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RNode_Firmware/RNode_Firmware.ino

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// Copyright (C) 2024, Mark Qvist
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <https://www.gnu.org/licenses/>.
#include <Arduino.h>
#include <SPI.h>
#include "Utilities.h"
FIFOBuffer serialFIFO;
uint8_t serialBuffer[CONFIG_UART_BUFFER_SIZE+1];
FIFOBuffer16 packet_starts;
uint16_t packet_starts_buf[CONFIG_QUEUE_MAX_LENGTH+1];
FIFOBuffer16 packet_lengths;
uint16_t packet_lengths_buf[CONFIG_QUEUE_MAX_LENGTH+1];
uint8_t packet_queue[CONFIG_QUEUE_SIZE];
volatile uint8_t queue_height = 0;
volatile uint16_t queued_bytes = 0;
volatile uint16_t queue_cursor = 0;
volatile uint16_t current_packet_start = 0;
volatile bool serial_buffering = false;
#if HAS_BLUETOOTH || HAS_BLE == true
bool bt_init_ran = false;
#endif
#if HAS_CONSOLE
#include "Console.h"
#endif
#if PLATFORM == PLATFORM_ESP32 || PLATFORM == PLATFORM_NRF52
#define MODEM_QUEUE_SIZE 4
typedef struct {
size_t len;
int rssi;
int snr_raw;
uint8_t data[];
} modem_packet_t;
static xQueueHandle modem_packet_queue = NULL;
#endif
char sbuf[128];
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
bool packet_ready = false;
#endif
void setup() {
#if MCU_VARIANT == MCU_ESP32
boot_seq();
EEPROM.begin(EEPROM_SIZE);
Serial.setRxBufferSize(CONFIG_UART_BUFFER_SIZE);
#if BOARD_MODEL == BOARD_TDECK
pinMode(pin_poweron, OUTPUT);
digitalWrite(pin_poweron, HIGH);
pinMode(SD_CS, OUTPUT);
pinMode(DISPLAY_CS, OUTPUT);
digitalWrite(SD_CS, HIGH);
digitalWrite(DISPLAY_CS, HIGH);
pinMode(DISPLAY_BL_PIN, OUTPUT);
#endif
#endif
#if MCU_VARIANT == MCU_NRF52
if (!eeprom_begin()) {
Serial.write("EEPROM initialisation failed.\r\n");
}
#endif
// Seed the PRNG for CSMA R-value selection
# if MCU_VARIANT == MCU_ESP32
// On ESP32, get the seed value from the
// hardware RNG
int seed_val = (int)esp_random();
#else
// Otherwise, get a pseudo-random seed
// value from an unconnected analog pin
int seed_val = analogRead(0);
#endif
randomSeed(seed_val);
// Initialise serial communication
memset(serialBuffer, 0, sizeof(serialBuffer));
fifo_init(&serialFIFO, serialBuffer, CONFIG_UART_BUFFER_SIZE);
Serial.begin(serial_baudrate);
#if HAS_NP
led_init();
#endif
#if BOARD_MODEL != BOARD_RAK4631 && BOARD_MODEL != BOARD_RNODE_NG_22 && BOARD_MODEL != BOARD_TBEAM_S_V1
// Some boards need to wait until the hardware UART is set up before booting
// the full firmware. In the case of the RAK4631, the line below will wait
// until a serial connection is actually established with a master. Thus, it
// is disabled on this platform.
