watchrobot/libraries/AP_Radio/AP_Radio_bk2425.cpp

/*
  driver for Beken_2425 radio
 */
#include <AP_HAL/AP_HAL.h>

//#pragma GCC optimize("O0")

#if defined(HAL_RCINPUT_WITH_AP_RADIO) && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412

#include <AP_Math/AP_Math.h>
#include "AP_Radio_bk2425.h"
#include <utility>
#include <stdio.h>
#include <StorageManager/StorageManager.h>
#include <AP_Notify/AP_Notify.h>
#include <GCS_MAVLink/GCS_MAVLink.h>

// start of 12 byte CPU ID
#ifndef UDID_START
#define UDID_START	0x1FFF7A10
#endif

#define TIMEOUT_PRIORITY 250      // Right above timer thread
#define EVT_TIMEOUT EVENT_MASK(0) // Event in the irq handler thread triggered by a timeout interrupt
#define EVT_IRQ     EVENT_MASK(1) // Event in the irq handler thread triggered by a radio IRQ (Tx finished, Rx finished, MaxRetries limit)
#define EVT_BIND    EVENT_MASK(2) // (not used yet) The user has clicked on the "start bind" button in the web interface (or equivalent).

extern const AP_HAL::HAL& hal;

// Output debug information on the UART, wrapped in MavLink packets
#define Debug(level, fmt, args...)   do { if ((level) <= get_debug_level()) { hal.console->printf(fmt, ##args); }} while (0)
// Output fast debug information on the UART, in raw format. MavLink should be disabled if you want to understand these messages.
// This is for debugging issues with frequency hopping and synchronisation.
#define DebugPrintf(level, fmt, args...)   do { if (AP_Radio_beken::radio_singleton && ((level) <= AP_Radio_beken::radio_singleton->get_debug_level())) { printf(fmt, ##args); }} while (0)
// Output debug information on the mavlink to the UART connected to the WiFi, wrapped in MavLink packets
#define DebugMavlink(level, fmt, args...)   do { if ((level) <= get_debug_level()) { gcs().send_text(MAV_SEVERITY_INFO, fmt, ##args); }} while (0)


// object instance for trampoline
AP_Radio_beken *AP_Radio_beken::radio_singleton;
thread_t *AP_Radio_beken::_irq_handler_ctx;
virtual_timer_t AP_Radio_beken::timeout_vt;
// See variable definitions in AP_Radio_bk2425.h for comments
uint32_t AP_Radio_beken::isr_irq_time_us;
uint32_t AP_Radio_beken::isr_timeout_time_us;
uint32_t AP_Radio_beken::next_switch_us;
uint32_t AP_Radio_beken::bind_time_ms;
SyncTiming AP_Radio_beken::synctm; // Let the IRQ see the interpacket timing

// -----------------------------------------------------------------------------
// We have received a packet
// Sort out our timing relative to the tx to avoid clock drift
void SyncTiming::Rx(uint32_t when)
{
    uint32_t ld = delta_rx_time_us;
    uint32_t d = when - rx_time_us;
    if ((d > ld - DIFF_DELTA_RX) && (d < ld + DIFF_DELTA_RX)) { // Two deltas are similar to each other
        if ((d > TARGET_DELTA_RX-SLOP_DELTA_RX) && (d < TARGET_DELTA_RX+SLOP_DELTA_RX)) { // delta is within range of single packet distance
            // Use filter to change the estimate of the time in microseconds between the transmitters packet (according to OUR clock)
            sync_time_us = ((sync_time_us * (256-16)) + (d * 16)) / 256;
        }
    }
    rx_time_us = when;
    delta_rx_time_us = d;
    last_delta_rx_time_us = ld;
}

// -----------------------------------------------------------------------------
// Implement queuing (a 92 byte packet) in the circular buffer
void FwUpload::queue(const uint8_t *pSrc, uint8_t len)
{
    if (len == 0 || len > free_length()) {
        return;    // Safety check for out of space error
    }
    if (pending_head + len > SZ_BUFFER) {
        uint8_t n = SZ_BUFFER-pending_head;
        memcpy(&pending_data[pending_head], pSrc, n);
        memcpy(&pending_data[0], pSrc+n, len-n);
    } else {
        memcpy(&pending_data[pending_head], pSrc, len);
    }
    pending_head = (pending_head + len) & (SZ_BUFFER-1);
    added += len;
}

// -----------------------------------------------------------------------------
// Implement dequeing (a 16 byte packet)
void FwUpload::dequeue(uint8_t *pDst, uint8_t len)
{
    if (len == 0 || len > pending_length()) {
        return;    // Safety check for underflow error
    }
    if (pending_tail + len > SZ_BUFFER) {
        uint8_t n = SZ_BUFFER-pending_tail;
        memcpy(pDst, &pending_data[pending_tail], n);
        memcpy(pDst+n, &pending_data[0], len-n);
    } else {
        memcpy(pDst, &pending_data[pending_tail], len);
    }
    pending_tail = (pending_tail + len) & (SZ_BUFFER-1);
    sent += len;
}


// -----------------------------------------------------------------------------

/*
  constructor
 */
AP_Radio_beken::AP_Radio_beken(AP_Radio &_radio) :
    AP_Radio_backend(_radio),
    beken(hal.spi->get_device("beken")) // trace this later - its on libraries/AP_HAL_ChibiOS/SPIDevice.cpp:92
{
    // link to instance for irq_trampoline

    // (temporary) go into test mode
    radio_singleton = this;
    beken.fcc.fcc_mode = 0;
    beken.fcc.channel = 23;
    beken.fcc.power = 7+1; // Full power
}

/*
  initialise radio
 */
bool AP_Radio_beken::init(void)
{
    if (_irq_handler_ctx != nullptr) {
        AP_HAL::panic("AP_Radio_beken: double instantiation of irq_handler\n");
    }
    chVTObjectInit(&timeout_vt);
    _irq_handler_ctx = chThdCreateFromHeap(NULL,
                                           THD_WORKING_AREA_SIZE(2048),
                                           "radio_bk2425",
                                           TIMEOUT_PRIORITY,          /* Initial priority.    */
                                           irq_handler_thd,           /* Thread function.     */
                                           NULL);                     /* Thread parameter.    */
    return reset();
}

/*
  reset radio
 */
bool AP_Radio_beken::reset(void)
{
    if (!beken.lock_bus()) {
        return false;
    }

    radio_init();
    beken.unlock_bus();

    return true;
}

/*
  return statistics structure from radio
 */
const AP_Radio::stats &AP_Radio_beken::get_stats(void)
{
    return stats;
}

/*
  read one pwm channel from radio
 */
uint16_t AP_Radio_beken::read(uint8_t chan)
{
    if (chan >= BEKEN_MAX_CHANNELS) {
        return 0;
    }
    if (!valid_connection) {
        return (chan < 4) ? 1500u : 0u;
    }
    return pwm_channels[chan];
}

/*
  update status - called from main thread
 */
void AP_Radio_beken::update(void)
{
    check_fw_ack();
}


