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/*
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* DSM receiver example code for Cypress radio |
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* |
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* With thanks to the SuperBitRF project and their excellent cyrf6936 dongle: |
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* https://1bitsquared.com/products/superbit-usbrf-dongle
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Radio/AP_Radio.h> |
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#include <stdio.h> |
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#define debug(fmt, args...) printf(fmt, ##args) |
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const AP_HAL::HAL& hal = AP_HAL::get_HAL(); |
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static AP_Radio radio; |
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static bool do_bind = false; |
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void setup() |
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{ |
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hal.console->begin(115200); |
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debug("RADIO init\n"); |
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hal.scheduler->delay(1000); |
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radio.init(); |
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if (do_bind) { |
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radio.start_recv_bind(); |
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} |
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} |
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void loop() |
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{ |
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static AP_Radio::stats stats; |
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hal.scheduler->delay(1000); |
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AP_Radio::stats new_stats = radio.get_stats(); |
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debug("recv:%3u bad:%3u to:%3u re:%u N:%2u 1:%4u 1:%4u 3:%4u 4:%4u 5:%4u 6:%4u 7:%4u 8:%4u 14:%u\n", |
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new_stats.recv_packets - stats.recv_packets, |
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new_stats.bad_packets - stats.bad_packets, |
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new_stats.timeouts - stats.timeouts, |
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new_stats.recv_errors - stats.recv_errors, |
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radio.num_channels(), |
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radio.read(0), radio.read(1), radio.read(2), radio.read(3), |
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radio.read(4), radio.read(5), radio.read(6), radio.read(7), |
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radio.read(13)); |
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stats = new_stats; |
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} |
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AP_HAL_MAIN(); |
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