while (!Serial);
#endif
serial_interrupt_init();
// Configure input and output pins
#if HAS_INPUT
input_init();
#endif
#if HAS_NP == false
pinMode(pin_led_rx, OUTPUT);
pinMode(pin_led_tx, OUTPUT);
#endif
#if HAS_TCXO == true
if (pin_tcxo_enable != -1) {
pinMode(pin_tcxo_enable, OUTPUT);
digitalWrite(pin_tcxo_enable, HIGH);
}
#endif
// Initialise buffers
memset(pbuf, 0, sizeof(pbuf));
memset(cmdbuf, 0, sizeof(cmdbuf));
memset(packet_queue, 0, sizeof(packet_queue));
memset(packet_starts_buf, 0, sizeof(packet_starts_buf));
fifo16_init(&packet_starts, packet_starts_buf, CONFIG_QUEUE_MAX_LENGTH);
memset(packet_lengths_buf, 0, sizeof(packet_starts_buf));
fifo16_init(&packet_lengths, packet_lengths_buf, CONFIG_QUEUE_MAX_LENGTH);
#if PLATFORM == PLATFORM_ESP32 || PLATFORM == PLATFORM_NRF52
modem_packet_queue = xQueueCreate(MODEM_QUEUE_SIZE, sizeof(modem_packet_t*));
#endif
// Set chip select, reset and interrupt
// pins for the LoRa module
#if MODEM == SX1276 || MODEM == SX1278
LoRa->setPins(pin_cs, pin_reset, pin_dio, pin_busy);
#elif MODEM == SX1262
LoRa->setPins(pin_cs, pin_reset, pin_dio, pin_busy, pin_rxen);
#elif MODEM == SX1280
LoRa->setPins(pin_cs, pin_reset, pin_dio, pin_busy, pin_rxen, pin_txen);
#endif
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
init_channel_stats();
// Check installed transceiver chip and
// probe boot parameters.
if (LoRa->preInit()) {
modem_installed = true;
#if HAS_INPUT
// Skip quick-reset console activation
#else
uint32_t lfr = LoRa->getFrequency();
if (lfr == 0) {
// Normal boot
} else if (lfr == M_FRQ_R) {
// Quick reboot
#if HAS_CONSOLE
if (rtc_get_reset_reason(0) == POWERON_RESET) {
console_active = true;
}
#endif
} else {
// Unknown boot
}
LoRa->setFrequency(M_FRQ_S);
#endif
} else {
modem_installed = false;
}
#else
// Older variants only came with SX1276/78 chips,
// so assume that to be the case for now.
modem_installed = true;
#endif
#if HAS_DISPLAY
#if HAS_EEPROM
if (EEPROM.read(eeprom_addr(ADDR_CONF_DSET)) != CONF_OK_BYTE) {
#elif MCU_VARIANT == MCU_NRF52
if (eeprom_read(eeprom_addr(ADDR_CONF_DSET)) != CONF_OK_BYTE) {
#endif
eeprom_update(eeprom_addr(ADDR_CONF_DSET), CONF_OK_BYTE);
eeprom_update(eeprom_addr(ADDR_CONF_DINT), 0xFF);
}
display_unblank();
disp_ready = display_init();
update_display();
#endif
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
#if HAS_PMU == true
pmu_ready = init_pmu();
#endif
#if HAS_BLUETOOTH || HAS_BLE == true
bt_init();
bt_init_ran = true;
#endif
if (console_active) {
#if HAS_CONSOLE
console_start();
#else
kiss_indicate_reset();
#endif
} else {
kiss_indicate_reset();
}
#endif
// Validate board health, EEPROM and config
validate_status();
if (op_mode != MODE_TNC) LoRa->setFrequency(0);
}
void lora_receive() {
if (!implicit) {
LoRa->receive();
} else {
LoRa->receive(implicit_l);
}
}
inline void kiss_write_packet() {
serial_write(FEND);
serial_write(CMD_DATA);
for (uint16_t i = 0; i < read_len; i++) {
#if MCU_VARIANT == MCU_NRF52
portENTER_CRITICAL();
uint8_t byte = pbuf[i];
portEXIT_CRITICAL();
#else
uint8_t byte = pbuf[i];
#endif
if (byte == FEND) { serial_write(FESC); byte = TFEND; }
if (byte == FESC) { serial_write(FESC); byte = TFESC; }
serial_write(byte);
}
serial_write(FEND);
read_len = 0;
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
packet_ready = false;
#endif
#if MCU_VARIANT == MCU_ESP32
#if HAS_BLE
bt_flush();
#endif
#endif
}
inline void getPacketData(uint16_t len) {
#if MCU_VARIANT != MCU_NRF52
while (len-- && read_len < MTU) {
pbuf[read_len++] = LoRa->read();
}
#else
BaseType_t int_mask = taskENTER_CRITICAL_FROM_ISR();
while (len-- && read_len < MTU) {
pbuf[read_len++] = LoRa->read();
}
taskEXIT_CRITICAL_FROM_ISR(int_mask);
#endif
}
void ISR_VECT receive_callback(int packet_size) {
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
BaseType_t int_mask;
#endif
if (!promisc) {
// The standard operating mode allows large
// packets with a payload up to 500 bytes,
// by combining two raw LoRa packets.