/*
  return number of active channels, and updates the data
 */
uint8_t AP_Radio_beken::num_channels(void)
{
    uint32_t now = AP_HAL::millis();
    uint8_t chan = get_rssi_chan();
    if ((chan > 0) && ((chan-1) < BEKEN_MAX_CHANNELS)) {
        uint8_t value = BK_RSSI_DEFAULT; // Fixed value that will not update (halfway in the RSSI range for Cypress chips, 0..31)
        if (beken.fcc.enable_cd) {
            if (beken.fcc.last_cd) {
                value += 4;
            } else {
                value -= 4;
            }
        }
        if (t_status.pps == 0) {
            value = BK_RSSI_MIN;    // No packets = no RSSI
        }
        pwm_channels[chan-1] = value;
        chan_count = MAX(chan_count, chan);
    }

    chan = get_pps_chan();
    if ((chan > 0) && ((chan-1) < BEKEN_MAX_CHANNELS)) {
        pwm_channels[chan-1] = t_status.pps; // How many packets received per second
        chan_count = MAX(chan_count, chan);
    }

    chan = get_tx_rssi_chan();
    if ((chan > 0) && ((chan-1) < BEKEN_MAX_CHANNELS)) {
        pwm_channels[chan-1] = BK_RSSI_DEFAULT; // Fixed value that will not update (halfway in the RSSI range for Cypress chips, 0..31)
        chan_count = MAX(chan_count, chan);
    }

    chan = get_tx_pps_chan();
    if ((chan > 0) && ((chan-1) < BEKEN_MAX_CHANNELS)) {
        pwm_channels[chan-1] = tx_pps;
        chan_count = MAX(chan_count, chan);
    }

    // Every second, update the statistics
    if (now - last_pps_ms > 1000) {
        last_pps_ms = now;
        t_status.pps = stats.recv_packets - last_stats.recv_packets;
        last_stats = stats;
        if (stats.lost_packets != 0 || stats.timeouts != 0) {
            Debug(3,"lost=%lu timeouts=%lu\n", stats.lost_packets, stats.timeouts);
        }
        stats.lost_packets=0;
        stats.timeouts=0;
        if (have_tx_pps == 1) { // Have we had tx pps recently?
            tx_pps = 0;
        }
        if (have_tx_pps == 2) { // We have had it at some time
            have_tx_pps = 1;    // Not recently
        }
    }
    return chan_count;
}

/*
  return time of last receive in microseconds
 */
uint32_t AP_Radio_beken::last_recv_us(void)
{
    return synctm.packet_timer;
}

/*
  send len bytes as a single packet
 */
bool AP_Radio_beken::send(const uint8_t *pkt, uint16_t len)
{
    // disabled for now
    return false;
}

// Borrow the CRC32 algorithm from AP_HAL_SITL
// Not exactly fast algorithm as it is bit based
#define CRC32_POLYNOMIAL 0xEDB88320L
static uint32_t CRC32Value(uint32_t icrc)
{
    int i;
    uint32_t crc = icrc;
    for ( i = 8 ; i > 0; i-- ) {
        if ( crc & 1 ) {
            crc = ( crc >> 1 ) ^ CRC32_POLYNOMIAL;
        } else {
            crc >>= 1;
        }
    }
    return crc;
}

static uint32_t CalculateBlockCRC32(uint32_t length, const uint8_t *buffer, uint32_t crc)
{
    while ( length-- != 0 ) {
        crc = ((crc >> 8) & 0x00FFFFFFL) ^ (CRC32Value(((uint32_t) crc ^ *buffer++) & 0xff));
    }
    return ( crc );
}

/*
  initialise the radio
 */
void AP_Radio_beken::radio_init(void)
{
    DebugPrintf(1, "radio_init\r\n");
    beken.SetRBank(1);
    uint8_t id = beken.ReadReg(BK2425_R1_WHOAMI); // id is now 99
    beken.SetRBank(0); // Reset to default register bank.

    if (id != BK_CHIP_ID_BK2425) {

        Debug(1, "bk2425: radio not found\n"); // We have to keep trying  because it takes time to initialise
        return; // Failure
    }

    {
        uint8_t serialid[12];
        memcpy(serialid, (const void *)UDID_START, 12); // 0x1FFF7A10ul on STM32F412 (see Util::get_system_id)
        uint32_t drone_crc = CalculateBlockCRC32(12, serialid, 0xfffffffful);
        if ((drone_crc & 0xff) == 0) {
            ++drone_crc; // Ensure that the first byte (LSB) is non-zero for all drone CRC, for benefit of old (buggy) tx code.
        }
        myDroneId[0] = drone_crc;
        myDroneId[1] = drone_crc >> 8;
        myDroneId[2] = drone_crc >> 16;
        myDroneId[3] = drone_crc >> 24;
        DebugPrintf(1, "DroneCrc:%08x\r\n", drone_crc);
    }
    Debug(1, "beken: radio_init starting\n");

    beken.bkReady = 0;
    spd = beken.gTxSpeed;
    beken.SwitchToIdleMode();
    hal.scheduler->delay(100); // delay more than 50ms.

    // Initialise Beken registers
    beken.SetRBank(0);
    beken.InitBank0Registers(beken.gTxSpeed);
    beken.SetRBank(1);
    beken.InitBank1Registers(beken.gTxSpeed);
    hal.scheduler->delay(100); // delay more than 50ms.
    beken.SetRBank(0);

    beken.SwitchToRxMode(); // switch to RX mode
    beken.bkReady = 1;
    hal.scheduler->delay_microseconds(10*1000); // 10ms seconds delay

    // setup handler for rising edge of IRQ pin
    hal.gpio->attach_interrupt(HAL_GPIO_RADIO_IRQ, trigger_irq_radio_event, AP_HAL::GPIO::INTERRUPT_FALLING);

    if (load_bind_info()) { // See if we already have bound to the address of a tx
        Debug(3,"Loaded bind info\n");
        nextChannel(1);
    }

    beken.EnableCarrierDetect(true); // For autobinding

    isr_irq_time_us = isr_timeout_time_us = AP_HAL::micros();
    next_switch_us = isr_irq_time_us + 10000;
    chVTSet(&timeout_vt, chTimeMS2I(10), trigger_timeout_event, nullptr); // Initial timeout?
    if (3 <= get_debug_level()) {
        beken.DumpRegisters();
    }
}

// ----------------------------------------------------------------------------
void AP_Radio_beken::trigger_irq_radio_event()
{
    //we are called from ISR context
    //  DEBUG2_HIGH();
    chSysLockFromISR();
    isr_irq_time_us = AP_HAL::micros();
    chEvtSignalI(_irq_handler_ctx, EVT_IRQ);
    chSysUnlockFromISR();
    //  DEBUG2_LOW();
}

// ----------------------------------------------------------------------------
void AP_Radio_beken::trigger_timeout_event(void *arg)
{
    (void)arg;
    //we are called from ISR context
    //  DEBUG2_HIGH();
    //  DEBUG2_LOW();
    //  DEBUG2_HIGH();
    isr_timeout_time_us = AP_HAL::micros();
    chSysLockFromISR();
    chEvtSignalI(_irq_handler_ctx, EVT_TIMEOUT);
    chSysUnlockFromISR();
    //  DEBUG2_LOW();
}

// ----------------------------------------------------------------------------
// The user has clicked on the "Start Bind" button on the web interface
void AP_Radio_beken::start_recv_bind(void)
{
    chan_count = 0;
    synctm.packet_timer = AP_HAL::micros();
    radio_singleton->bind_time_ms = AP_HAL::millis();
    chEvtSignal(_irq_handler_ctx, EVT_BIND);
    Debug(1,"Starting bind\n");
}

