// Receive ISR callback
static void sumdDataReceive(uint16_t c)
{
timeUs_t sumdTime;
static timeUs_t sumdTimeLast;
static uint8_t sumdIndex;
sumdTime = micros();
if (cmpTimeUs(sumdTime, sumdTimeLast) > 4000)
sumdIndex = 0;
sumdTimeLast = sumdTime;
if (sumdIndex == 0) {
if (c != SUMD_SYNCBYTE)
return;
else
{
sumdFrameDone = false; // lazy main loop didnt fetch the stuff
crc = 0;
}
}
if (sumdIndex == 2)
sumdChannelCount = (uint8_t)c;
if (sumdIndex < SUMD_BUFFSIZE)
sumd[sumdIndex] = (uint8_t)c;
sumdIndex++;
if (sumdIndex < sumdChannelCount * 2 + 4)
CRC16((uint8_t)c);
else
if (sumdIndex == sumdChannelCount * 2 + 5) {
sumdIndex = 0;
sumdFrameDone = true;
}
}
static FAST_CODE_NOINLINE void handleYawSpin(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
{
const float yawSpinResetRate = gyroConfig()->yaw_spin_threshold - 100.0f;
if (abs(gyroSensor->gyroDev.gyroADCf[Z]) < yawSpinResetRate) {
// testing whether 20ms of consecutive OK gyro yaw values is enough
if (cmpTimeUs(currentTimeUs, gyroSensor->yawSpinTimeUs) > 20000) {
gyroSensor->yawSpinDetected = false;
}
} else {
// reset the yaw spin time
gyroSensor->yawSpinTimeUs = currentTimeUs;
}
}
void taskUpdateBattery(timeUs_t currentTimeUs)
{
static timeUs_t vbatLastServiced = 0;
static timeUs_t ibatLastServiced = 0;
if (feature(FEATURE_VBAT)) {
if (cmpTimeUs(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
timeUs_t vbatTimeDelta = currentTimeUs - vbatLastServiced;
vbatLastServiced = currentTimeUs;
updateBattery(vbatTimeDelta);
}
}
if (feature(FEATURE_CURRENT_METER)) {
timeUs_t ibatTimeSinceLastServiced = cmpTimeUs(currentTimeUs, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTimeUs;
updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
}
}
}
void ledStripUpdate(timeUs_t currentTimeUs)
{
if (!(ledStripInitialised && isWS2811LedStripReady())) {
return;
}
if (IS_RC_MODE_ACTIVE(BOXLEDLOW) && !(ledStripConfig()->ledstrip_visual_beeper && isBeeperOn())) {
if (ledStripEnabled) {
ledStripDisable();
ledStripEnabled = false;
}
return;
}
ledStripEnabled = true;
const uint32_t now = currentTimeUs;
// test all led timers, setting corresponding bits
uint32_t timActive = 0;
for (timId_e timId = 0; timId < timTimerCount; timId++) {
if (!(disabledTimerMask & (1 << timId))) {
// sanitize timer value, so that it can be safely incremented. Handles inital timerVal value.
