void beacon_sequence()
{
static int beacon_seq_state = 0;
switch ( beacon_seq_state )
{
case 0:
// send data if enough time passed since last send
if ( gettime() - ble_txtime > BLE_INTERVAL )
{
ble_send = 1;
oldchan = rf_chan;
send_beacon();
beacon_seq_state++;
}
break;
case 1:
// wait for data to finish transmitting
if( (xn_readreg(0x17)&B00010000) )
{
xn_writereg( 0 , XN_TO_RX );
xn_writereg(0x25, rfchannel[oldchan]);
beacon_seq_state++;
goto next;
}
else
{// if it takes too long we get rid of it
if ( gettime() - ble_txtime > BLE_TX_TIMEOUT )
{
xn_command( FLUSH_TX);
xn_writereg( 0 , XN_TO_RX );
beacon_seq_state++;
ble_send = 0;
}
}
break;
case 2:
next:
// restore radio settings to protocol compatible
// mainly channel here if bind
ble_send = 0;
if ( rxmode == 0 )
{
xn_writereg(0x25, 0 ); // Set channel frequency , bind
}
beacon_seq_state++;
break;
default:
beacon_seq_state = 0;
break;
}
}
void rx_init()
{
uint8_t bbcal[6] = { 0x3f , 0x4c , 0x84 , 0x6F , 0x9c , 0x20 };
writeregs( bbcal , sizeof(bbcal) );
uint8_t rfcal[8] = { 0x3e , 0xc9 , 0x9a , 0x80 , 0x61 , 0xbb , 0xab , 0x9c };
writeregs( rfcal , sizeof(rfcal) );
uint8_t demodcal[6] = { 0x39 , 0x0b , 0xdf , 0xc4 , 0xa7 , 0x03};
writeregs( demodcal , sizeof(demodcal) );
int rxaddress[5] = { 0 , 0 , 0 , 0 , 0 };
xn_writerxaddress( rxaddress);
xn_writereg( EN_AA , 0 ); // aa disabled
xn_writereg( EN_RXADDR , 1 ); // pipe 0 only
xn_writereg( RF_SETUP , B00000001); // lna high current on ( better performance )
xn_writereg( RX_PW_P0 , 15 ); // payload size
xn_writereg( SETUP_RETR , 0 ); // no retransmissions ( redundant?)
xn_writereg( SETUP_AW , 3 ); // address size (5 bits)
xn_command( FLUSH_RX);
xn_writereg( RF_CH , 0 ); // bind on channel 0
xn_writereg( 0 , B00001111 ); // power up, crc enabled
#ifdef RADIO_CHECK
void check_radio(void);
check_radio();
#endif
}
void rx_init()
{
writeregs( bbcal , sizeof(bbcal) );
writeregs( rfcal , sizeof(rfcal) );
writeregs( demodcal , sizeof(demodcal) );
int rxaddress[5] = {0xCC,0xCC,0xCC,0xCC,0xCC};
xn_writerxaddress( rxaddress);
xn_writetxaddress( rxaddress);
xn_writereg( EN_AA , 0 ); // aa disabled
xn_writereg( EN_RXADDR , 1 ); // pipe 0 only
// xn_writereg( RF_SETUP , B00000001); // lna high current on ( better performance )
xn_writereg( RF_SETUP , B00000111);
xn_writereg( RX_PW_P0 , PAYLOAD_LENGHT ); // payload size
xn_writereg( SETUP_RETR , 0 ); // no retransmissions ( redundant?)