// ----------------------------------------------------------------------------
// handle a data96 mavlink packet for fw upload
void AP_Radio_beken::handle_data_packet(mavlink_channel_t chan, const mavlink_data96_t &m)
{
    if (sem.take_nonblocking()) {
        fwupload.chan = chan;
        fwupload.need_ack = false;
        if (m.type == 43) {
            // sending a tune to play - for development testing
            Debug(4, "got tune data96 of len %u from chan %u\n", m.len, chan);
            fwupload.reset();
            fwupload.fw_type = TELEM_PLAY;
            fwupload.file_length = MIN(m.len, 90);
            fwupload.file_length_round = (fwupload.file_length + 1 + 0x0f) & ~0x0f; // Round up to multiple of 16 (with nul-terminator)
            fwupload.queue(&m.data[0], fwupload.file_length);
            if (fwupload.file_length_round > fwupload.file_length) {
                uint8_t pad[16] = {0};
                fwupload.queue(&pad[0], fwupload.file_length_round - fwupload.file_length);
            }
        } else { // m.type == 42
            // sending DFU
            uint32_t ofs=0;
            memcpy(&ofs, &m.data[0], 4); // Assumes the endianness of the data!
            Debug(4, "got data96 of len %u from chan %u at offset %u\n", m.len, chan, unsigned(ofs));
            if (ofs == 0) {
                fwupload.reset();
                // Typically file_length = 0x3906; file_length_round = 0x3980;
                fwupload.file_length = ((uint16_t(m.data[4]) << 8) | (m.data[5])) + 6; // Add the header to the length
                fwupload.file_length_round = (fwupload.file_length + 0x7f) & ~0x7f; // Round up to multiple of 128
            }
            if (ofs != fwupload.added) {
                fwupload.need_ack = true; // We want more data
            } else {
                // sending a chunk of firmware OTA upload
                fwupload.fw_type = TELEM_FW;
                fwupload.queue(&m.data[4], MIN(m.len-4, 92)); // This might fail if mavlink sends it too fast to me, in which case it will retry later
            }
        }
        sem.give();
    }
}


// ----------------------------------------------------------------------------
// Update the telemetry status variable; can be called in irq thread
// since the functions it calls are lightweight
void AP_Radio_beken::update_SRT_telemetry(void)
{
    t_status.flags = 0;
    t_status.flags |= AP_Notify::flags.gps_status >= 3?TELEM_FLAG_GPS_OK:0;
    t_status.flags |= AP_Notify::flags.pre_arm_check?TELEM_FLAG_ARM_OK:0;
    t_status.flags |= AP_Notify::flags.failsafe_battery?0:TELEM_FLAG_BATT_OK;
    t_status.flags |= hal.util->get_soft_armed()?TELEM_FLAG_ARMED:0;
    t_status.flags |= AP_Notify::flags.have_pos_abs?TELEM_FLAG_POS_OK:0;
    t_status.flags |= AP_Notify::flags.video_recording?TELEM_FLAG_VIDEO:0;
    t_status.flight_mode = AP_Notify::flags.flight_mode;
    t_status.tx_max = get_tx_max_power();
    t_status.note_adjust = get_tx_buzzer_adjust();
}

// ----------------------------------------------------------------------------
// Update a radio control packet
// Called from IRQ context.
// Returns true for DFU or TUNE, false for telemetry
bool AP_Radio_beken::UpdateTxData(void)
{
    // send reboot command if appropriate
    fwupload.counter++;
    if ((fwupload.acked >= fwupload.file_length_round) &&
        (fwupload.fw_type == TELEM_FW) && // Not a tune request
        (fwupload.rx_ack) &&
        (fwupload.acked >= 0x1000)) { // Sanity check
        fwupload.rx_reboot = true;
    }
    if (fwupload.rx_reboot && // Sanity check
        ((fwupload.counter & 0x01) != 0) && // Avoid starvation of telemetry
        sem.take_nonblocking()) { // Is the other threads busy with fwupload data?
        fwupload.rx_ack = false;
        // Tell the Tx to reboot
        packetFormatDfu* tx = &beken.pktDataDfu;
        tx->packetType = BK_PKT_TYPE_DFU;
        uint16_t addr = 0x0002; // Command to reboot
        tx->address_lo = addr & 0xff;
        tx->address_hi = (addr >> 8);
        DebugPrintf(2, "reboot %u %u\r\n", fwupload.acked, fwupload.file_length_round);
        sem.give();
        return true;
    } else if ((fwupload.acked >= fwupload.file_length_round) &&
               (fwupload.fw_type == TELEM_PLAY) && // Atune request
               (fwupload.rx_ack) &&
               ((fwupload.counter & 0x01) != 0) && // Avoid starvation of telemetry
               (fwupload.acked > 0) && // Sanity check
               sem.take_nonblocking()) { // Is the other threads busy with fwupload data?
        fwupload.reset();
        // Tell the Tx the tune is complete
        packetFormatDfu* tx = &beken.pktDataDfu;
        tx->packetType = BK_PKT_TYPE_TUNE;
        uint16_t addr = 0x0004; // Command to finalise the tune
        tx->address_lo = addr & 0xff;
        tx->address_hi = (addr >> 8);
        sem.give();
        return true;
    }
    // send firmware update packet for 7/8 of packets if any data pending
    else if ((fwupload.added >= (fwupload.acked + SZ_DFU)) && // Do we have a new packet to upload?
             ((fwupload.counter & 0x07) != 0) && // Avoid starvation of telemetry
             sem.take_nonblocking()) { // Is the other threads busy with fwupload data?
        // Send DFU packet
        packetFormatDfu* tx = &beken.pktDataDfu;
        if (fwupload.sent > fwupload.acked) {
            // Resend the last tx packet until it is acknowledged
            DebugPrintf(4, "resend %u %u %u\r\n", fwupload.added, fwupload.sent, fwupload.acked);
        } else if (fwupload.pending_length() >= SZ_DFU) { // safety check
            // Send firmware update packet
            uint16_t addr = fwupload.sent;
            tx->address_lo = addr & 0xff;
            tx->address_hi = (addr >> 8);
            fwupload.dequeue(&tx->data[0], SZ_DFU); // (updated sent, pending_tail)
            DebugPrintf(4, "send %u %u %u\r\n", fwupload.added, fwupload.sent, fwupload.acked);
            if (fwupload.fw_type == TELEM_PLAY) {
                tx->packetType = BK_PKT_TYPE_TUNE;
            } else if (fwupload.fw_type == TELEM_FW) {
                tx->packetType = BK_PKT_TYPE_DFU;
                if (fwupload.free_length() > 96) {
                    fwupload.need_ack = true; // Request a new mavlink packet
                }
            }
        }
        sem.give();
        return true;
    } else {
        // Send telemetry packet
        packetFormatTx* tx = &beken.pktDataTx;
        update_SRT_telemetry();
        tx->packetType = BK_PKT_TYPE_TELEMETRY; ///< The packet type
        tx->pps = t_status.pps;
        tx->flags = t_status.flags;
        tx->droneid[0] = myDroneId[0];
        tx->droneid[1] = myDroneId[1];
        tx->droneid[2] = myDroneId[2];
        tx->droneid[3] = myDroneId[3];
        tx->flight_mode = t_status.flight_mode;
        tx->wifi = t_status.wifi_chan + (24 * t_status.tx_max);
        tx->note_adjust = t_status.note_adjust;
        // CPM bodge - use "Radio Protocol>0" to mean "Adaptive Frequency hopping disabled"
        // This should move to a different parameter.
        // Also the thresholds for swapping should move to be parameters.
        if (get_protocol()) {
            tx->hopping = 0;    // Adaptive frequency hopping disabled
        } else {
            tx->hopping = adaptive.hopping;    // Tell the tx what we want to use
        }
        telem_send_count++;
        return false;
    }