// We read the 1-byte header and extract
// packet sequence number and split flags
uint8_t header = LoRa->read(); packet_size--;
uint8_t sequence = packetSequence(header);
bool ready = false;
if (isSplitPacket(header) && seq == SEQ_UNSET) {
// This is the first part of a split
// packet, so we set the seq variable
// and add the data to the buffer
#if MCU_VARIANT == MCU_NRF52
int_mask = taskENTER_CRITICAL_FROM_ISR(); read_len = 0; taskEXIT_CRITICAL_FROM_ISR(int_mask);
#else
read_len = 0;
#endif
seq = sequence;
#if MCU_VARIANT != MCU_ESP32 && MCU_VARIANT != MCU_NRF52
last_rssi = LoRa->packetRssi();
last_snr_raw = LoRa->packetSnrRaw();
#endif
getPacketData(packet_size);
} else if (isSplitPacket(header) && seq == sequence) {
// This is the second part of a split
// packet, so we add it to the buffer
// and set the ready flag.
#if MCU_VARIANT != MCU_ESP32 && MCU_VARIANT != MCU_NRF52
last_rssi = (last_rssi+LoRa->packetRssi())/2;
last_snr_raw = (last_snr_raw+LoRa->packetSnrRaw())/2;
#endif
getPacketData(packet_size);
seq = SEQ_UNSET;
ready = true;
} else if (isSplitPacket(header) && seq != sequence) {
// This split packet does not carry the
// same sequence id, so we must assume
// that we are seeing the first part of
// a new split packet.
#if MCU_VARIANT == MCU_NRF52
int_mask = taskENTER_CRITICAL_FROM_ISR(); read_len = 0; taskEXIT_CRITICAL_FROM_ISR(int_mask);
#else
read_len = 0;
#endif
seq = sequence;
#if MCU_VARIANT != MCU_ESP32 && MCU_VARIANT != MCU_NRF52
last_rssi = LoRa->packetRssi();
last_snr_raw = LoRa->packetSnrRaw();
#endif
getPacketData(packet_size);
} else if (!isSplitPacket(header)) {
// This is not a split packet, so we
// just read it and set the ready
// flag to true.
if (seq != SEQ_UNSET) {
// If we already had part of a split
// packet in the buffer, we clear it.
#if MCU_VARIANT == MCU_NRF52
int_mask = taskENTER_CRITICAL_FROM_ISR(); read_len = 0; taskEXIT_CRITICAL_FROM_ISR(int_mask);
#else
read_len = 0;
#endif
seq = SEQ_UNSET;
}
#if MCU_VARIANT != MCU_ESP32 && MCU_VARIANT != MCU_NRF52
last_rssi = LoRa->packetRssi();
last_snr_raw = LoRa->packetSnrRaw();
#endif
getPacketData(packet_size);
ready = true;
}
if (ready) {
#if MCU_VARIANT != MCU_ESP32 && MCU_VARIANT != MCU_NRF52
// We first signal the RSSI of the
// recieved packet to the host.
kiss_indicate_stat_rssi();
kiss_indicate_stat_snr();
// And then write the entire packet
kiss_write_packet();
#else
// Allocate packet struct, but abort if there
// is not enough memory available.
modem_packet_t *modem_packet = (modem_packet_t*)malloc(sizeof(modem_packet_t) + read_len);
if(!modem_packet) { memory_low = true; return; }
// Get packet RSSI and SNR
#if MCU_VARIANT == MCU_ESP32
modem_packet->snr_raw = LoRa->packetSnrRaw();
modem_packet->rssi = LoRa->packetRssi(modem_packet->snr_raw);
#endif
// Send packet to event queue, but free the
// allocated memory again if the queue is
// unable to receive the packet.