const timeDelta_t delta = cmpTimeUs(now, timerVal[timId]);
// max delay is limited to 5s
if (delta < 0 && delta > -MAX_TIMER_DELAY)
continue; // not ready yet
timActive |= 1 << timId;
if (delta >= 100 * 1000 || delta < 0) {
timerVal[timId] = now;
}
}
}
if (!timActive)
return; // no change this update, keep old state
// apply all layers; triggered timed functions has to update timers
scaledThrottle = ARMING_FLAG(ARMED) ? scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 0, 100) : 0;
auxInput = rcData[ledStripConfig()->ledstrip_aux_channel];
applyLedFixedLayers();
for (timId_e timId = 0; timId < ARRAYLEN(layerTable); timId++) {
uint32_t *timer = &timerVal[timId];
bool updateNow = timActive & (1 << timId);
(*layerTable[timId])(updateNow, timer);
}
ws2811UpdateStrip((ledStripFormatRGB_e)ledStripConfig()->ledstrip_grb_rgb);
}
static FAST_CODE_NOINLINE void handleOverflow(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
{
const float gyroOverflowResetRate = GYRO_OVERFLOW_RESET_THRESHOLD * gyroSensor->gyroDev.scale;
if ((abs(gyroSensor->gyroDev.gyroADCf[X]) < gyroOverflowResetRate)
&& (abs(gyroSensor->gyroDev.gyroADCf[Y]) < gyroOverflowResetRate)
&& (abs(gyroSensor->gyroDev.gyroADCf[Z]) < gyroOverflowResetRate)) {
// if we have 50ms of consecutive OK gyro vales, then assume yaw readings are OK again and reset overflowDetected
// reset requires good OK values on all axes
if (cmpTimeUs(currentTimeUs, gyroSensor->overflowTimeUs) > 50000) {
gyroSensor->overflowDetected = false;
}
} else {
// not a consecutive OK value, so reset the overflow time
gyroSensor->overflowTimeUs = currentTimeUs;
}
}
rx_spi_received_e frSkyDHandlePacket(uint8_t * const packet, uint8_t * const protocolState)
{
static timeUs_t lastPacketReceivedTime = 0;
static timeUs_t telemetryTimeUs;
rx_spi_received_e ret = RX_SPI_RECEIVED_NONE;
const timeUs_t currentPacketReceivedTime = micros();
switch (*protocolState) {
case STATE_STARTING:
listLength = 47;
initialiseData(0);
*protocolState = STATE_UPDATE;
nextChannel(1);
cc2500Strobe(CC2500_SRX);
break;
case STATE_UPDATE:
lastPacketReceivedTime = currentPacketReceivedTime;
*protocolState = STATE_DATA;
if (rxSpiCheckBindRequested(false)) {
lastPacketReceivedTime = 0;
timeoutUs = 50;
missingPackets = 0;
*protocolState = STATE_INIT;
break;
}
FALLTHROUGH; //!!TODO -check this fall through is correct
// here FS code could be
case STATE_DATA:
if (cc2500getGdo()) {
uint8_t ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (ccLen >= 20) {
cc2500ReadFifo(packet, 20);
if (packet[19] & 0x80) {
missingPackets = 0;
timeoutUs = 1;
if (packet[0] == 0x11) {
if ((packet[1] == rxFrSkySpiConfig()->bindTxId[0]) &&
(packet[2] == rxFrSkySpiConfig()->bindTxId[1])) {
rxSpiLedOn();
nextChannel(1);
cc2500setRssiDbm(packet[18]);
#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
if ((packet[3] % 4) == 2) {
telemetryTimeUs = micros();
buildTelemetryFrame(packet);
*protocolState = STATE_TELEMETRY;
} else
#endif
{
cc2500Strobe(CC2500_SRX);
*protocolState = STATE_UPDATE;
}
ret = RX_SPI_RECEIVED_DATA;
lastPacketReceivedTime = currentPacketReceivedTime;
}
}
}
}
}
if (cmpTimeUs(currentPacketReceivedTime, lastPacketReceivedTime) > (timeoutUs * SYNC_DELAY_MAX)) {
#if defined(USE_RX_CC2500_SPI_PA_LNA)
cc2500TxDisable();
#endif
if (timeoutUs == 1) {
#if defined(USE_RX_CC2500_SPI_PA_LNA) && defined(USE_RX_CC2500_SPI_DIVERSITY) // SE4311 chip
if (missingPackets >= 2) {
cc2500switchAntennae();
}
#endif
if (missingPackets > MAX_MISSING_PKT) {
timeoutUs = 50;
setRssiDirect(0, RSSI_SOURCE_RX_PROTOCOL);
}
missingPackets++;
nextChannel(1);
} else {
rxSpiLedToggle();
setRssi(0, RSSI_SOURCE_RX_PROTOCOL);
nextChannel(13);
}
cc2500Strobe(CC2500_SRX);
*protocolState = STATE_UPDATE;
}
break;
#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
case STATE_TELEMETRY:
if (cmpTimeUs(micros(), telemetryTimeUs) >= 1380) {
cc2500Strobe(CC2500_SIDLE);
cc2500SetPower(6);
cc2500Strobe(CC2500_SFRX);
#if defined(USE_RX_CC2500_SPI_PA_LNA)
cc2500TxEnable();
#endif
cc2500Strobe(CC2500_SIDLE);
cc2500WriteFifo(frame, frame[0] + 1);