}

// ----------------------------------------------------------------------------
// When (most of) a 92 byte packet has been sent to the Tx, ask for another one
// called from main thread
void AP_Radio_beken::check_fw_ack(void)
{
    if (fwupload.need_ack && sem.take_nonblocking()) {
        // ack the send of a DATA96 fw packet to TX
        if (fwupload.added < fwupload.file_length) {
            fwupload.need_ack = false;
            uint8_t data16[16] {};
            uint32_t ack_to = fwupload.added;
            memcpy(&data16[0], &ack_to, 4); // Assume endianness matches
            mavlink_msg_data16_send(fwupload.chan, 42, 4, data16);
        } else if (fwupload.added & 0x7f) { // Are we on a boundary
            // Pad out some bytes at the end
            uint8_t data16[16];
            memset(&data16[0], 0, sizeof(data16));
            if (fwupload.free_length() > 16) {
                fwupload.queue(&data16[0], 16-(fwupload.added & 15));
            }
            DebugPrintf(4, "Pad to %d\r\n", fwupload.added);
        } else if (fwupload.acked < fwupload.added) {
            // Keep sending to the tx until it is acked
            DebugPrintf(4, "PadResend %u %u %u\r\n", fwupload.added, fwupload.sent, fwupload.acked);
        } else {
            fwupload.need_ack = false; // All done
            DebugPrintf(3, "StopUpload\r\n");
            uint8_t data16[16] {};
            uint32_t ack_to = fwupload.file_length; // Finished
            memcpy(&data16[0], &ack_to, 4); // Assume endianness matches
            mavlink_msg_data16_send(fwupload.chan, 42, 4, data16);
        }
        sem.give();
    }
}

// ----------------------------------------------------------------------------
/* support all 4 rc input modes by swapping channels. */
void AP_Radio_beken::map_stick_mode(void)
{
    switch (get_stick_mode()) {
    case 1: {
        // mode1 = swap throttle and pitch
        uint16_t tmp = pwm_channels[1];
        pwm_channels[1] = pwm_channels[2];
        pwm_channels[2] = tmp;
        break;
    }

    case 3: {
        // mode3 = swap throttle and pitch, swap roll and yaw
        uint16_t tmp = pwm_channels[1];
        pwm_channels[1] = pwm_channels[2];
        pwm_channels[2] = tmp;
        tmp = pwm_channels[0];
        pwm_channels[0] = pwm_channels[3];
        pwm_channels[3] = tmp;
        break;
    }

    case 4: {
        // mode4 = swap roll and yaw
        uint16_t tmp = pwm_channels[0];
        pwm_channels[0] = pwm_channels[3];
        pwm_channels[3] = tmp;
        break;
    }

    case 2:
    default:
        // nothing to do, transmitter is natively mode2
        break;
    }

    // reverse pitch input to match ArduPilot default
    pwm_channels[1] = 3000 - pwm_channels[1];
}

// ----------------------------------------------------------------------------
// This is a valid manual/auto binding packet.
// The type of binding is valid now, and it came with the right address.
// Lets check to see if it wants to be for another drone though
// Return 1 on double binding
uint8_t AP_Radio_beken::ProcessBindPacket(const packetFormatRx * rx)
{
    // Did the tx pick a drone yet?
    uint32_t did = ((uint32_t)rx->u.bind.droneid[0]) | ((uint32_t)rx->u.bind.droneid[1] << 8)
                   | ((uint32_t)rx->u.bind.droneid[2] << 16) | ((uint32_t)rx->u.bind.droneid[3] << 24);
    uint32_t mid = ((uint32_t)myDroneId[0]) | ((uint32_t)myDroneId[1] << 8)
                   | ((uint32_t)myDroneId[2] << 16) | ((uint32_t)myDroneId[3] << 24);
    if (did & 0xff) { // If the first byte is zero, the drone id is not set (compatibility with old tx code)
        // Is it me or someone else?
        if (did != mid) {
            // This tx is not for us!
            if (!valid_connection && !already_bound) {
                // Keep searching!
                Debug(1, "WrongDroneId: %08lx vs %08lx\n", did, mid);
                BadDroneId();
                return 1;
            }
        }
    }

    // Set the address on which we are receiving the control data
    syncch.SetChannel(rx->channel); // Can be factory test channels if wanted
    if (get_factory_test() == 0) { // Final check that we are not in factory mode
        adaptive.Invalidate();
        syncch.SetHopping(0, rx->u.bind.hopping);
        beken.SetAddresses(&rx->u.bind.bind_address[0]);
        Debug(1, " Bound to %x %x %x %x %x\r\n", rx->u.bind.bind_address[0],
              rx->u.bind.bind_address[1], rx->u.bind.bind_address[2],
              rx->u.bind.bind_address[3], rx->u.bind.bind_address[4]);
        save_bind_info(); // May take some time
    }
    return 0;
}