modem_packet->len = read_len;
memcpy(modem_packet->data, pbuf, read_len);
if (!modem_packet_queue || xQueueSendFromISR(modem_packet_queue, &modem_packet, NULL) != pdPASS) {
free(modem_packet);
}
#endif
}
} else {
// In promiscuous mode, raw packets are
// output directly to the host
read_len = 0;
#if MCU_VARIANT != MCU_ESP32 && MCU_VARIANT != MCU_NRF52
last_rssi = LoRa->packetRssi();
last_snr_raw = LoRa->packetSnrRaw();
getPacketData(packet_size);
// We first signal the RSSI of the
// recieved packet to the host.
kiss_indicate_stat_rssi();
kiss_indicate_stat_snr();
// And then write the entire packet
kiss_write_packet();
#else
getPacketData(packet_size);
packet_ready = true;
#endif
}
}
bool startRadio() {
update_radio_lock();
if (!radio_online && !console_active) {
if (!radio_locked && hw_ready) {
if (!LoRa->begin(lora_freq)) {
// The radio could not be started.
// Indicate this failure over both the
// serial port and with the onboard LEDs
radio_error = true;
kiss_indicate_error(ERROR_INITRADIO);
led_indicate_error(0);
return false;
} else {
radio_online = true;
init_channel_stats();
setTXPower();
setBandwidth();
setSpreadingFactor();
setCodingRate();
getFrequency();
LoRa->enableCrc();
LoRa->onReceive(receive_callback);
lora_receive();
// Flash an info pattern to indicate
// that the radio is now on
kiss_indicate_radiostate();
led_indicate_info(3);
return true;
}
} else {
// Flash a warning pattern to indicate
// that the radio was locked, and thus
// not started
radio_online = false;
kiss_indicate_radiostate();
led_indicate_warning(3);
return false;
}
} else {
// If radio is already on, we silently
// ignore the request.
kiss_indicate_radiostate();
return true;
}
}
void stopRadio() {
LoRa->end();
radio_online = false;
}
void update_radio_lock() {
if (lora_freq != 0 && lora_bw != 0 && lora_txp != 0xFF && lora_sf != 0) {
radio_locked = false;
} else {
radio_locked = true;
}
}
bool queueFull() {
return (queue_height >= CONFIG_QUEUE_MAX_LENGTH || queued_bytes >= CONFIG_QUEUE_SIZE);
}
volatile bool queue_flushing = false;
void flushQueue(void) {
if (!queue_flushing) {
queue_flushing = true;
led_tx_on();
uint16_t processed = 0;
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
while (!fifo16_isempty(&packet_starts)) {
#else
while (!fifo16_isempty_locked(&packet_starts)) {
#endif
uint16_t start = fifo16_pop(&packet_starts);
uint16_t length = fifo16_pop(&packet_lengths);
if (length >= MIN_L && length <= MTU) {
for (uint16_t i = 0; i < length; i++) {
uint16_t pos = (start+i)%CONFIG_QUEUE_SIZE;
tbuf[i] = packet_queue[pos];
}
transmit(length);
processed++;
}
}
lora_receive();
led_tx_off();
post_tx_yield_timeout = millis()+(lora_post_tx_yield_slots*csma_slot_ms);
}
queue_height = 0;
queued_bytes = 0;
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
update_airtime();
#endif
queue_flushing = false;
#if HAS_DISPLAY
display_tx = true;
#endif
}
#define PHY_HEADER_LORA_SYMBOLS 8
void add_airtime(uint16_t written) {
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
float packet_cost_ms = 0.0;
float payload_cost_ms = ((float)written * lora_us_per_byte)/1000.0;
packet_cost_ms += payload_cost_ms;