*protocolState = STATE_DATA;
ret = RX_SPI_RECEIVED_DATA;
lastPacketReceivedTime = currentPacketReceivedTime;
}
break;
#endif
}
return ret;
}
/*
* processRx called from taskUpdateRxMain
*/
bool processRx(timeUs_t currentTimeUs)
{
static bool armedBeeperOn = false;
if (!calculateRxChannelsAndUpdateFailsafe(currentTimeUs)) {
return false;
}
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
disarm();
}
updateRSSI(currentTimeUs);
if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
const throttleStatus_e throttleStatus = calculateThrottleStatus();
const uint8_t throttlePercent = calculateThrottlePercent();
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
airmodeIsActivated = true; // Prevent Iterm from being reset
}
} else {
airmodeIsActivated = false;
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetITerm();
if (currentPidProfile->pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
pidStabilisationState(PID_STABILISATION_ON);
}
#ifdef USE_RUNAWAY_TAKEOFF
// If runaway_takeoff_prevention is enabled, accumulate the amount of time that throttle
// is above runaway_takeoff_deactivate_throttle with the any of the R/P/Y sticks deflected
// to at least runaway_takeoff_stick_percent percent while the pidSum on all axis is kept low.
// Once the amount of accumulated time exceeds runaway_takeoff_deactivate_delay then disable
// prevention for the remainder of the battery.
if (ARMING_FLAG(ARMED)
&& pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& !STATE(FIXED_WING)) {
// Determine if we're in "flight"
// - motors running
// - throttle over runaway_takeoff_deactivate_throttle_percent
// - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
// - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
bool inStableFlight = false;
if (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
&& (fabsf(pidData[FD_PITCH].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(pidData[FD_ROLL].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(pidData[FD_YAW].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)) {
inStableFlight = true;
if (runawayTakeoffDeactivateUs == 0) {
runawayTakeoffDeactivateUs = currentTimeUs;
}
}
}
// If we're in flight, then accumulate the time and deactivate once it exceeds runaway_takeoff_deactivate_delay milliseconds
if (inStableFlight) {
if (runawayTakeoffDeactivateUs == 0) {
runawayTakeoffDeactivateUs = currentTimeUs;
}
uint16_t deactivateDelay = pidConfig()->runaway_takeoff_deactivate_delay;
// at high throttle levels reduce deactivation delay by 50%
if (throttlePercent >= RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT) {
deactivateDelay = deactivateDelay / 2;
}
if ((cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) > deactivateDelay * 1000) {
runawayTakeoffCheckDisabled = true;
}
} else {
if (runawayTakeoffDeactivateUs != 0) {
runawayTakeoffAccumulatedUs += cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs);
}
runawayTakeoffDeactivateUs = 0;
}
if (runawayTakeoffDeactivateUs == 0) {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, runawayTakeoffAccumulatedUs / 1000);
} else {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_TRUE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, (cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) / 1000);
}
} else {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, DEBUG_RUNAWAY_TAKEOFF_FALSE);
}
#endif
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
&& !feature(FEATURE_3D)
&& !isAirmodeActive()
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (armingConfig()->auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
disarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (armingConfig()->auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions();
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes();
#ifdef USE_DSHOT
/* Enable beep warning when the crash flip mode is active */
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
beeper(BEEPER_CRASH_FLIP_MODE);
}
#endif
if (!cliMode) {
updateAdjustmentStates();