// ----------------------------------------------------------------------------
// Handle receiving a packet (we are still in an interrupt!)
// Return 1 if we want to stay on the current radio frequency instead of hopping (double binding)
uint8_t AP_Radio_beken::ProcessPacket(const uint8_t* packet, uint8_t rxaddr)
{
    uint8_t result = 0;
    const packetFormatRx * rx = (const packetFormatRx *) packet; // Interpret the packet data
    switch (rx->packetType) {
    case BK_PKT_TYPE_CTRL_FOUND:
    case BK_PKT_TYPE_CTRL_LOST:
        // We haz data
        if (rxaddr == 0) {
            syncch.SetChannelIfSafe(rx->channel);
            synctm.packet_timer = AP_HAL::micros(); // This is essential for letting the channels update
            if (!already_bound) {
                already_bound = true; // Do not autobind to a different tx unless we power off
                // test rssi    beken.EnableCarrierDetect(false); // Save 1ma of power
                beken.WriteReg(BK_WRITE_REG|BK_EN_RXADDR, 0x01); // Ignore the binding channel, which might be from competing siren txs.
            }
            adaptive.Get(rx->channel); // Give the good news to the adaptive logic
            // Put the data into the control values (assuming mode2)
            pwm_channels[0] = 1000 + rx->u.ctrl.roll     + (uint16_t(rx->u.ctrl.msb & 0xC0) << 2); // Roll
            pwm_channels[1] = 1000 + rx->u.ctrl.pitch    + (uint16_t(rx->u.ctrl.msb & 0x30) << 4); // Pitch
            pwm_channels[2] = 1000 + rx->u.ctrl.throttle + (uint16_t(rx->u.ctrl.msb & 0x0C) << 6); // Throttle
            pwm_channels[3] = 1000 + rx->u.ctrl.yaw      + (uint16_t(rx->u.ctrl.msb & 0x03) << 8); // Yaw
            pwm_channels[4] = 1000 + ((rx->u.ctrl.buttons_held & 0x07) >> 0) * 100; // SW1, SW2, SW3
            pwm_channels[5] = 1000 + ((rx->u.ctrl.buttons_held & 0x38) >> 3) * 100; // SW4, SW5, SW6
            // cope with mode1/mode2/mode3/mode4
            map_stick_mode();
            chan_count = MAX(chan_count, 7);
            switch (rx->u.ctrl.data_type) {
            case BK_INFO_FW_VER: break;
            case BK_INFO_DFU_RX: {
                uint16_t ofs = rx->u.ctrl.data_value_hi;
                ofs <<= 8;
                ofs |= rx->u.ctrl.data_value_lo;
                if (ofs == fwupload.acked + SZ_DFU) {
                    fwupload.acked = ofs;
                }
                if ((ofs == fwupload.acked) && (ofs > 0)) {
                    fwupload.rx_ack = true;
                }
                if ((ofs == 0) && fwupload.rx_reboot) {
                    fwupload.reset();
                }
            }
            break;
            case BK_INFO_FW_CRC_LO:
                break;
            case BK_INFO_FW_CRC_HI:
                break;
            case BK_INFO_FW_YM:
                tx_date.firmware_year = rx->u.ctrl.data_value_hi;
                tx_date.firmware_month = rx->u.ctrl.data_value_lo;
                break;
            case BK_INFO_FW_DAY:
                tx_date.firmware_day = rx->u.ctrl.data_value_hi;
                break;
            case BK_INFO_MODEL:
                break;
            case BK_INFO_PPS:
                tx_pps = rx->u.ctrl.data_value_lo; // Remember pps from tx
                if (!have_tx_pps) {
                    have_tx_pps = 2;
                    if (tx_pps == 0) { // Has the tx not been receiving telemetry from someone else recently?
                        valid_connection = true;
                    } else {
                        // the TX has received more telemetry packets in the last second
                        // than we have ever sent. There must be another RX sending
                        // telemetry packets. We will reset our mfg_id and go back waiting
                        // for a new bind packet, hopefully with the right TX
                        Debug(1, "Double-bind detected via PPS %d\n", (int) tx_pps);
                        BadDroneId();
                        result = 1;
                    }
                } else {
                    have_tx_pps = 2;
                }
                break;
            case BK_INFO_BATTERY:
                // "voltage from TX is in 0.025 volt units". Convert to 0.01 volt units for easier display
                // The CC2500 code (and this) actually assumes it is in 0.04 volt units, hence the tx scaling by 23/156 (38/256) instead of 60/256)
                // Which means a maximum value is 152 units representing 6.0v rather than 240 units representing 6.0v
                pwm_channels[6] = rx->u.ctrl.data_value_lo * 4;
                break;
            case BK_INFO_COUNTDOWN:
                if (get_factory_test() == 0) {
                    if (rx->u.ctrl.data_value_lo) {
                        syncch.SetCountdown(rx->u.ctrl.data_value_lo+1, rx->u.ctrl.data_value_hi);
                        adaptive.Invalidate();
                        DebugPrintf(2, "(%d) ", rx->u.ctrl.data_value_lo);
                    }
                }
                break;
            case BK_INFO_HOPPING0:
                if (get_factory_test() == 0) {
                    syncch.SetHopping(rx->u.ctrl.data_value_lo, rx->u.ctrl.data_value_hi);
                    //                  DebugPrintf(2, "[%d] ", rx->u.ctrl.data_value_lo);
                }
                break;
            case BK_INFO_HOPPING1: // Ignored so far
                break;
            case BK_INFO_DRONEID0: // Does this Tx even want to talk to me?
                if (rx->u.ctrl.data_value_lo || rx->u.ctrl.data_value_hi) {
                    if ((rx->u.ctrl.data_value_lo != myDroneId[0]) ||
                        (rx->u.ctrl.data_value_hi != myDroneId[1])) {
                        Debug(1, "Bad DroneID0 %02x %02x\n", rx->u.ctrl.data_value_lo, rx->u.ctrl.data_value_hi);
                        BadDroneId(); // Bad drone id - disconnect from this tx
                        result = 1;
                    }
                }
                break;
            case BK_INFO_DRONEID1: // Does this Tx even want to talk to me?
                if (rx->u.ctrl.data_value_lo || rx->u.ctrl.data_value_hi) {
                    if ((rx->u.ctrl.data_value_lo != myDroneId[2]) ||
                        (rx->u.ctrl.data_value_hi != myDroneId[3])) {
                        Debug(1, "Bad DroneID1 %02x %02x\n", rx->u.ctrl.data_value_lo, rx->u.ctrl.data_value_hi);
                        BadDroneId(); // Bad drone id - disconnect from this tx
                        result = 1;
                    }
                }
                break;
            default:
                break;
            };
        }
        break;

    case BK_PKT_TYPE_BIND_AUTO:
        if (rxaddr == 1) {
            if (get_autobind_rssi() > BK_RSSI_DEFAULT) { // Have we disabled autobind using fake RSSI parameter?
                Debug(2, "X0");
                break;
            }
            if (get_autobind_time() == 0) { // Have we disabled autobind using zero time parameter?
                Debug(2, "X1");
                break;
            }
            if (already_bound) { // Do not auto-bind (i.e. to another tx) until we reboot.
                Debug(2, "X2");
                break;
            }
            uint32_t now = AP_HAL::millis();
            if (now < get_autobind_time() * 1000) { // Is this too soon from rebooting/powering up to autobind?
                Debug(2, "X3");
                break;
            }
            // Check the carrier detect to see if the drone is too far away to auto-bind
            if (!beken.CarrierDetect()) {
                Debug(2, "X4");
                break;
            }
            result = ProcessBindPacket(rx);
        }
        break;

    case BK_PKT_TYPE_BIND_MANUAL: // Sent by the tx for a few seconds after power-up when a button is held down
        if (rxaddr == 1) {
            if (bind_time_ms == 0) { // We have never receiving a binding click
                Debug(2, "X5");
                break; // Do not bind
            }
            if (already_bound) { // Do not manually-bind (i.e. to another tx) until we reboot.
                Debug(2, "X6");
                break;
            }
            //          if (uint32_t(AP_HAL::millis() - bind_time_ms) > 1000ul * 60u) // Have we pressed the button to bind recently? One minute timeout
            //              break; // Do not bind
            result = ProcessBindPacket(rx);
        }
        break;

    case BK_PKT_TYPE_TELEMETRY:
    case BK_PKT_TYPE_DFU:
    default:
        // This is one of our packets! Ignore it.
        break;
    }
    return result;
}

// ----------------------------------------------------------------------------
// Prepare to send a FCC packet
void AP_Radio_beken::UpdateFccScan(void)
{
    // Support scan mode
    if (beken.fcc.scan_mode) {
        beken.fcc.scan_count++;
        if (beken.fcc.scan_count >= 200) {
            beken.fcc.scan_count = 0;
            beken.fcc.channel += 2; // Go up by 2Mhz
            if (beken.fcc.channel >= CHANNEL_FCC_HIGH) {
                beken.fcc.channel = CHANNEL_FCC_LOW;
            }
        }
    }
}

// ----------------------------------------------------------------------------
// main IRQ handler
void AP_Radio_beken::irq_handler(uint32_t when)
{
    if (beken.fcc.fcc_mode) {
        // don't process interrupts in FCCTEST mode
        beken.WriteReg(BK_WRITE_REG | BK_STATUS,
                       (BK_STATUS_RX_DR | BK_STATUS_TX_DS | BK_STATUS_MAX_RT)); // clear RX_DR or TX_DS or MAX_RT interrupt flag
        return;
    }