packet_cost_ms += (lora_preamble_symbols+4.25)*lora_symbol_time_ms;
packet_cost_ms += PHY_HEADER_LORA_SYMBOLS * lora_symbol_time_ms;
uint16_t cb = current_airtime_bin();
uint16_t nb = cb+1; if (nb == AIRTIME_BINS) { nb = 0; }
airtime_bins[cb] += packet_cost_ms;
airtime_bins[nb] = 0;
#endif
}
void update_airtime() {
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
uint16_t cb = current_airtime_bin();
uint16_t pb = cb-1; if (cb-1 < 0) { pb = AIRTIME_BINS-1; }
uint16_t nb = cb+1; if (nb == AIRTIME_BINS) { nb = 0; }
airtime_bins[nb] = 0;
airtime = (float)(airtime_bins[cb]+airtime_bins[pb])/(2.0*AIRTIME_BINLEN_MS);
uint32_t longterm_airtime_sum = 0;
for (uint16_t bin = 0; bin < AIRTIME_BINS; bin++) {
longterm_airtime_sum += airtime_bins[bin];
}
longterm_airtime = (float)longterm_airtime_sum/(float)AIRTIME_LONGTERM_MS;
float longterm_channel_util_sum = 0.0;
for (uint16_t bin = 0; bin < AIRTIME_BINS; bin++) {
longterm_channel_util_sum += longterm_bins[bin];
}
longterm_channel_util = (float)longterm_channel_util_sum/(float)AIRTIME_BINS;
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
update_csma_p();
#endif
kiss_indicate_channel_stats();
#endif
}
void transmit(uint16_t size) {
if (radio_online) {
if (!promisc) {
uint16_t written = 0;
uint8_t header = random(256) & 0xF0;
if (size > SINGLE_MTU - HEADER_L) {
header = header | FLAG_SPLIT;
}
LoRa->beginPacket();
LoRa->write(header); written++;
for (uint16_t i=0; i < size; i++) {
LoRa->write(tbuf[i]);
written++;
if (written == 255 && header & 0x0F) {
if (!LoRa->endPacket()) {
kiss_indicate_error(ERROR_MODEM_TIMEOUT);
kiss_indicate_error(ERROR_TXFAILED);
led_indicate_error(5);
hard_reset();
}
add_airtime(written);
LoRa->beginPacket();
LoRa->write(header);
written = 1;
}
}
if (!LoRa->endPacket()) {
kiss_indicate_error(ERROR_MODEM_TIMEOUT);
kiss_indicate_error(ERROR_TXFAILED);
led_indicate_error(5);
hard_reset();
}
add_airtime(written);
} else {
// In promiscuous mode, we only send out
// plain raw LoRa packets with a maximum
// payload of 255 bytes
led_tx_on();
uint16_t written = 0;
// Cap packets at 255 bytes
if (size > SINGLE_MTU) {
size = SINGLE_MTU;
}
// If implicit header mode has been set,
// set packet length to payload data length
if (!implicit) {
LoRa->beginPacket();
} else {
LoRa->beginPacket(size);
}
for (uint16_t i=0; i < size; i++) {
LoRa->write(tbuf[i]);
written++;
}
LoRa->endPacket(); add_airtime(written);
}
} else {
kiss_indicate_error(ERROR_TXFAILED);
led_indicate_error(5);
}
}
void serialCallback(uint8_t sbyte) {
if (IN_FRAME && sbyte == FEND && command == CMD_DATA) {
IN_FRAME = false;
if (!fifo16_isfull(&packet_starts) && queued_bytes < CONFIG_QUEUE_SIZE) {
uint16_t s = current_packet_start;
int16_t e = queue_cursor-1; if (e == -1) e = CONFIG_QUEUE_SIZE-1;
uint16_t l;
if (s != e) {
l = (s < e) ? e - s + 1 : CONFIG_QUEUE_SIZE - s + e + 1;
} else {
l = 1;
}
if (l >= MIN_L) {
queue_height++;
fifo16_push(&packet_starts, s);
fifo16_push(&packet_lengths, l);
current_packet_start = queue_cursor;
}
}
} else if (sbyte == FEND) {
IN_FRAME = true;
command = CMD_UNKNOWN;
frame_len = 0;
} else if (IN_FRAME && frame_len < MTU) {
// Have a look at the command byte first