processRcAdjustments(currentControlRateProfile);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeIsActive()) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
#ifdef USE_GPS_RESCUE
if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE)) {
if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}
#endif
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
// increase frequency of attitude task to reduce drift when in angle or horizon mode
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(500));
} else {
LED1_OFF;
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
}
if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
DISABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
}
#if defined(USE_ACC) || defined(USE_MAG)
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
#if defined(USE_GPS) || defined(USE_MAG)
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
#endif
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
if (imuQuaternionHeadfreeOffsetSet()){
beeper(BEEPER_RX_SET);
}
}
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef USE_TELEMETRY
static bool sharedPortTelemetryEnabled = false;
if (feature(FEATURE_TELEMETRY)) {
bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
mspSerialReleaseSharedTelemetryPorts();
telemetryCheckState();
sharedPortTelemetryEnabled = true;
} else if (!enableSharedPortTelemetry && sharedPortTelemetryEnabled) {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspSerialAllocatePorts();
sharedPortTelemetryEnabled = false;
}
}
#endif
#ifdef USE_VTX_CONTROL
vtxUpdateActivatedChannel();
if (canUpdateVTX()) {
handleVTXControlButton();
}
#endif
#ifdef USE_ACRO_TRAINER
pidSetAcroTrainerState(IS_RC_MODE_ACTIVE(BOXACROTRAINER) && sensors(SENSOR_ACC));
#endif // USE_ACRO_TRAINER
#ifdef USE_RC_SMOOTHING_FILTER
if (ARMING_FLAG(ARMED) && !rcSmoothingInitializationComplete()) {
beeper(BEEPER_RC_SMOOTHING_INIT_FAIL);
}
#endif
pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || feature(FEATURE_ANTI_GRAVITY));
return true;
}
// Receive ISR callback
static void sbusDataReceive(uint16_t c, void *data)
{
static uint16_t sbusDesyncCounter = 0;
sbusFrameData_t *sbusFrameData = data;
const timeUs_t currentTimeUs = micros();
const timeDelta_t timeSinceLastByteUs = cmpTimeUs(currentTimeUs, sbusFrameData->lastActivityTimeUs);
sbusFrameData->lastActivityTimeUs = currentTimeUs;
// Handle inter-frame gap. We dwell in STATE_SBUS_WAIT_SYNC state ignoring all incoming bytes until we get long enough quite period on the wire
if (sbusFrameData->state == STATE_SBUS_WAIT_SYNC && timeSinceLastByteUs >= rxConfig()->sbusSyncInterval) {
DEBUG_SET(DEBUG_SBUS, DEBUG_SBUS_INTERFRAME_TIME, timeSinceLastByteUs);
sbusFrameData->state = STATE_SBUS_SYNC;
}
switch (sbusFrameData->state) {
case STATE_SBUS_SYNC:
if (c == SBUS_FRAME_BEGIN_BYTE) {
sbusFrameData->position = 0;
sbusFrameData->buffer[sbusFrameData->position++] = (uint8_t)c;
sbusFrameData->state = STATE_SBUS_PAYLOAD;
}
break;
case STATE_SBUS_PAYLOAD:
sbusFrameData->buffer[sbusFrameData->position++] = (uint8_t)c;
if (sbusFrameData->position == SBUS_FRAME_SIZE) {
const sbusFrame_t * frame = (sbusFrame_t *)&sbusFrameData->buffer[0];
bool frameValid = false;
// Do some sanity check
switch (frame->endByte) {
case 0x00: // This is S.BUS 1
case 0x04: // S.BUS 2 receiver voltage
case 0x14: // S.BUS 2 GPS/baro
case 0x24: // Unknown SBUS2 data
case 0x34: // Unknown SBUS2 data
frameValid = true;
sbusFrameData->state = STATE_SBUS_WAIT_SYNC;
break;
default: // Failed end marker
sbusFrameData->state = STATE_SBUS_WAIT_SYNC;
sbusDesyncCounter++;
DEBUG_SET(DEBUG_SBUS, DEBUG_SBUS_DESYNC_COUNTER, sbusDesyncCounter);
break;
}
// Frame seems sane, pass data to decoder
if (!sbusFrameData->frameDone && frameValid) {
DEBUG_SET(DEBUG_SBUS, DEBUG_SBUS_FRAME_FLAGS, frame->channels.flags);
memcpy((void *)&sbusFrameData->frame, (void *)&sbusFrameData->buffer[0], SBUS_FRAME_SIZE);
sbusFrameData->frameDone = true;
}
}
break;
case STATE_SBUS_WAIT_SYNC:
// Stay at this state and do nothing. Exit will be handled before byte is processed if the
// inter-frame gap is long enough
break;
}
}