    // Determine which state fired the interrupt
    bool bNext = false;
    bool bRx = false;
    uint8_t bk_sta = beken.ReadStatus();
    if (bk_sta & BK_STATUS_TX_DS) {
        DEBUG1_LOW();
        DEBUG1_HIGH();
        DEBUG1_LOW();
        DEBUG1_HIGH();
        DEBUG1_LOW();
        DEBUG1_HIGH();
        // Packet was sent towards the Tx board
        synctm.tx_time_us = when;
        beken.SwitchToIdleMode();
        if (beken.fcc.disable_crc_mode && !beken.fcc.disable_crc) {
            beken.SetCrcMode(true);
        }
        bNext = bRx = true;
    }
    if (bk_sta & BK_STATUS_MAX_RT) {
        // We have had a "max retries" error
    }
    bool bReply = false;
    if (bk_sta & BK_STATUS_RX_DR) {
        DEBUG1_LOW();
        DEBUG1_HIGH();
        DEBUG1_LOW();
        DEBUG1_HIGH();
        // We have received a packet
        uint8_t rxstd = 0;
        // Which pipe (address) have we received this packet on?
        if ((bk_sta & BK_STATUS_RX_MASK) == BK_STATUS_RX_P_0) {
            rxstd = 0;
        } else if ((bk_sta & BK_STATUS_RX_MASK) == BK_STATUS_RX_P_1) {
            rxstd = 1;
        } else {
            stats.recv_errors++;
        }
        bNext = true;

        uint8_t len, fifo_sta;
        uint8_t packet[32];
        do {
            stats.recv_packets++;
            len = beken.ReadReg(BK_R_RX_PL_WID_CMD);    // read received packet length in bytes

            if (len <= PACKET_LENGTH_RX_MAX) {
                bReply = true;
                synctm.Rx(when);
                //              printf("R%d ", when - next_switch_us);
                next_switch_us = when + synctm.sync_time_us + 1500; // Switch channels if we miss the next packet
                // This includes short packets (e.g. where no telemetry was sent)
                beken.ReadRegisterMulti(BK_RD_RX_PLOAD, packet, len); // read receive payload from RX_FIFO buffer
                //              DebugPrintf(3, "Packet %d(%d) %d %d %d %d %d %d %d %d ...\r\n", rxstd, len,
                //                  packet[0], packet[1], packet[2], packet[3], packet[4], packet[5], packet[6], packet[7]);
            } else { // Packet was too long
                beken.ReadRegisterMulti(BK_RD_RX_PLOAD, packet, 32); // read receive payload from RX_FIFO buffer
                beken.Strobe(BK_FLUSH_RX); // flush Rx
            }
            fifo_sta = beken.ReadReg(BK_FIFO_STATUS);    // read register FIFO_STATUS's value
        } while (!(fifo_sta & BK_FIFO_STATUS_RX_EMPTY)); // while not empty
        beken.WriteReg(BK_WRITE_REG | BK_STATUS,
                       (BK_STATUS_RX_DR | BK_STATUS_TX_DS | BK_STATUS_MAX_RT)); // clear RX_DR or TX_DS or MAX_RT interrupt flag
        if (1 == ProcessPacket(packet, rxstd)) {
            bNext = false; // Because double binding detected
        }
        if (beken.fcc.enable_cd) {
            beken.fcc.last_cd = beken.CarrierDetect(); // Detect if close or not
        } else {
            beken.fcc.last_cd = true; // Assumed to be close
        }
    }

    // Clear the bits
    beken.WriteReg((BK_WRITE_REG|BK_STATUS), (BK_STATUS_MAX_RT | BK_STATUS_TX_DS | BK_STATUS_RX_DR));
    if (bReply) {
        uint32_t now = AP_HAL::micros();
        uint32_t delta = chTimeUS2I(800 + next_switch_us - now); // Do not use US2ST since that will overflow 32 bits
        chSysLock();
        chVTResetI(&timeout_vt); // Stop the normal timeout
        chVTSetI(&timeout_vt, delta, trigger_timeout_event, nullptr); // Timeout after 7ms
        chSysUnlock();

        if (get_telem_enable() && have_tx_pps) { // Note that the user can disable telemetry, but the transmitter will be less functional in this case.
            bNext = bRx = false;
            // Send the telemetry reply to the controller
            beken.Strobe(BK_FLUSH_TX); // flush Tx
            beken.ClearAckOverflow();
            bool txDfu = UpdateTxData();
            if (txDfu) {
                beken.pktDataDfu.channel = syncch.channel;
            } else {
                beken.pktDataTx.channel = syncch.channel;
            }
            if (beken.fcc.disable_crc_mode) {
                // Only disable the CRC on reception, not transmission, so the connection remains.
                beken.SwitchToIdleMode();
                beken.SetCrcMode(false);
            }
            beken.SwitchToTxMode();
            DEBUG1_LOW();
            hal.scheduler->delay_microseconds(200); // delay to give the (remote) tx a chance to switch to receive mode
            DEBUG1_HIGH();
            if (txDfu) {
                beken.SendPacket(BK_W_TX_PAYLOAD_NOACK_CMD, (uint8_t *)&beken.pktDataDfu, PACKET_LENGTH_TX_DFU);
            } else {
                beken.SendPacket(BK_W_TX_PAYLOAD_NOACK_CMD, (uint8_t *)&beken.pktDataTx, PACKET_LENGTH_TX_TELEMETRY);
            }
        } else { // Try to still work when telemetry is disabled
            bNext = true;
        }
    }
    if (bNext) {
        nextChannel(1);
    }
    if (bRx) {
        beken.SwitchToRxMode();    // Prepare to receive next packet (on the next channel)
    }
}

// ----------------------------------------------------------------------------
// handle timeout IRQ (called when we need to switch channels)
void AP_Radio_beken::irq_timeout(uint32_t when)
{
    DEBUG1_LOW();
    DEBUG1_HIGH();
    DEBUG1_LOW();
    DEBUG1_HIGH();
    DEBUG1_LOW();
    DEBUG1_HIGH();
    DEBUG1_LOW();
    DEBUG1_HIGH();
    DEBUG1_LOW();
    DEBUG1_HIGH();

    if (beken.bkReady) { // We are not reinitialising the chip in the main thread
        static uint8_t check_params_timer = 0;
        if (++check_params_timer >= 10) { // We don't need to test the parameter logic every ms.
            // Every 50ms get here
            bool bOldReady = beken.bkReady;
            beken.bkReady = false;
            check_params_timer = 0;
            // Set the transmission power
            uint8_t pwr = get_transmit_power(); // 1..8
            if (pwr != beken.fcc.power + 1) {
                if ((pwr > 0) && (pwr <= 8)) {
                    beken.SwitchToIdleMode();
                    beken.SetPower(pwr-1); // (this will set beken.fcc.power)
                }
            }

            // Set CRC mode
            uint8_t crc = get_disable_crc();
            if (crc != beken.fcc.disable_crc_mode) {
                beken.SwitchToIdleMode();
                beken.SetCrcMode(crc);
                beken.fcc.disable_crc_mode = crc;
            }

            // Do we need to change our factory test mode?
            uint8_t factory = get_factory_test();
            if (factory != beken.fcc.factory_mode) {
                beken.SwitchToIdleMode();
                // Set frequency
                syncch.channel = factory ? (factory-1) + CHANNEL_COUNT_LOGICAL*CHANNEL_NUM_TABLES : 0;
                // Set address
                beken.SetFactoryMode(factory);
            }

            // Do we need to change our fcc test mode status?
            uint8_t fcc = get_fcc_test();
            if (fcc != beken.fcc.fcc_mode) {
                beken.Strobe(BK_FLUSH_TX);
                if (fcc == 0) { // Turn off fcc test mode
                    if (beken.fcc.CW_mode) {
                        beken.SwitchToIdleMode();
                        beken.SetCwMode(false);
                    }
                } else {
                    if (fcc > 3) {
                        if (!beken.fcc.CW_mode) {
                            beken.SwitchToIdleMode();
                            beken.SetCwMode(true);
                            beken.DumpRegisters();
                        }
                    } else {
                        if (beken.fcc.CW_mode) {
                            beken.SwitchToIdleMode();
                            beken.SetCwMode(false);
                        }
                    }
                    switch (fcc) {
                    case 1: case 4:
                    default:
                        beken.fcc.channel = CHANNEL_FCC_LOW;
                        break;
                    case 2: case 5:
                        beken.fcc.channel = CHANNEL_FCC_MID;
                        break;
                    case 3: case 6:
                        beken.fcc.channel = CHANNEL_FCC_HIGH;
                        break;
                    };
                }
                beken.fcc.fcc_mode = fcc;
                DebugPrintf(1, "\r\nFCC mode %d\r\n", fcc);
            }
            beken.bkReady = bOldReady;
        }

        // For fcc mode, just send packets on timeouts (every 5ms)
        if (beken.fcc.fcc_mode) {
            beken.SwitchToTxMode();
            beken.ClearAckOverflow();
            UpdateFccScan();
            beken.SetChannel(beken.fcc.channel);
            UpdateTxData();
            beken.pktDataTx.channel = 0;
            if (!beken.fcc.CW_mode) {
                beken.SendPacket(BK_WR_TX_PLOAD, (uint8_t *)&beken.pktDataTx, PACKET_LENGTH_TX_TELEMETRY);
            }
        } else {
            // Normal modes - we have timed out for channel hopping
            int32_t d = synctm.sync_time_us; // Time between packets, e.g. 5100 us
            uint32_t dt = when - synctm.rx_time_us;
            if (dt > 50*d) { // We have lost sync (missed 50 packets) so slow down the channel hopping until we resync
                d *= 5; // 3 or 5 are relatively prime to the table size of 16.
                DebugPrintf(2, "C");
                if (dt > 120*d) { // We have missed 3 seconds - try the safe WiFi table
                    DebugPrintf(2, "S");
                    syncch.SafeTable();
                }
            } else {
                //          DebugPrintf(2, "c%d ", AP_HAL::micros() - next_switch_us);
                DebugPrintf(2, "c");
                adaptive.Miss(syncch.channel);
            }
            {
                uint8_t fifo_sta = radio_singleton->beken.ReadReg(BK_FIFO_STATUS);    // read register FIFO_STATUS's value
                if (!(fifo_sta & BK_FIFO_STATUS_RX_EMPTY)) { // while not empty
                    DEBUG1_LOW();
                    DEBUG1_HIGH();
                    DebugPrintf(2, "#"); // We have received a packet, but the interrupt was not triggered!
                    radio_singleton->irq_handler(next_switch_us); // Use this broken time
                    DEBUG1_LOW();
                    DEBUG1_HIGH();
                } else {
                    next_switch_us += d; // Switch channels if we miss the next packet
                }
            }
            int32_t ss = int32_t(next_switch_us - when);
            if (ss < 1000) { // Not enough time
                next_switch_us = when + d; // Switch channels if we miss the next packet
                DebugPrintf(2, "j");
            }
            beken.SwitchToIdleMode();
            nextChannel(1); // Switch to the next channel
            beken.SwitchToRxMode();
            beken.ClearAckOverflow();
        }
    }

    // Ask for another timeout
    uint32_t now = AP_HAL::micros();
    if (int32_t(next_switch_us - when) < 300) { // Too late for that one
        next_switch_us = now + synctm.sync_time_us;
    }
    if (int32_t(next_switch_us - now) < 250) { // Too late for this one
        next_switch_us = now + synctm.sync_time_us;
    }
    uint32_t delta = chTimeUS2I(next_switch_us - now); // Do not use US2ST since that will overflow 32 bits.

    chSysLock();
    chVTSetI(&timeout_vt, delta, trigger_timeout_event, nullptr); // Timeout every 5 ms
    chSysUnlock();
}

// ----------------------------------------------------------------------------
// Thread that supports Beken Radio work triggered by interrupts
// This is the only thread that should access the Beken radio chip via SPI.
void AP_Radio_beken::irq_handler_thd(void *arg)
{
    (void) arg;
    while (true) {
        DEBUG1_LOW();
        eventmask_t evt = chEvtWaitAny(ALL_EVENTS);
        DEBUG1_HIGH();
        if (_irq_handler_ctx != nullptr) { // Sanity check
            _irq_handler_ctx->name = "RadioBeken";    // Only useful to be done once but here is done often
        }

        radio_singleton->beken.lock_bus();
        switch (evt) {
        case EVT_IRQ:
            if (radio_singleton->beken.fcc.fcc_mode != 0) {
                DebugPrintf(3, "IRQ FCC\n");
            }
            radio_singleton->irq_handler(isr_irq_time_us);
            break;
        case EVT_TIMEOUT:
            radio_singleton->irq_timeout(isr_timeout_time_us);
            break;
        case EVT_BIND: // The user has clicked on the "Start Bind" button on the web interface
            DebugPrintf(2, "\r\nBtnStartBind\r\n");
            break;
        default:
            break;
        }
        radio_singleton->beken.unlock_bus();
    }
}

void AP_Radio_beken::setChannel(uint8_t channel)
{
    beken.SetChannel(channel);
}

const uint8_t bindHopData[256] = {
#if 0 // Support single frequency mode (no channel hopping)
    // Normal frequencies
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Normal
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 1,2,3,4,5
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 6
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 7
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 8
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 9,10,11
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Test mode channels
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Reserved
    // Alternative frequencies
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Normal
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 1,2,3,4,5
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 6
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 7
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 8
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Wifi channel 9,10,11
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Test mode channels
    23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23, // Reserved
#else // Frequency hopping
    // Normal frequencies
    47,21,31,52,36,13,72,41, 69,56,16,26,61,10,45,66, // Normal
    57,62,67,72,58,63,68,59, 64,69,60,65,70,61,66,71, // Wifi channel 1,2,3,4,5 (2457..2472MHz)
    62,10,67,72,63,68,11,64, 69,60,65,70,12,61,66,71, // Wifi channel 6
    10,67,11,72,12,68,13,69, 14,65,15,70,16,66,17,71, // Wifi channel 7
    10,70,15,20,14,71,16,21, 12,17,22,72,13,18,11,19, // Wifi channel 8
    10,15,20,25,11,16,21,12, 17,22,13,18,23,14,19,24, // Wifi channel 9,10,11
    46,41,31,52,36,13,72,69, 21,56,16,26,61,66,10,43, // Test mode channels
    46,41,31,52,36,13,72,69, 21,56,16,26,61,66,10,43, // Reserved
    // Alternative frequencies
    17,11,63,19,67,44,43,38, 50,54,70,58,29,35,25,14, // Normal
    18,10,23,21,33,44,41,38, 52,45,47,25,30,35,49,14, // Wifi channel 1,2,3,4,5
    18,56,23,21,33,44,41,38, 52,45,47,25,30,35,49,14, // Wifi channel 6
    18,56,23,21,33,44,41,38, 52,45,47,25,30,35,49,61, // Wifi channel 7
    68,56,24,53,33,44,41,38, 28,45,47,65,30,35,49,61, // Wifi channel 8
    68,56,72,53,33,44,41,38, 28,45,47,65,30,35,49,61, // Wifi channel 9,10,11
    46,41,31,52,36,13,72,69, 21,56,16,26,61,66,10,43, // Test mode channels (as normal)
    46,41,31,52,36,13,72,69, 21,56,16,26,61,66,10,43, // Reserved (as normal)
#endif
};