if (frame_len == 0 && command == CMD_UNKNOWN) {
command = sbyte;
} else if (command == CMD_DATA) {
if (bt_state != BT_STATE_CONNECTED) {
cable_state = CABLE_STATE_CONNECTED;
}
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
if (queue_height < CONFIG_QUEUE_MAX_LENGTH && queued_bytes < CONFIG_QUEUE_SIZE) {
queued_bytes++;
packet_queue[queue_cursor++] = sbyte;
if (queue_cursor == CONFIG_QUEUE_SIZE) queue_cursor = 0;
}
}
} else if (command == CMD_FREQUENCY) {
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
if (frame_len < CMD_L) cmdbuf[frame_len++] = sbyte;
}
if (frame_len == 4) {
uint32_t freq = (uint32_t)cmdbuf[0] << 24 | (uint32_t)cmdbuf[1] << 16 | (uint32_t)cmdbuf[2] << 8 | (uint32_t)cmdbuf[3];
if (freq == 0) {
kiss_indicate_frequency();
} else {
lora_freq = freq;
if (op_mode == MODE_HOST) setFrequency();
kiss_indicate_frequency();
}
}
} else if (command == CMD_BANDWIDTH) {
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
if (frame_len < CMD_L) cmdbuf[frame_len++] = sbyte;
}
if (frame_len == 4) {
uint32_t bw = (uint32_t)cmdbuf[0] << 24 | (uint32_t)cmdbuf[1] << 16 | (uint32_t)cmdbuf[2] << 8 | (uint32_t)cmdbuf[3];
if (bw == 0) {
kiss_indicate_bandwidth();
} else {
lora_bw = bw;
if (op_mode == MODE_HOST) setBandwidth();
kiss_indicate_bandwidth();
}
}
} else if (command == CMD_TXPOWER) {
if (sbyte == 0xFF) {
kiss_indicate_txpower();
} else {
int txp = sbyte;
#if MODEM == SX1262
if (txp > 22) txp = 22;
#else
if (txp > 17) txp = 17;
#endif
lora_txp = txp;
if (op_mode == MODE_HOST) setTXPower();
kiss_indicate_txpower();
}
} else if (command == CMD_SF) {
if (sbyte == 0xFF) {
kiss_indicate_spreadingfactor();
} else {
int sf = sbyte;
if (sf < 5) sf = 5;
if (sf > 12) sf = 12;
lora_sf = sf;
if (op_mode == MODE_HOST) setSpreadingFactor();
kiss_indicate_spreadingfactor();
}
} else if (command == CMD_CR) {
if (sbyte == 0xFF) {
kiss_indicate_codingrate();
} else {
int cr = sbyte;
if (cr < 5) cr = 5;
if (cr > 8) cr = 8;
lora_cr = cr;
if (op_mode == MODE_HOST) setCodingRate();
kiss_indicate_codingrate();
}
} else if (command == CMD_IMPLICIT) {
set_implicit_length(sbyte);
kiss_indicate_implicit_length();
} else if (command == CMD_LEAVE) {
if (sbyte == 0xFF) {
display_unblank();
cable_state = CABLE_STATE_DISCONNECTED;
current_rssi = -292;
last_rssi = -292;
last_rssi_raw = 0x00;
last_snr_raw = 0x80;
}
} else if (command == CMD_RADIO_STATE) {
if (bt_state != BT_STATE_CONNECTED) {
cable_state = CABLE_STATE_CONNECTED;
display_unblank();
}
if (sbyte == 0xFF) {
kiss_indicate_radiostate();
} else if (sbyte == 0x00) {
stopRadio();
kiss_indicate_radiostate();
} else if (sbyte == 0x01) {
startRadio();
kiss_indicate_radiostate();
}
} else if (command == CMD_ST_ALOCK) {
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
if (frame_len < CMD_L) cmdbuf[frame_len++] = sbyte;
}
if (frame_len == 2) {
uint16_t at = (uint16_t)cmdbuf[0] << 8 | (uint16_t)cmdbuf[1];
if (at == 0) {
st_airtime_limit = 0.0;
} else {
st_airtime_limit = (float)at/(100.0*100.0);
if (st_airtime_limit >= 1.0) { st_airtime_limit = 0.0; }
}
kiss_indicate_st_alock();
}
} else if (command == CMD_LT_ALOCK) {
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
