void sendTelemetry(void)
{
if (millis() - lastCycleTime >= CYCLETIME) {
lastCycleTime = millis();
cycleNum++;
// Frame 1: sent every 200ms
sendAccel();
sendBaro();
sendTemperature1();
sendTelemetryTail();
if ((cycleNum % 5) == 0) { // Frame 2: Sent every 1s
if (sensors(SENSOR_GPS)) {
sendGPS();
sendTelemetryTail();
}
}
if (cycleNum == 25) { //Frame 3: Sent every 5s
cycleNum = 0;
sendTime();
sendTelemetryTail();
}
}
}
void handleFrSkyTelemetry(void)
{
if (!canSendFrSkyTelemetry()) {
return;
}
uint32_t now = millis();
if (!hasEnoughTimeLapsedSinceLastTelemetryTransmission(now)) {
return;
}
lastCycleTime = now;
cycleNum++;
// Sent every 125ms
sendAccel();
sendVario();
sendTelemetryTail();
if ((cycleNum % 4) == 0) { // Sent every 500ms
sendBaro();
sendHeading();
sendTelemetryTail();
}
if ((cycleNum % 8) == 0) { // Sent every 1s
sendTemperature1();
if (feature(FEATURE_VBAT)) {
sendVoltage();
sendVoltageAmp();
sendAmperage();
sendFuelLevel();
}
#ifdef GPS
if (sensors(SENSOR_GPS))
sendGPS();
#endif
sendTelemetryTail();
}
if (cycleNum == 40) { //Frame 3: Sent every 5s
cycleNum = 0;
sendTime();
sendTelemetryTail();
}
}
void sendFRSKYTelemetry(void)
{
static uint32_t lastCycleTime = 0;
static uint8_t cycleNum = 0;
if (currentTimeMS - lastCycleTime >= CYCLETIME)
{
lastCycleTime = currentTimeMS;
cycleNum++;
// Sent every 125ms
sendAccel();
sendTelemetryTail();
if ((cycleNum % 4) == 0) // Sent every 500ms
{
sendBaro();
sendHeading();
sendTelemetryTail();
}
if ((cycleNum % 8) == 0) // Sent every 1s
{
sendTemperature1();
if (feature(FEATURE_VBAT))
{
sendVoltage();
sendVoltageAmp();
}
if (sensors(SENSOR_GPS))
sendGPS();
sendTelemetryTail();
}
if (cycleNum == 40) //Frame 3: Sent every 5s
{
cycleNum = 0;
sendTime();
sendTelemetryTail();
}
}
}
void sendTelemetry(void)
{
if (mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED)
return;
if (serialTotalBytesWaiting(core.telemport) != 0)
return;
if (millis() - lastCycleTime >= CYCLETIME) {
lastCycleTime = millis();
cycleNum++;
// Sent every 125ms
sendAccel();
sendTelemetryTail();
if ((cycleNum % 4) == 0) { // Sent every 500ms
sendBaro();
sendHeading();
sendTelemetryTail();
}
if ((cycleNum % 8) == 0) { // Sent every 1s
sendTemperature1();
if (feature(FEATURE_VBAT)) {
sendVoltage();
sendVoltageAmp();
}
if (sensors(SENSOR_GPS))
sendGPS();
sendTelemetryTail();
}
if (cycleNum == 40) { //Frame 3: Sent every 5s
cycleNum = 0;
sendTime();
sendTelemetryTail();
}
}
}
void RxUartHandler()
{
uart_rxbuffer[rx_counter] = RCREG;
++rx_counter;
if(RCREG == '\n')
{
if(!strncmp(uart_rxbuffer, dumpString, 5))
{
dumpEEPROM();
}
if(!strncmp(uart_rxbuffer, leftString, 5))
{
LEFT_SW = 1;
RIGHT_SW = 0;
}
if(!strncmp(uart_rxbuffer, rightString, 6))
{
RIGHT_SW = 1;
LEFT_SW = 0;
}
if(!strncmp(uart_rxbuffer, offString, 3))
{
LEFT_SW = 0;
RIGHT_SW = 0;
}
if(!strncmp(uart_rxbuffer, accelString, 6))
{
sendAccel();
}
else
{
sendTest();
}
rx_counter = 0;
}
PIR1bits.RCIF = 0; //Clear flag and return
}
void handleFrSkyTelemetry(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
{
if (!frskyTelemetryEnabled) {
return;
}
uint32_t now = millis();
if (!hasEnoughTimeLapsedSinceLastTelemetryTransmission(now)) {
return;
}
lastCycleTime = now;
cycleNum++;
// Sent every 125ms
sendAccel();
sendVario();
sendTelemetryTail();
if ((cycleNum % 4) == 0) { // Sent every 500ms
if (lastCycleTime > DELAY_FOR_BARO_INITIALISATION) { //Allow 5s to boot correctly
sendBaro();
}
sendHeading();
sendTelemetryTail();
}
if ((cycleNum % 8) == 0) { // Sent every 1s
sendTemperature1();
sendThrottleOrBatterySizeAsRpm(rxConfig, deadband3d_throttle);
if (feature(FEATURE_VBAT)) {
sendVoltage();
sendVoltageAmp();
sendAmperage();
sendFuelLevel();
}
#ifdef GPS
if (sensors(SENSOR_GPS)) {
sendSpeed();
sendGpsAltitude();
sendSatalliteSignalQualityAsTemperature2();
sendGPSLatLong();
}
else {
sendFakeLatLongThatAllowsHeadingDisplay();
}
#else
sendFakeLatLongThatAllowsHeadingDisplay();
#endif
sendTelemetryTail();
}
if (cycleNum == 40) { //Frame 3: Sent every 5s
cycleNum = 0;
sendTime();
sendTelemetryTail();
}
}
void handleFrSkyTelemetry(void)
{
if (!canSendFrSkyTelemetry()) {
return;
}
uint32_t now = millis();
if (!hasEnoughTimeLapsedSinceLastTelemetryTransmission(now)) {
return;
}
lastCycleTime = now;
cycleNum++;
// Sent every 125ms
sendAccel();
sendVario();
sendTelemetryTail();
if ((cycleNum % 4) == 0) { // Sent every 500ms
if (lastCycleTime > DELAY_FOR_BARO_INITIALISATION) { //Allow 5s to boot correctly
sendBaro();
}
sendHeading();
sendTelemetryTail();
}
if ((cycleNum % 8) == 0) { // Sent every 1s
sendTemperature1();
sendThrottleOrBatterySizeAsRpm();
if (feature(FEATURE_VBAT)) {
sendVoltage();
sendVoltageAmp();
sendAmperage();
sendFuelLevel();
}
#ifdef GPS
if (sensors(SENSOR_GPS)) {
sendSpeed();
sendGpsAltitude();
sendSatalliteSignalQualityAsTemperature2();
}
#endif
// Send GPS information to display compass information
if (sensors(SENSOR_GPS) || (telemetryConfig->gpsNoFixLatitude != 0 && telemetryConfig->gpsNoFixLongitude != 0)) {
sendGPS();
}
sendTelemetryTail();
}
if (cycleNum == 40) { //Frame 3: Sent every 5s
cycleNum = 0;
sendTime();
sendTelemetryTail();
}
}