void AP_Radio_beken::nextChannel(uint8_t skip)
{
    if (skip) {
        syncch.NextChannel();
    }
    setChannel(bindHopData[syncch.channel]);
}

/*
  save bind info
 */
void AP_Radio_beken::save_bind_info(void)
{
    // access to storage for bind information
    StorageAccess bind_storage(StorageManager::StorageBindInfo);
    struct bind_info info;

    info.magic = bind_magic;
    info.bindTxId[0] = beken.TX_Address[0];
    info.bindTxId[1] = beken.TX_Address[1];
    info.bindTxId[2] = beken.TX_Address[2];
    info.bindTxId[3] = beken.TX_Address[3];
    info.bindTxId[4] = beken.TX_Address[4];
    bind_storage.write_block(0, &info, sizeof(info));
}

/*
  load bind info
 */
bool AP_Radio_beken::load_bind_info(void)
{
    // access to storage for bind information
    StorageAccess bind_storage(StorageManager::StorageBindInfo);
    struct bind_info info;

    if (!bind_storage.read_block(&info, 0, sizeof(info)) || info.magic != bind_magic) {
        return false;
    }

    beken.SetAddresses(&info.bindTxId[0]);

    return true;
}

// ----------------------------------------------------------------------------
void AP_Radio_beken::BadDroneId(void)
{
    if (stats.recv_packets >= 1000) { // We are already chatting to this TX for some time.
        return; // Do not disconnect from it.
    }

    // clear the current bind information
    valid_connection = false;
    // with luck we will connect to another tx
    beken.SwitchToIdleMode();
    beken.SetFactoryMode(0); // Reset the tx address
    adaptive.Invalidate();
    syncch.SetHopping(0,0);
    already_bound = false; // Not already solidly bound to a drone
    stats.recv_packets = 0;
    beken.WriteReg(BK_WRITE_REG|BK_EN_RXADDR, 0x02);
    have_tx_pps = false;
}

// ----------------------------------------------------------------------------
// Which bits correspond to each channel within a table, for adaptive frequencies
static const uint8_t channel_bit_table[CHANNEL_COUNT_LOGICAL] = {
    0x01, 0, 0x02, 0, 0x04, 0, 0x08, 0,
    0x10, 0, 0x20, 0, 0x40, 0, 0x80, 0
};

// Step through the channels
void SyncChannel::NextChannel(void)
{
    channel &= 0x7f;
    if (channel >= CHANNEL_COUNT_LOGICAL*CHANNEL_NUM_TABLES) {
        // We are in the factory test modes. Keep the channel as is.
    } else {
        if (countdown != countdown_invalid) {
            if (--countdown == 0) {
                channel = countdown_chan;
                countdown = countdown_invalid;
                hopping_current = hopping_wanted = 0;
                return;
            }
        } else if (hopping_countdown != countdown_invalid) {
            if (--hopping_countdown == 0) {
                hopping_current = hopping_wanted;
                hopping_countdown = countdown_invalid;
                //              printf("{Use %d} ", hopping_current);
            }
        }
        uint8_t table = channel / CHANNEL_COUNT_LOGICAL;
        channel = (channel + 1) % CHANNEL_COUNT_LOGICAL;
        channel += table * CHANNEL_COUNT_LOGICAL;
        // Support adaptive frequency hopping
        if (hopping_current & channel_bit_table[channel % CHANNEL_COUNT_LOGICAL]) {
            channel |= 0x80;
        }
    }
}

// If we have not received any packets for ages, try a WiFi table that covers all frequencies
void SyncChannel::SafeTable(void)
{
    channel &= 0x7f;
    if (channel >= CHANNEL_COUNT_LOGICAL*CHANNEL_NUM_TABLES) {
        // We are in the factory test modes. Reset to default table.
        channel = 0;
    } else {
        uint8_t table = channel / CHANNEL_COUNT_LOGICAL;
        if ((table != CHANNEL_BASE_TABLE) && (table != CHANNEL_SAFE_TABLE)) { // Are we using a table that is high end or low end only?
            channel %= CHANNEL_COUNT_LOGICAL;
            channel += CHANNEL_SAFE_TABLE * CHANNEL_COUNT_LOGICAL;
        }
    }
}

// Check if valid channel index; we have received a packet describing the current channel index
void SyncChannel::SetChannelIfSafe(uint8_t chan)
{
    if (channel != chan) {
        DebugPrintf(2, "{{%d}} ", chan);
    }
    chan &= 0x7f; // Disregard hopping
    if (chan >= CHANNEL_COUNT_LOGICAL*CHANNEL_NUM_TABLES) {
        if (chan == lastchan) {
            channel = chan; // Allow test mode channels if two in a row
        } else {
            chan = 0; // Disallow test mode tables unless followed by each other
        }
        lastchan = chan;
    } else {
        lastchan = 0;
    }
    channel = chan;
}

// We have received a packet on this channel
void SyncAdaptive::Get(uint8_t channel)
{
    uint8_t f = bindHopData[channel];
    rx[f]++;
}

enum { ADAPT_THRESHOLD = 50 }; // Missed packets threshold for adapting the hopping

// We have missed a packet on this channel. Consider adapting.
void SyncAdaptive::Miss(uint8_t channel)
{
    uint8_t f1 = bindHopData[channel];
    missed[f1]++;
    uint8_t f2 = bindHopData[channel ^ 0x80];
    int32_t delta1 = missed[f1] - rx[f1];
    int32_t delta2 = missed[f2] - rx[f2];
    if ((delta1 > ADAPT_THRESHOLD) && // Worse than 50% reception on this channel
        (delta1 > delta2)) {
        // Ok consider swapping this channel
        uint8_t bit = channel_bit_table[channel % CHANNEL_COUNT_LOGICAL];
        if (bit) { // Is an even packet
            uint8_t oh = hopping;
            if (channel & 0x80) { // Swap back from alternative
                hopping &= ~bit;
            } else { // Swap to alternative
                hopping |= bit;
            }
            if (hopping != oh) { // Have we changed?
                missed[f2] = rx[f2] = 0; // Reset the values
                //              printf("{%d->%d:%d} ", f1+2400, f2+2400, hopping);
            }
        }
    }
}



#endif // HAL_RCINPUT_WITH_AP_RADIO