static void hottSendTelemetryData(void) {
if (!hottIsSending) {
hottIsSending = true;
// FIXME temorary workaround for HoTT not working on Hardware serial ports due to hardware/softserial serial port initialisation differences
if ((portConfig->identifier == SERIAL_PORT_UART1) || (portConfig->identifier == SERIAL_PORT_UART2) || (portConfig->identifier == SERIAL_PORT_UART3))
workAroundForHottTelemetryOnUsart(hottPort, MODE_TX);
else
serialSetMode(hottPort, MODE_TX);
hottMsgCrc = 0;
return;
}
if (hottMsgRemainingBytesToSendCount == 0) {
hottMsg = NULL;
hottIsSending = false;
// FIXME temorary workaround for HoTT not working on Hardware serial ports due to hardware/softserial serial port initialisation differences
if ((portConfig->identifier == SERIAL_PORT_UART1) || (portConfig->identifier == SERIAL_PORT_UART2) || (portConfig->identifier == SERIAL_PORT_UART3))
workAroundForHottTelemetryOnUsart(hottPort, MODE_RX);
else
serialSetMode(hottPort, MODE_RX);
flushHottRxBuffer();
return;
}
--hottMsgRemainingBytesToSendCount;
if(hottMsgRemainingBytesToSendCount == 0) {
hottSerialWrite(hottMsgCrc++);
return;
}
hottMsgCrc += *hottMsg;
hottSerialWrite(*hottMsg++);
}
static void hottSendTelemetryData(void) {
if (!hottIsSending) {
hottIsSending = true;
serialSetMode(hottPort, MODE_TX);
hottMsgCrc = 0;
return;
}
if (hottMsgRemainingBytesToSendCount == 0) {
hottMsg = NULL;
hottIsSending = false;
serialSetMode(hottPort, MODE_RX);
flushHottRxBuffer();
return;
}
--hottMsgRemainingBytesToSendCount;
if(hottMsgRemainingBytesToSendCount == 0) {
hottSerialWrite(hottMsgCrc++);
return;
}
hottMsgCrc += *hottMsg;
hottSerialWrite(*hottMsg++);
}
static void hottSendTelemetryData(void) {
if (!hottIsSending) {
hottIsSending = true;
// FIXME temorary workaround for HoTT not working on Hardware serial ports due to hardware/softserial serial port initialisation differences
//serialSetMode(hottPort, MODE_TX);
closeSerialPort(hottPort);
hottPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_HOTT, NULL, HOTT_BAUDRATE, MODE_TX, SERIAL_NOT_INVERTED);
hottMsgCrc = 0;
return;
}
if (hottMsgRemainingBytesToSendCount == 0) {
hottMsg = NULL;
hottIsSending = false;
// FIXME temorary workaround for HoTT not working on Hardware serial ports due to hardware/softserial serial port initialisation differences
//serialSetMode(hottPort, MODE_RX);
closeSerialPort(hottPort);
hottPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_HOTT, NULL, HOTT_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED);
flushHottRxBuffer();
return;
}
--hottMsgRemainingBytesToSendCount;
if(hottMsgRemainingBytesToSendCount == 0) {
hottSerialWrite(hottMsgCrc++);
return;
}
hottMsgCrc += *hottMsg;
hottSerialWrite(*hottMsg++);
}
static void hottCheckSerialData(uint32_t currentMicros)
{
static bool lookingForRequest = true;
uint8_t bytesWaiting = serialRxBytesWaiting(hottPort);
if (bytesWaiting <= 1) {
return;
}
if (bytesWaiting != 2) {
flushHottRxBuffer();
lookingForRequest = true;
return;
}
if (lookingForRequest) {
lastHoTTRequestCheckAt = currentMicros;
lookingForRequest = false;
return;
} else {
bool enoughTimePassed = currentMicros - lastHoTTRequestCheckAt >= HOTT_RX_SCHEDULE;
if (!enoughTimePassed) {
return;
}
lookingForRequest = true;
}
uint8_t requestId = serialRead(hottPort);
uint8_t address = serialRead(hottPort);
if ((requestId == 0) || (requestId == HOTT_BINARY_MODE_REQUEST_ID) || (address == HOTT_TELEMETRY_NO_SENSOR_ID)) {
/*
* FIXME the first byte of the HoTT request frame is ONLY either 0x80 (binary mode) or 0x7F (text mode).
* The binary mode is read as 0x00 (error reading the upper bit) while the text mode is correctly decoded.