if (frame_len < CMD_L) cmdbuf[frame_len++] = sbyte;
}
if (frame_len == 2) {
uint16_t at = (uint16_t)cmdbuf[0] << 8 | (uint16_t)cmdbuf[1];
if (at == 0) {
lt_airtime_limit = 0.0;
} else {
lt_airtime_limit = (float)at/(100.0*100.0);
if (lt_airtime_limit >= 1.0) { lt_airtime_limit = 0.0; }
}
kiss_indicate_lt_alock();
}
} else if (command == CMD_STAT_RX) {
kiss_indicate_stat_rx();
} else if (command == CMD_STAT_TX) {
kiss_indicate_stat_tx();
} else if (command == CMD_STAT_RSSI) {
kiss_indicate_stat_rssi();
} else if (command == CMD_RADIO_LOCK) {
update_radio_lock();
kiss_indicate_radio_lock();
} else if (command == CMD_BLINK) {
led_indicate_info(sbyte);
} else if (command == CMD_RANDOM) {
kiss_indicate_random(getRandom());
} else if (command == CMD_DETECT) {
if (sbyte == DETECT_REQ) {
if (bt_state != BT_STATE_CONNECTED) cable_state = CABLE_STATE_CONNECTED;
kiss_indicate_detect();
}
} else if (command == CMD_PROMISC) {
if (sbyte == 0x01) {
promisc_enable();
} else if (sbyte == 0x00) {
promisc_disable();
}
kiss_indicate_promisc();
} else if (command == CMD_READY) {
if (!queueFull()) {
kiss_indicate_ready();
} else {
kiss_indicate_not_ready();
}
} else if (command == CMD_UNLOCK_ROM) {
if (sbyte == ROM_UNLOCK_BYTE) {
unlock_rom();
}
} else if (command == CMD_RESET) {
if (sbyte == CMD_RESET_BYTE) {
hard_reset();
}
} else if (command == CMD_ROM_READ) {
kiss_dump_eeprom();
} else if (command == CMD_ROM_WRITE) {
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
if (frame_len < CMD_L) cmdbuf[frame_len++] = sbyte;
}
if (frame_len == 2) {
eeprom_write(cmdbuf[0], cmdbuf[1]);
}
} else if (command == CMD_FW_VERSION) {
kiss_indicate_version();
} else if (command == CMD_PLATFORM) {
kiss_indicate_platform();
} else if (command == CMD_MCU) {
kiss_indicate_mcu();
} else if (command == CMD_BOARD) {
kiss_indicate_board();
} else if (command == CMD_CONF_SAVE) {
eeprom_conf_save();
} else if (command == CMD_CONF_DELETE) {
eeprom_conf_delete();
} else if (command == CMD_FB_EXT) {
#if HAS_DISPLAY == true
if (sbyte == 0xFF) {
kiss_indicate_fbstate();
} else if (sbyte == 0x00) {
ext_fb_disable();
kiss_indicate_fbstate();
} else if (sbyte == 0x01) {
ext_fb_enable();
kiss_indicate_fbstate();
}
#endif
} else if (command == CMD_FB_WRITE) {
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
if (frame_len < CMD_L) cmdbuf[frame_len++] = sbyte;
}
#if HAS_DISPLAY
if (frame_len == 9) {
uint8_t line = cmdbuf[0];
if (line > 63) line = 63;
int fb_o = line*8;
memcpy(fb+fb_o, cmdbuf+1, 8);
}
#endif
} else if (command == CMD_FB_READ) {
if (sbyte != 0x00) {
kiss_indicate_fb();
}
} else if (command == CMD_DEV_HASH) {
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
if (sbyte != 0x00) {
kiss_indicate_device_hash();
}
#endif
} else if (command == CMD_DEV_SIG) {
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
if (frame_len < CMD_L) cmdbuf[frame_len++] = sbyte;
}
if (frame_len == DEV_SIG_LEN) {
memcpy(dev_sig, cmdbuf, DEV_SIG_LEN);
device_save_signature();
}
#endif
} else if (command == CMD_FW_UPD) {
if (sbyte == 0x01) {
firmware_update_mode = true;
} else {
firmware_update_mode = false;
}
} else if (command == CMD_HASHES) {
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
