/**
* Sends one data id/value pair.
*/
static void frsky_send_data(int uart, uint8_t id, int16_t data)
{
/* Cast data to unsigned, because signed shift might behave incorrectly */
uint16_t udata = data;
frsky_send_startstop(uart);
frsky_send_byte(uart, id);
frsky_send_byte(uart, udata); /* LSB */
frsky_send_byte(uart, udata >> 8); /* MSB */
}
/**
* Sends one data id/value pair.
*/
void AP_Frsky_Telem::frsky_send_data(uint8_t id, int16_t data)
{
/* Cast data to unsigned, because signed shift might behave incorrectly */
uint16_t udata = data;
frsky_send_hub_startstop();
frsky_send_byte(id);
frsky_send_byte(udata); /* LSB */
frsky_send_byte(udata >> 8); /* MSB */
}
/**
* Sends one data id/value pair.
*/
void AP_Frsky_Telem::frsky_send_data(uint8_t id, int16_t data)
{
static const uint8_t zero = 0x0;
/* Cast data to unsigned, because signed shift might behave incorrectly */
uint16_t udata = data;
if (_protocol == FrSkySPORT) {
frsky_send_sport_prim();
frsky_send_byte(id);
frsky_send_byte(zero);
} else {
frsky_send_hub_startstop();
frsky_send_byte(id);
}
frsky_send_byte(udata); /* LSB */
frsky_send_byte(udata >> 8); /* MSB */
if (_protocol == FrSkySPORT) {
//Sport expect 32 bits data but we use only 16 bits data, so we send 0 for MSB
frsky_send_byte(zero);
frsky_send_byte(zero);
send_crc();
}
}
/*
add sport protocol for frsky tx module
*/
void AP_Frsky_Telem::frsky_send_sport_prim()
{
static const uint8_t c = 0x10;
frsky_send_byte(c);
}
/*
* send the crc at the end of the S-PORT frame
*/
void AP_Frsky_Telem::send_crc()
{
frsky_send_byte(0x00ff-_crc);
_crc = 0;
}
/*
add sport protocol for frsky tx module
*/
void AP_IO_BOARD::frsky_send_sport_prim()
{
static const uint8_t c = 0x10;
frsky_send_byte(c);
}
/*
* send the crc at the end of the S-PORT frame
*/
void AP_IO_BOARD::send_crc()
{
frsky_send_byte(0x00ff-_crc);
_crc = 0;
}