xn_writereg( SETUP_AW , 3 ); // address size (5 bits)
xn_command( FLUSH_RX);
xn_writereg( RF_CH , 2 ); // bind channel
xn_writereg( 0 , B00001111 ); // power up, crc enabled
}
void checkrx( void)
{
if ( checkpacket() )
{
xn_readpayload( rxdata , 15);
if ( rxmode == RXMODE_BIND)
{ // rx startup , bind mode
if ( rxdata[0] == 0xAA )
{// bind packet received
txid[0] = rxdata[1];
txid[1] = rxdata[2];
rxmode = RXMODE_NORMAL;
xn_writereg(0x25, (uint8_t)(rxdata[1] - 0x7D) ); // Set channel frequency
}
}
else
{ // normal mode
#ifdef RXDEBUG
rxdebug.packettime = gettime() - lastrxtime;
lastrxtime = gettime();
#endif
int pass = decode_cg023();
if ( pass )
{
failsafetime = gettime();
failsafe = 0;
}
else
{
#ifdef RXDEBUG
rxdebug.failcount++;
#endif
}
}// end normal rx mode
}// end packet received
unsigned long time = gettime();
if( time - failsafetime > FAILSAFETIME )
{// failsafe
failsafe = 1;
rx[0] = 0;
rx[1] = 0;
rx[2] = 0;
rx[3] = 0;
}
#ifdef RXDEBUG
// packets per second counter
if ( time - secondtimer > 1000000)
{
rxdebug.packetpersecond = packetrx;
packetrx = 0;
secondtimer = gettime();
}
#endif
}
void send_beacon()
{
// Channel hopping
ch++;
if (ch>2 )
{
ch = 0;
}
// sending on channel 37 only to use whitening array
if (ONE_CHANNEL) ch = 0;
xn_writereg(RF_CH, chRf[ch]);
uint8_t L=0;
#ifdef USE_IBEACON
L=0;
// ibeacon packet structure
buf[L++] = B00100010; //PDU type, given address is random; 0x42 for Android and 0x40 for iPhone
buf[L++] = 36; // length of payload
buf[L++] = MY_MAC_0;
buf[L++] = MY_MAC_1;
buf[L++] = MY_MAC_2;
buf[L++] = MY_MAC_3;
buf[L++] = MY_MAC_4;
buf[L++] = MY_MAC_5;
// packet data unit
buf[L++] = 2; //flags (LE-only, limited discovery mode)
buf[L++] = 0x01;
buf[L++] = 0x06;
buf[L++] = 0x1A; // length of the name, including type byte
buf[L++] = 0xff;
buf[L++] = 0x4c;
buf[L++] = 0x00;
buf[L++] = 0x02;
buf[L++] = 0x15;
buf[L++] = 0x58;
buf[L++] = 0x5c;
buf[L++] = 0xde;
buf[L++] = 0x93;
buf[L++] = 0x1b;
buf[L++] = 0x01;
buf[L++] = 0x42;
buf[L++] = 0xcc;
buf[L++] = 0x9a;
buf[L++] = 0x13;
buf[L++] = 0x25;
buf[L++] = 0x00;
buf[L++] = 0x9b;
buf[L++] = 0xed;
buf[L++] = 0xc6;
buf[L++] = 0xe5;
buf[L++] = 0x00;
buf[L++] = 0x00;
buf[L++] = 0x00;
buf[L++] = 0x00;
buf[L++] = 0xCA; // tx power
#else
extern float vbattfilt;
int vbatt = vbattfilt *1000.0f;
unsigned int time = gettime();
time = time>>20; // divide by 1024*1024, no time for accuracy here
time = time * 10;
L=0;
buf[L++] = B00100010; //PDU type, given address is random; 0x42 for Android and 0x40 for iPhone
//buf[L++] = 0x42; //PDU type, given address is random; 0x42 for Android and 0x40 for iPhone
// max len 27 with 5 byte address = 37 total payload bytes
buf[L++] = 10+ 21; // length of payload
buf[L++] = MY_MAC_0;
buf[L++] = MY_MAC_1;
buf[L++] = MY_MAC_2;
buf[L++] = MY_MAC_3;
buf[L++] = MY_MAC_4;
buf[L++] = MY_MAC_5;
// packet data unit
buf[L++] = 2; //flags lenght(LE-only, limited discovery mode)
buf[L++] = 0x01; // compulsory flags
buf[L++] = 0x06; // flag value
buf[L++] = 0x03; // Length of next block
buf[L++] = 0x03; // Param: Service List
buf[L++] = 0xAA; // Eddystone ID - 16 bit 0xFEAA
buf[L++] = 0xFE; // Eddystone ID
buf[L++] = 0x11; // Length of next block
buf[L++] = 0x16; // Service Data
buf[L++] = 0xAA; // Eddystone ID
buf[L++] = 0xFE; // Eddystone ID
buf[L++] = 0x20; // TLM flag
buf[L++] = 0x00; // TLM version
buf[L++] = vbatt>>8; // Battery voltage
buf[L++] = vbatt; // Battery voltage
buf[L++] = 0x80; // temperature 8.8 fixed point
buf[L++] = 0x00; // temperature 8.8 fixed point
buf[L++] = 0x00; // advertisment count 0
buf[L++] = 0x00; // advertisment count 1
buf[L++] = packetpersecond>>8&0xff; // advertisment count 2
buf[L++] = packetpersecond&0xff; // advertisment count 3
buf[L++] = time>>24; // powerup time 0
buf[L++] = time>>16; // powerup time 1
buf[L++] = time>>8; // powerup time 2
buf[L++] = time; // powerup time 3 in seconds times 10.
