||||
(rxFrSkySpiConfig()->rxNum == 0 || packet[6] == 0 || packet[6] == rxFrSkySpiConfig()->rxNum)) {
|
||||
missingPackets = 0;
|
||||
t_out = 1;
|
||||
t_received = 0;
|
||||
|
|
@ -523,7 +469,7 @@ rx_spi_received_e frSkyXDataReceived(uint8_t *packet)
|
|||
#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
|
||||
setRssiFiltered(0, RSSI_SOURCE_RX_PROTOCOL);
|
||||
#endif
|
||||
nextChannel(1, false);
|
||||
nextChannel(1);
|
||||
cc2500Strobe(CC2500_SRX);
|
||||
protocolState = STATE_UPDATE;
|
||||
}
|
||||
|
|
@ -580,7 +526,7 @@ rx_spi_received_e frSkyXDataReceived(uint8_t *packet)
|
|||
packet_timer = micros();
|
||||
t_received=5300;
|
||||
frame_received=false;//again set for receive
|
||||
nextChannel(chanskip, false);
|
||||
nextChannel(chanskip);
|
||||
cc2500Strobe(CC2500_SRX);
|
||||
#ifdef USE_RX_FRSKY_SPI_PA_LNA
|
||||
RxEnable();
|
||||
|
|
@ -620,11 +566,15 @@ void frSkyXInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
|
|||
|
||||
rxRuntimeConfig->channelCount = RC_CHANNEL_COUNT;
|
||||
|
||||
frskySpiRxSetup();
|
||||
protocolState = STATE_INIT;
|
||||
missingPackets = 0;
|
||||
t_out = 50;
|
||||
|
||||
#if defined(USE_TELEMETRY_SMARTPORT)
|
||||
telemetryEnabled = initSmartPortTelemetryExternal(frSkyXTelemetryWriteFrame);
|
||||
#endif
|
||||
|
||||
frskySpiRxSetup(rxConfig->rx_spi_protocol);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue