477 lines
13 KiB
C++
477 lines
13 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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#include "telemetry.h"
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#include "multi.h"
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MultiModuleStatus multiModuleStatus;
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MultiModuleSyncStatus multiSyncStatus;
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uint8_t multiBindStatus = MULTI_NORMAL_OPERATION;
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enum MultiPacketTypes : uint8_t {
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MultiStatus = 1,
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FrSkySportTelemtry,
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FrSkyHubTelemetry,
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SpektrumTelemetry,
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DSMBindPacket,
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FlyskyIBusTelemetry,
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ConfigCommand,
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InputSync,
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FrskySportPolling
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};
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enum MultiBufferState : uint8_t {
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NoProtocolDetected,
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MultiFirstByteReceived,
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ReceivingMultiProtocol,
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ReceivingMultiStatus,
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SpektrumTelemetryFallback,
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FrskyTelemetryFallback,
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FrskyTelemetryFallbackFirstByte,
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FrskyTelemetryFallbackNextBytes,
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FlyskyTelemetryFallback,
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MultiStatusOrFrskyData
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};
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MultiBufferState guessProtocol()
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{
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if (g_model.moduleData[EXTERNAL_MODULE].getMultiProtocol(false) == MODULE_SUBTYPE_MULTI_DSM2)
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return SpektrumTelemetryFallback;
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else if (g_model.moduleData[EXTERNAL_MODULE].getMultiProtocol(false) == MODULE_SUBTYPE_MULTI_FS_AFHDS2A)
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return FlyskyTelemetryFallback;
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else
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return FrskyTelemetryFallback;
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}
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static void processMultiStatusPacket(const uint8_t *data)
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{
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// At least two status packets without bind flag
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bool wasBinding = (multiModuleStatus.isBinding());
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multiModuleStatus.flags = data[0];
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multiModuleStatus.major = data[1];
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multiModuleStatus.minor = data[2];
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multiModuleStatus.revision = data[3];
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multiModuleStatus.patch = data[4];
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multiModuleStatus.lastUpdate = get_tmr10ms();
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if (wasBinding && !multiModuleStatus.isBinding() && multiBindStatus == MULTI_BIND_INITIATED)
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multiBindStatus = MULTI_BIND_FINISHED;
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}
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static void processMultiSyncPacket(const uint8_t *data)
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{
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multiSyncStatus.lastUpdate = get_tmr10ms();
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multiSyncStatus.interval = data[4];
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multiSyncStatus.target = data[5];
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#if !defined(PPM_PIN_SERIAL)
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auto oldlag = multiSyncStatus.inputLag;
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(void) oldlag;
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#endif
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multiSyncStatus.calcAdjustedRefreshRate(data[0] << 8 | data[1], data[2] << 8 | data[3]);
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#if !defined(PPM_PIN_SERIAL)
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TRACE("MP ADJ: rest: %d, lag %04d, diff: %04d target: %d, interval: %d, Refresh: %d, intAdjRefresh: %d, adjRefresh %d\r\n", extmodulePulsesData.dsm2.rest,
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multiSyncStatus.inputLag, oldlag-multiSyncStatus.inputLag, multiSyncStatus.target, multiSyncStatus.interval, multiSyncStatus.refreshRate, multiSyncStatus.adjustedRefreshRate/50,
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multiSyncStatus.getAdjustedRefreshRate());
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#endif
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}
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static void processMultiTelemetryPaket(const uint8_t *packet)
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{
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uint8_t type = packet[0];
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uint8_t len = packet[1];
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const uint8_t *data = packet + 2;
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// Switch type
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switch (type) {
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case MultiStatus:
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if (len >= 5)
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processMultiStatusPacket(data);
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break;
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case DSMBindPacket:
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if (len >= 10)
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processDSMBindPacket(data);
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break;
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case SpektrumTelemetry:
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// processSpektrumPacket expects data[0] to be the telemetry indicator 0xAA but does not check it,
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// just send one byte of our header instead
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if (len >= 17)
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processSpektrumPacket(data - 1);
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else
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TRACE("[MP] Received spektrum telemetry len %d < 17", len);
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break;
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case FlyskyIBusTelemetry:
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if (len >= 28)
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processFlySkyPacket(data);
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else
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TRACE("[MP] Received IBUS telemetry len %d < 28", len);
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break;
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case FrSkyHubTelemetry:
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if (len >= 4)
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frskyDProcessPacket(data);
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else
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TRACE("[MP] Received Frsky HUB telemetry len %d < 4", len);
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break;
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#if defined(MULTI_SPORT)
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case FrSkySportTelemtry:
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if (len >= 4)
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sportProcessTelemetryPacket(data);
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else
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TRACE("[MP] Received sport telemetry len %d < 4", len);
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break;
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#endif
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case InputSync:
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if (len >= 6)
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processMultiSyncPacket(data);
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else
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TRACE("[MP] Received input sync len %d < 6", len);
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break;
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case ConfigCommand:
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// Just an ack to our command, ignore for now
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break;
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#if defined(MULTI_SPORT) && defined(LUA)
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case FrskySportPolling:
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if (len >= 1 && outputTelemetryBuffer.destination == TELEMETRY_ENDPOINT_SPORT && data[0] == outputTelemetryBuffer.sport.physicalId) {
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TRACE("MP Sending sport data out.");
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sportSendBuffer(outputTelemetryBuffer.data, outputTelemetryBuffer.size);
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}
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break;
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#endif
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default:
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TRACE("[MP] Unkown multi packet type 0x%02X, len %d", type, len);
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break;
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}
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}
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// sprintf does not work AVR ARM
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// use a small helper function
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static void appendInt(char *buf, uint32_t val)
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{
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while (*buf)
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buf++;
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strAppendUnsigned(buf, val);
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}
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#define MIN_REFRESH_RATE 7000
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void MultiModuleSyncStatus::calcAdjustedRefreshRate(uint16_t newRefreshRate, uint16_t newInputLag)
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{
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// Check how far off we are from our target, positive means we are too slow, negative we are too fast
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int lagDifference = newInputLag - inputLag;
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// The refresh rate that we target
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// Below is least common multiple of MIN_REFRESH_RATE and requested rate
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uint16_t targetRefreshRate = (uint16_t) (newRefreshRate * ((MIN_REFRESH_RATE / (newRefreshRate - 1)) + 1));
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// Overflow, reverse sample
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if (lagDifference < -targetRefreshRate/2)
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lagDifference= -lagDifference;
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// Reset adjusted refresh if rate has changed
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if (newRefreshRate != refreshRate) {
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refreshRate = newRefreshRate;
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adjustedRefreshRate = targetRefreshRate;
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if (adjustedRefreshRate >= 30000)
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adjustedRefreshRate /= 2;
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// Our refresh rate in ps
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adjustedRefreshRate*=1000;
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return;
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}
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// Caluclate how many samples went into the reported input Lag (*10)
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int numsamples = interval * 10000 / targetRefreshRate;
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// Convert lagDifference to ps
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lagDifference=lagDifference*1000;
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// Calculate the time we intentionally were late/early
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if (inputLag > target*10 +30)
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lagDifference += numsamples*500;
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else if (inputLag < target*10 - 30)
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lagDifference -= numsamples*500;
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// Caculate the time in ps each frame is to slow (positive), fast(negative)
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int perframeps = lagDifference*10/ numsamples;
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if (perframeps > 20000)
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perframeps = 20000;
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if (perframeps < -20000)
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perframeps = -20000;
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adjustedRefreshRate =(adjustedRefreshRate + perframeps);
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// Safeguards
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if (adjustedRefreshRate < 6*1000*1000)
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adjustedRefreshRate = 6*1000*1000;
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if (adjustedRefreshRate > 30*1000*1000)
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adjustedRefreshRate = 30*1000*1000;
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inputLag = newInputLag;
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}
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static uint8_t counter;
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uint16_t MultiModuleSyncStatus::getAdjustedRefreshRate() {
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if (!isValid() || refreshRate == 0)
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return 18000;
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counter = (uint8_t) (counter + 1 % 10);
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uint16_t rate = (uint16_t) ((adjustedRefreshRate + counter * 50) / 500);
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// Check how far off we are from our target, positive means we are too slow, negative we are too fast
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if (inputLag > target*10 +30)
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return (uint16_t) (rate - 1);
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else if (inputLag < target*10 - 30)
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return (uint16_t) (rate + 1);
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else
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return rate;
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}
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static void prependSpaces(char * buf, int val)
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{
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while (*buf)
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buf++;
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int k=10000;
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while(val/k==0 && k > 0)
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{
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*buf=' ';
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buf++;
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k/= 10;
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}
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*buf='\0';
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}
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void MultiModuleSyncStatus::getRefreshString(char *statusText)
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{
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if (!isValid()) {
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return;
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}
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strcpy(statusText, "L ");
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prependSpaces(statusText, inputLag);
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appendInt(statusText, inputLag);
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strcat(statusText, "ns R ");
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prependSpaces(statusText, adjustedRefreshRate/1000);
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appendInt(statusText, (uint32_t) (adjustedRefreshRate / 1000));
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strcat(statusText, "ns");
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}
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void MultiModuleStatus::getStatusString(char *statusText)
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{
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if (!isValid()) {
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#if defined(PCBTARANIS) || defined(PCBHORUS)
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if (IS_INTERNAL_MODULE_ENABLED())
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strcpy(statusText, STR_DISABLE_INTERNAL);
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else
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#endif
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strcpy(statusText, STR_MODULE_NO_TELEMETRY);
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return;
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}
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if (!protocolValid()) {
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strcpy(statusText, STR_PROTOCOL_INVALID);
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return;
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}
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else if (!serialMode()) {
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strcpy(statusText, STR_MODULE_NO_SERIAL_MODE);
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return;
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}
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else if (!inputDetected()) {
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strcpy(statusText, STR_MODULE_NO_INPUT);
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return;
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}
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else if(isWaitingforBind()) {
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strcpy(statusText, STR_MODULE_WAITFORBIND);
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return;
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}
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strcpy(statusText, "V");
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appendInt(statusText, major);
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strcat(statusText, ".");
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appendInt(statusText, minor);
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strcat(statusText, ".");
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appendInt(statusText, revision);
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strcat(statusText, ".");
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appendInt(statusText, patch);
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strcat(statusText, " ");
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if (isBinding())
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strcat(statusText, STR_MODULE_BINDING);
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}
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static MultiBufferState multiTelemetryBufferState;
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static void processMultiTelemetryByte(const uint8_t data)
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{
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if (telemetryRxBufferCount < TELEMETRY_RX_PACKET_SIZE) {
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telemetryRxBuffer[telemetryRxBufferCount++] = data;
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}
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else {
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TRACE("[MP] array size %d error", telemetryRxBufferCount);
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multiTelemetryBufferState = NoProtocolDetected;
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}
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// Length field does not count the header
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if (telemetryRxBufferCount >= 2 && telemetryRxBuffer[1] == telemetryRxBufferCount - 2) {
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// debug print the content of the packet
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#if 0
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debugPrintf("[MP] Packet type %02X len 0x%02X: ",
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telemetryRxBuffer[0], telemetryRxBuffer[1]);
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for (int i=0; i<(telemetryRxBufferCount+3)/4; i++) {
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debugPrintf("[%02X%02X %02X%02X] ", telemetryRxBuffer[i*4+2], telemetryRxBuffer[i*4 + 3],
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telemetryRxBuffer[i*4 + 4], telemetryRxBuffer[i*4 + 5]);
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}
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debugPrintf("\r\n");
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#endif
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// Packet is complete, process it
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processMultiTelemetryPaket(telemetryRxBuffer);
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multiTelemetryBufferState = NoProtocolDetected;
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}
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}
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void processMultiTelemetryData(const uint8_t data)
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{
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// debugPrintf("State: %d, byte received %02X, buflen: %d\r\n", multiTelemetryBufferState, data, telemetryRxBufferCount);
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switch (multiTelemetryBufferState) {
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case NoProtocolDetected:
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if (data == 'M') {
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multiTelemetryBufferState = MultiFirstByteReceived;
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}
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else if (data == 0xAA || data == 0x7e) {
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multiTelemetryBufferState = guessProtocol();
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// Process the first byte by the protocol
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processMultiTelemetryData(data);
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}
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else {
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TRACE("[MP] invalid start byte 0x%02X", data);
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}
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break;
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case FrskyTelemetryFallback:
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multiTelemetryBufferState = FrskyTelemetryFallbackFirstByte;
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processFrskyTelemetryData(data);
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break;
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case FrskyTelemetryFallbackFirstByte:
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if (data == 'M') {
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multiTelemetryBufferState = MultiStatusOrFrskyData;
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}
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else {
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processFrskyTelemetryData(data);
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if (data != 0x7e)
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multiTelemetryBufferState = FrskyTelemetryFallbackNextBytes;
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}
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break;
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case FrskyTelemetryFallbackNextBytes:
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processFrskyTelemetryData(data);
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if (data == 0x7e)
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// end of packet or start of new packet
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multiTelemetryBufferState = FrskyTelemetryFallbackFirstByte;
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break;
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case FlyskyTelemetryFallback:
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processFlySkyTelemetryData(data);
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if (telemetryRxBufferCount == 0)
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multiTelemetryBufferState = NoProtocolDetected;
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break;
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case SpektrumTelemetryFallback:
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processSpektrumTelemetryData(data);
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if (telemetryRxBufferCount == 0)
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multiTelemetryBufferState = NoProtocolDetected;
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break;
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case MultiFirstByteReceived:
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telemetryRxBufferCount = 0;
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if (data == 'P') {
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multiTelemetryBufferState = ReceivingMultiProtocol;
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}
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else if (data >= 5 && data <= 10) {
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// Protocol indented for er9x/ersky9, accept only 5-10 as packet length to have
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// a bit of validation
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multiTelemetryBufferState = ReceivingMultiStatus;
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processMultiTelemetryData(data);
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}
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else {
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TRACE("[MP] invalid second byte 0x%02X", data);
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multiTelemetryBufferState = NoProtocolDetected;
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}
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break;
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case ReceivingMultiProtocol:
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processMultiTelemetryByte(data);
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break;
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case MultiStatusOrFrskyData:
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// Check len byte if it makes sense for multi
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if (data >= 5 && data <= 10) {
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multiTelemetryBufferState = ReceivingMultiStatus;
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telemetryRxBufferCount = 0;
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}
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else {
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multiTelemetryBufferState = FrskyTelemetryFallbackNextBytes;
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processMultiTelemetryData('M');
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}
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processMultiTelemetryData(data);
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break;
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case ReceivingMultiStatus:
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telemetryRxBuffer[telemetryRxBufferCount++] = data;
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if (telemetryRxBufferCount > 5 && telemetryRxBuffer[0] == telemetryRxBufferCount-1) {
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processMultiStatusPacket(telemetryRxBuffer+1);
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telemetryRxBufferCount = 0;
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multiTelemetryBufferState = NoProtocolDetected;
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}
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if (telemetryRxBufferCount > 10) {
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// too long ignore
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TRACE("Overlong multi status packet detected ignoring, wanted %d", telemetryRxBuffer[0]);
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telemetryRxBufferCount =0;
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multiTelemetryBufferState = NoProtocolDetected;
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}
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}
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}
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