#endif
L=L+3; //crc
btLePacketEncode(buf, L, ch );
// undo xn297 data whitening
for (uint8_t i = 0; i < L; ++i)
{
buf[i] = buf[i] ^ xn297_scramble_rev[i+ XN297_ADDRESS_SIZE_BLE] ;
}
for( int i = 0 ; i < L ; i++) buffint[i] = buf[i];
xn_command( FLUSH_TX);
xn_writereg( 0 , XN_TO_TX );
payloadsize = L;
xn_writepayload( buffint , L );
ble_txtime = gettime();
return;
}
void rx_init()
{
// always on (CH_ON) channel set 1
aux[AUXNUMBER - 2] = 1;
// always off (CH_OFF) channel set 0
aux[AUXNUMBER - 1] = 0;
#ifdef AUX1_START_ON
aux[CH_AUX1] = 1;
#endif
#ifdef RADIO_XN297L
#define XN_TO_RX B10001111
#define XN_TO_TX B10000010
#define XN_POWER B00111111
#endif
#ifdef RADIO_XN297
static uint8_t bbcal[6] = { 0x3f , 0x4c , 0x84 , 0x6F , 0x9c , 0x20 };
writeregs( bbcal , sizeof(bbcal) );
// new values
static uint8_t rfcal[8] = { 0x3e , 0xc9 , 0x9a , 0xA0 , 0x61 , 0xbb , 0xab , 0x9c };
writeregs( rfcal , sizeof(rfcal) );
static uint8_t demodcal[6] = { 0x39 , 0x0b , 0xdf , 0xc4 , 0xa7 , 0x03};
writeregs( demodcal , sizeof(demodcal) );
#define XN_TO_RX B00001111
#define XN_TO_TX B00000010
#define XN_POWER B00000111
#endif
bleinit();
delay(100);
int rxaddress[5] = { 0 , 0 , 0 , 0 , 0 };
xn_writerxaddress( rxaddress);
xn_writereg( EN_AA , 0 ); // aa disabled
xn_writereg( EN_RXADDR , 1 ); // pipe 0 only
xn_writereg( RF_SETUP , XN_POWER); // lna high current on ( better performance )
xn_writereg( RX_PW_P0 , 15 ); // payload size
xn_writereg( SETUP_RETR , 0 ); // no retransmissions ( redundant?)
xn_writereg( SETUP_AW , 3 ); // address size (5 bits)
xn_command( FLUSH_RX);
xn_writereg( RF_CH , 0 ); // bind on channel 0
// set above
// xn_writereg( 29 , 32); // feture reg , CE mode (software controlled)
#ifdef RADIO_XN297L
xn_writereg( 0x1d, B00111000 ); // 64 bit payload , software ce
spi_cson();
spi_sendbyte( 0xFD); // internal CE high command
spi_sendbyte( 0); // required for above
spi_csoff();
#endif
#ifdef RADIO_XN297
xn_writereg( 0x1d, B00011000 ); // 64 bit payload , software ce
#endif
xn_writereg( 0 , XN_TO_RX ); // power up, crc enabled, rx mode
#ifdef RADIO_CHECK
void check_radio(void);
check_radio();
#endif
}
void nextchannel()
{
chan++;
if (chan > 3 ) chan = 0;
xn_writereg(0x25, rfchannel[chan] );
}
void checkrx( void)
{
int packetreceived = checkpacket();
int pass = 0;
if ( packetreceived )
{
if ( rxmode == 0)
{ // rx startup , bind mode
xn_readpayload( rxdata , 15);
if ( rxdata[0] == 164 )
{// bind packet
rfchannel[0] = rxdata[6];
rfchannel[1] = rxdata[7];
rfchannel[2] = rxdata[8];
rfchannel[3] = rxdata[9];
rxaddress[0] = rxdata[1];
rxaddress[1] = rxdata[2];
rxaddress[2] = rxdata[3];
rxaddress[3] = rxdata[4];
rxaddress[4] = rxdata[5];
rxmode = 123;
xn_writerxaddress( rxaddress );
xn_writereg(0x25, rfchannel[chan] ); // Set channel frequency
#ifdef SERIAL_INFO
printf( " BIND \n");
#endif
}
}
else
{ // normal mode
#ifdef RXDEBUG
rxdebug.channelcount[chan]++;
rxdebug.packettime = gettime() - lastrxtime;
#endif
// for longer loop times than 3ms it was skipping 2 channels
//chan++;
//if (chan > 3 ) chan = 0;
nextchannel();
lastrxtime = gettime();
xn_readpayload( rxdata , 15);
pass = decodepacket();
if (pass)
{
#ifdef RXDEBUG
packetrx++;
#endif
failsafetime = lastrxtime;
failsafe = 0;
}
else
{
#ifdef RXDEBUG
rxdebug.failcount++;
#endif
}
}// end normal rx mode
}// end packet received
unsigned long time = gettime();
// sequence period 12000
if( time - lastrxtime > 9000 && rxmode != 0)
{// channel with no reception
lastrxtime = time;
nextchannel();
}
if( time - failsafetime > FAILSAFETIME )
{// failsafe
failsafe = 1;
rx[0] = 0;
rx[1] = 0;
rx[2] = 0;
rx[3] = 0;
}
#ifdef RXDEBUG
if ( gettime() - secondtimer > 1000000)
{
rxdebug.packetpersecond = packetrx;
packetrx = 0;
secondtimer = gettime();
}
#endif
}
void checkrx(void)
{
int packetreceived = checkpacket();
int pass = 0;
if (packetreceived)
{
if (rxmode == RXMODE_BIND)
{ // rx startup , bind mode
xn_readpayload(rxdata, 15);
if (rxdata[0] == 164)
{ // bind packet
rfchannel[0] = rxdata[6];
rfchannel[1] = rxdata[7];
rfchannel[2] = rxdata[8];
rfchannel[3] = rxdata[9];
int rxaddress[5];
rxaddress[0] = rxdata[1];
rxaddress[1] = rxdata[2];
rxaddress[2] = rxdata[3];
rxaddress[3] = rxdata[4];
rxaddress[4] = rxdata[5];
xn_writerxaddress(rxaddress);
xn_writereg(0x25, rfchannel[chan]); // Set channel frequency
rxmode = RXMODE_NORMAL;
#ifdef SERIAL
printf(" BIND \n");
#endif
}
}
else
{ // normal mode
#ifdef RXDEBUG
rxdebug.channelcount[chan]++;
rxdebug.packettime = gettime() - lastrxtime;
if ( skipchannel&& !timingfail ) afterskip[skipchannel]++;
if ( timingfail ) afterskip[0]++;
#endif
unsigned long temptime = gettime();
nextchannel();
xn_readpayload(rxdata, 15);
pass = decodepacket();
if (pass)
{
#ifdef RXDEBUG
packetrx++;
#endif
skipchannel = 0;
timingfail = 0;
lastrxchan = chan;
lastrxtime = temptime;
failsafetime = temptime;
failsafe = 0;
}
else
{
#ifdef RXDEBUG
rxdebug.failcount++;
#endif
}
} // end normal rx mode
} // end packet received
unsigned long time = gettime();
// sequence period 12000
if (time - lastrxtime > (HOPPING_NUMBER*PACKET_PERIOD + 1000) && rxmode != RXMODE_BIND)
{
// channel with no reception
lastrxtime = time;
// set channel to last with reception
if (!timingfail) chan = lastrxchan;
// advance to next channel
nextchannel();
// set flag to discard packet timing
timingfail = 1;
}
if ( !timingfail && skipchannel < HOPPING_NUMBER+1 && rxmode != RXMODE_BIND)
{
unsigned int temp = time - lastrxtime ;
if ( temp > 1000 && ( temp + (PACKET_OFFSET) )/((int) PACKET_PERIOD) >= (skipchannel + 1) )
{
nextchannel();
#ifdef RXDEBUG
skipstats[skipchannel]++;
#endif
skipchannel++;
}
}
if (time - failsafetime > FAILSAFETIME)
{ // failsafe
failsafe = 1;
rx[0] = 0;
rx[1] = 0;
rx[2] = 0;
rx[3] = 0;
}
#ifdef RXDEBUG
if (gettime() - secondtimer > 1000000)
{
rxdebug.packetpersecond = packetrx;
packetrx = 0;
secondtimer = gettime();
}
#endif
}
void send_beacon()
{
// Channel hopping
ch++;
if (ch>2 )
{
ch = 0;
}
// sending on channel 37 only to use whitening array
if (ONE_CHANNEL) ch = 0;
xn_writereg(RF_CH, chRf[ch]);
uint8_t L=0;
extern int random_seed;
//extern int random_seed; //SilverVISE
//SilverVISE - start
#ifdef MY_QUAD_ID
random_seed = MY_QUAD_ID;
#else
#warning WARNING!!! USING RANDOM MAC ADDRESS! PLEASE READ COMMENT INSIDE rx_bayang_ble_app.c REGARDING POSSIBLE PROBLEMS WITH BLUETOOTH DUE TO ANDROID BUG!
#endif
// SilverVISE - end
extern float vbatt_comp;
int vbatt_comp_int = vbatt_comp *1000.0f;
extern int onground;
unsigned int time = gettime();
time = time>>20; // divide by 1024*1024, no time for accuracy here
time = time * 10;
//int acro_or_level_mode;
//if ( aux[LEVELMODE] ) acro_or_level_mode = 1;
//else acro_or_level_mode = 0;
extern unsigned int total_time_in_air;
extern unsigned int time_throttle_on;
unsigned int uptime = gettime();
int TLMorPID = 0; // 0 = TLM, 1 = PID+TLM
#ifdef PID_GESTURE_TUNING
TLMorPID = 1; // 0 = TLM, 1 = PID+TLM
#endif
if (onground ==1)
{
time_throttle_on = uptime;
}
else
{
total_time_in_air += (uptime - time_throttle_on);
time_throttle_on = uptime;
}
unsigned int total_time_in_air_time = total_time_in_air>>20;
total_time_in_air_time = total_time_in_air_time *10;
int rate_and_mode_value = (aux[RATES]<<1) + !!(aux[LEVELMODE]);
extern int bound_for_BLE_packet;
extern int failsafe;
int onground_and_bind = (failsafe<<2)+(onground<<1)+(bound_for_BLE_packet);
#ifdef USE_STOCK_TX
//nothing to do - already prepared (4. bit flag is 0 for stock TX)
#else
onground_and_bind = 8+onground_and_bind;
#endif
int packetpersecond_short = packetpersecond/2;
if (packetpersecond_short>0xff) packetpersecond=0xff;
buf[L++] = B00100010; //PDU type, given address is random; 0x42 for Android and 0x40 for iPhone
//buf[L++] = 0x42; //PDU type, given address is random; 0x42 for Android and 0x40 for iPhone
// max len 27 with 5 byte address = 37 total payload bytes
buf[L++] = 10+ 21; // length of payload
buf[L++] = random_seed; //SilverVISE
buf[L++] = MY_MAC_1;
buf[L++] = MY_MAC_2;
buf[L++] = MY_MAC_3;
buf[L++] = MY_MAC_4;
buf[L++] = MY_MAC_5;
// packet data unit
buf[L++] = 2; //flags lenght(LE-only, limited discovery mode)
buf[L++] = 0x01; // compulsory flags
buf[L++] = 0x06; // flag value
buf[L++] = 0x15; // Length of next block
buf[L++] = 0x16; // Service Data
// ------------------------- TLM+PID
if (TLMorPID == 1)
{
buf[L++] = 0x2F; //PID+TLM datatype_and_packetID; // xxxxyyyy -> yyyy = 1111 packet type ID (custom BLE type), xxxx = type of data in packet: 0001 -> telemetry, 0002->PID
#ifdef MY_QUAD_MODEL
buf[L++] = MY_QUAD_MODEL;
#else
buf[L++] = 0x20; // quad model (00 - unknown, 01- H8 mini green board, 20 - H101... check comments at start of this file for details)
#endif
buf[L++] = random_seed; //already custom entry - need to be randomized
#ifdef MY_QUAD_NAME
//fill with characters from MY_QUAD_NAME (just first 6 chars)
int string_len = 0;
while (string_len< 6)
{
if (MY_QUAD_NAME[string_len]=='\0') break;
buf[L++] = (char) MY_QUAD_NAME[string_len];
string_len++;
}
//fill the rest (up to 6 bytes) with blanks
for ( int i = string_len ; i < 6; i++)
{
buf[L++] = ' '; //blank
}
#else
buf[L++]=(char)'N';
buf[L++]=(char)'O';
buf[L++]=(char)'N';
buf[L++]=(char)'A';
buf[L++]=(char)'M';
buf[L++]=(char)'E';
#endif
extern int current_pid_term; //0 = pidkp, 1 = pidki, 2 = pidkd
extern int current_pid_axis; //0 = roll, 1 = pitch, 2 = yaw
//int selectedPID = 0; //inxed of selected PID for changing
int selectedPID = ((current_pid_term)*3)+(current_pid_axis);
buf[L++] = (current_PID_for_display<<4)+selectedPID; // xy => x=current PID for display 0 - 14 (cycling...), y = selected PID for changing 0 - 14
buf[L++] = packetpersecond_short;
/*
buf[L++] = onground_and_bind; //binary xxxxabcd - xxxx = error code or warning, a -> 0 = stock TX, 1= other TX, b -> 0 = not failsafe, 1 = failsafe, c = 0 -> not bound, 1 -> bound, d = 0 -> in the air, 1 = on the ground;
*/
#ifdef COMBINE_PITCH_ROLL_PID_TUNING
buf[L++] = B01000000+((rate_and_mode_value<<4)+onground_and_bind); //binary xxRMabcd - x = error code or warning, 1 = combined roll+pitch tuning, R = rate (0 - normal, 1 - fast) , M = mode (1 - level, 0 - acro); a -> 0 = stock TX, 1= other TX, b -> 0 = not failsafe, 1 = failsafe, c = 0 -> not bound, 1 -> bound, d = 0 -> in the air, 1 = on the ground;
int PID_pause = 8;
#else
buf[L++] = (rate_and_mode_value<<4)+onground_and_bind; //binary x0RMabcd - x = error code or warning, 0 = no combined roll+pitch tuning, R = rate (0 - normal, 1 - fast) , M = mode (1 - level, 0 - acro); a -> 0 = stock TX, 1= other TX, b -> 0 = not failsafe, 1 = failsafe, c = 0 -> not bound, 1 -> bound, d = 0 -> in the air, 1 = on the ground;
int PID_pause = 12;
#endif
buf[L++] = vbatt_comp_int>>8; // Battery voltage compensated
buf[L++] = vbatt_comp_int; // Battery voltage compensated
extern float pidkp[]; // current_PID_for_display = 0, 1, 2
extern float pidki[]; // current_PID_for_display = 3, 4, 5
extern float pidkd[]; // current_PID_for_display = 6, 7, 8
extern float apidkp[]; // current_PID_for_display = 9, 10
extern float apidki[]; // current_PID_for_display = 11, 12
extern float apidkd[]; // current_PID_for_display = 13, 14
unsigned long pid_for_display = 0;
switch ( current_PID_for_display )
{
case 0:pid_for_display =(uint16_t)(pidkp[0]*10000.0f);break;
case 1:pid_for_display =(uint16_t)(pidkp[1]*10000.0f);break;
case 2:pid_for_display =(uint16_t)(pidkp[2]*10000.0f);break;
case 3:pid_for_display =(uint16_t)(pidki[0]*10000.0f);break;
case 4:pid_for_display =(uint16_t)(pidki[1]*10000.0f);break;
case 5:pid_for_display =(uint16_t)(pidki[2]*10000.0f);break;
case 6:pid_for_display =(uint16_t)(pidkd[0]*10000.0f);break;
case 7:pid_for_display =(uint16_t)(pidkd[1]*10000.0f);break;
case 8:pid_for_display =(uint16_t)(pidkd[2]*10000.0f);break;
/*
//level mode PIDs - disabled for now...
case 9:pid_for_display =(uint16_t)(apidkp[0]*10000.0f);break;
case 10:pid_for_display =(uint16_t)(apidkp[1]*10000.0f);break;
case 11:pid_for_display =(uint16_t)(apidki[0]*10000.0f);break;
case 12:pid_for_display =(uint16_t)(apidki[1]*10000.0f);break;
case 13:pid_for_display =(uint16_t)(apidkd[0]*10000.0f);break;
case 14:pid_for_display =(uint16_t)(apidkd[1]*10000.0f);break;
*/
}
/*buf[L++] = total_time_in_air_time>>8; // total time in air
buf[L++] = total_time_in_air_time; // total time in air
buf[L++] = time>>8;
buf[L++] = time;
*/
buf[L++] = total_time_in_air_time>>8; // total time in air
buf[L++] = total_time_in_air_time; // total time in air
buf[L++] = time>>8;
buf[L++] = time;
buf[L++] = pid_for_display>>8;
buf[L++] = pid_for_display;
L=L+3; //crc
PID_index_delay++;
int PID_index_limit = 8; // number of PIDs to display for acro mode tuning
//if ((rate_and_mode_value&1) == 1) PID_index_limit = 14; // number of PIDs to display for level mode tuning
if (PID_index_delay > PID_pause) {
PID_index_delay = 0;
current_PID_for_display++;
#ifdef COMBINE_PITCH_ROLL_PID_TUNING
if (current_PID_for_display == 1) current_PID_for_display =2;
if (current_PID_for_display == 4) current_PID_for_display =5;
if (current_PID_for_display == 7) current_PID_for_display =8;
#endif
if (current_PID_for_display > PID_index_limit) current_PID_for_display = 0;
}
}
void rx_init()
{
// always on (CH_ON) channel set 1
aux[AUXNUMBER - 2] = 1;
// always off (CH_OFF) channel set 0
aux[AUXNUMBER - 1] = 0;
#ifdef AUX1_START_ON
aux[CH_AUX1] = 1;
#endif
#ifdef AUX4_START_ON
aux[CH_AUX4] = 1;
#endif
#ifdef RADIO_XN297L
#define XN_TO_RX B10001111
#define XN_TO_TX B10000010
#define XN_POWER B00111111
#endif
#ifdef RADIO_XN297
static uint8_t bbcal[6] = { 0x3f , 0x4c , 0x84 , 0x6F , 0x9c , 0x20 };
writeregs( bbcal , sizeof(bbcal) );
// new values
static uint8_t rfcal[8] = { 0x3e , 0xc9 , 0x9a , 0xA0 , 0x61 , 0xbb , 0xab , 0x9c };
writeregs( rfcal , sizeof(rfcal) );
static uint8_t demodcal[6] = { 0x39 , 0x0b , 0xdf , 0xc4 , 0xa7 , 0x03};
//static uint8_t demodcal[6] = { 0x39 , 0x0b , 0xdf , 0xc4 , B00100111 , B00000000};
writeregs( demodcal , sizeof(demodcal) );
#define XN_TO_RX B00001111
#define XN_TO_TX B00000010
//#define XN_POWER B00000111 // disabled by silverAG for SilverVISE - value is added from config.h
// SilverVISE - start:
#ifdef TX_POWER_GENERAL
// use value from config.h
#define XN_POWER TX_POWER_GENERAL
#else
#define XN_POWER B00000111
#endif
// SilverVISE - end
#endif
bleinit();
delay(100);
int rxaddress[5] = { 0 , 0 , 0 , 0 , 0 };
xn_writerxaddress( rxaddress);
xn_writereg( EN_AA , 0 ); // aa disabled
xn_writereg( EN_RXADDR , 1 ); // pipe 0 only
xn_writereg( RF_SETUP , XN_POWER); // lna high current on ( better performance )
xn_writereg( RX_PW_P0 , 15 ); // payload size
xn_writereg( SETUP_RETR , 0 ); // no retransmissions ( redundant?)
xn_writereg( SETUP_AW , 3 ); // address size (5 bits)
xn_command( FLUSH_RX);
xn_writereg( RF_CH , 0 ); // bind on channel 0
#ifdef RADIO_XN297L
xn_writereg( 0x1d, B00111000 ); // 64 bit payload , software ce
spi_cson();
spi_sendbyte( 0xFD); // internal CE high command
spi_sendbyte( 0); // required for above
spi_csoff();
#endif
#ifdef RADIO_XN297
xn_writereg( 0x1d, B00011000 ); // 64 bit payload , software ce
#endif
xn_writereg( 0 , XN_TO_RX ); // power up, crc enabled, rx mode
#ifdef RADIO_CHECK
int rxcheck = xn_readreg( 0x0f); // rx address pipe 5
// should be 0xc6
extern void failloop( int);
if ( rxcheck != 0xc6) failloop(3);
#endif
}