* The (requestId == 0) test is a workaround for detecting the binary mode with no ambiguity as there is only
* one other valid value (0x7F) for text mode.
* The error reading for the upper bit should nevertheless be fixed
*/
processBinaryModeRequest(address);
}
}
static void hottCheckSerialData(uint32_t currentMicros)
{
static bool lookingForRequest = true;
uint8_t bytesWaiting = serialTotalBytesWaiting(hottPort);
if (bytesWaiting <= 1) {
return;
}
if (bytesWaiting != 2) {
flushHottRxBuffer();
lookingForRequest = true;
return;
}
if (lookingForRequest) {
lastHoTTRequestCheckAt = currentMicros;
lookingForRequest = false;
return;
} else {
bool enoughTimePassed = currentMicros - lastHoTTRequestCheckAt >= HOTT_RX_SCHEDULE;
if (!enoughTimePassed) {
return;
}
lookingForRequest = true;
}
uint8_t requestId = serialRead(hottPort);
uint8_t address = serialRead(hottPort);
if ((requestId == 0) || (requestId == HOTT_BINARY_MODE_REQUEST_ID) || (address == HOTT_TELEMETRY_NO_SENSOR_ID)) {
processBinaryModeRequest(address);
}
}
void handleHoTTTelemetry(timeUs_t currentTimeUs)
{
static uint8_t hottRequestBuffer[2];
static int hottRequestBufferPtr = 0;
if (!hottTelemetryEnabled) {
return;
}
bool reprocessState;
do {
reprocessState = false;
switch (hottState) {
case HOTT_WAITING_FOR_REQUEST:
if (serialRxBytesWaiting(hottPort)) {
hottRequestBufferPtr = 0;
hottSwitchState(HOTT_RECEIVING_REQUEST, currentTimeUs);
reprocessState = true;
}
break;
case HOTT_RECEIVING_REQUEST:
if ((currentTimeUs - hottStateChangeUs) >= HOTT_RX_SCHEDULE) {
// Waiting for too long - resync
flushHottRxBuffer();
hottSwitchState(HOTT_WAITING_FOR_REQUEST, currentTimeUs);
}
else {
while (serialRxBytesWaiting(hottPort) && hottRequestBufferPtr < 2) {
hottRequestBuffer[hottRequestBufferPtr++] = serialRead(hottPort);
}
if (hottRequestBufferPtr >= 2) {
if ((hottRequestBuffer[0] == 0) || (hottRequestBuffer[0] == HOTT_BINARY_MODE_REQUEST_ID)) {
/*
* FIXME the first byte of the HoTT request frame is ONLY either 0x80 (binary mode) or 0x7F (text mode).
* The binary mode is read as 0x00 (error reading the upper bit) while the text mode is correctly decoded.
* The (requestId == 0) test is a workaround for detecting the binary mode with no ambiguity as there is only
* one other valid value (0x7F) for text mode.
* The error reading for the upper bit should nevertheless be fixed
*/
if (processBinaryModeRequest(hottRequestBuffer[1])) {
hottSwitchState(HOTT_WAITING_FOR_TX_WINDOW, currentTimeUs);
}
else {
hottSwitchState(HOTT_WAITING_FOR_REQUEST, currentTimeUs);
}
}
else if (hottRequestBuffer[0] == HOTT_TEXT_MODE_REQUEST_ID) {
// FIXME Text mode
hottSwitchState(HOTT_WAITING_FOR_REQUEST, currentTimeUs);
}
else {
// Received garbage - resync
flushHottRxBuffer();
hottSwitchState(HOTT_WAITING_FOR_REQUEST, currentTimeUs);
}
reprocessState = true;
}
}
break;
case HOTT_WAITING_FOR_TX_WINDOW:
if ((currentTimeUs - hottStateChangeUs) >= HOTT_TX_SCHEDULE) {
hottTxMsgCrc = 0;
hottSwitchState(HOTT_TRANSMITTING, currentTimeUs);
}
break;
case HOTT_TRANSMITTING:
if (hottSendTelemetryDataByte(currentTimeUs)) {
hottSwitchState(HOTT_ENDING_TRANSMISSION, currentTimeUs);
}
break;
case HOTT_ENDING_TRANSMISSION:
if ((currentTimeUs - hottStateChangeUs) >= HOTT_TX_DELAY_US) {
flushHottRxBuffer();
hottSwitchState(HOTT_WAITING_FOR_REQUEST, currentTimeUs);
reprocessState = true;
}
break;
};
} while (reprocessState);
}