if (sbyte == 0x01) {
kiss_indicate_target_fw_hash();
} else if (sbyte == 0x02) {
kiss_indicate_fw_hash();
} else if (sbyte == 0x03) {
kiss_indicate_bootloader_hash();
} else if (sbyte == 0x04) {
kiss_indicate_partition_table_hash();
}
#endif
} else if (command == CMD_FW_HASH) {
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
if (frame_len < CMD_L) cmdbuf[frame_len++] = sbyte;
}
if (frame_len == DEV_HASH_LEN) {
memcpy(dev_firmware_hash_target, cmdbuf, DEV_HASH_LEN);
device_save_firmware_hash();
}
#endif
} else if (command == CMD_BT_CTRL) {
#if HAS_BLUETOOTH || HAS_BLE
if (sbyte == 0x00) {
bt_stop();
bt_conf_save(false);
} else if (sbyte == 0x01) {
bt_start();
bt_conf_save(true);
} else if (sbyte == 0x02) {
if (bt_state == BT_STATE_OFF) {
bt_start();
bt_conf_save(true);
}
if (bt_state != BT_STATE_CONNECTED) {
bt_enable_pairing();
}
}
#endif
} else if (command == CMD_DISP_INT) {
#if HAS_DISPLAY
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
display_intensity = sbyte;
di_conf_save(display_intensity);
display_unblank();
}
#endif
} else if (command == CMD_DISP_ADDR) {
#if HAS_DISPLAY
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
display_addr = sbyte;
da_conf_save(display_addr);
}
#endif
} else if (command == CMD_DISP_BLNK) {
#if HAS_DISPLAY
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
db_conf_save(sbyte);
display_unblank();
}
#endif
} else if (command == CMD_NP_INT) {
#if HAS_NP
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
sbyte;
led_set_intensity(sbyte);
np_int_conf_save(sbyte);
}
#endif
}
}
}
#if MCU_VARIANT == MCU_ESP32
portMUX_TYPE update_lock = portMUX_INITIALIZER_UNLOCKED;
#endif
void updateModemStatus() {
#if MCU_VARIANT == MCU_ESP32
portENTER_CRITICAL(&update_lock);
#elif MCU_VARIANT == MCU_NRF52
portENTER_CRITICAL();
#endif
uint8_t status = LoRa->modemStatus();
current_rssi = LoRa->currentRssi();
last_status_update = millis();
#if MCU_VARIANT == MCU_ESP32
portEXIT_CRITICAL(&update_lock);
#elif MCU_VARIANT == MCU_NRF52
portEXIT_CRITICAL();
#endif
if ((status & SIG_DETECT) == SIG_DETECT) { stat_signal_detected = true; } else { stat_signal_detected = false; }
if ((status & SIG_SYNCED) == SIG_SYNCED) { stat_signal_synced = true; } else { stat_signal_synced = false; }
if ((status & RX_ONGOING) == RX_ONGOING) { stat_rx_ongoing = true; } else { stat_rx_ongoing = false; }
// if (stat_signal_detected || stat_signal_synced || stat_rx_ongoing) {
if (stat_signal_detected || stat_signal_synced) {
if (stat_rx_ongoing) {
if (dcd_count < dcd_threshold) {
dcd_count++;
} else {
last_dcd = last_status_update;
dcd_led = true;
dcd = true;
}
}
} else {
#define DCD_LED_STEP_D 3
if (dcd_count == 0) {
dcd_led = false;
} else if (dcd_count > DCD_LED_STEP_D) {
dcd_count -= DCD_LED_STEP_D;
} else {
dcd_count = 0;
}
if (last_status_update > last_dcd+csma_slot_ms) {
dcd = false;
dcd_led = false;
dcd_count = 0;
}
}
if (dcd_led) {
led_rx_on();
} else {
if (airtime_lock) {
led_indicate_airtime_lock();
} else {
led_rx_off();
}
}
}
void checkModemStatus() {
if (millis()-last_status_update >= status_interval_ms) {
updateModemStatus();
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
util_samples[dcd_sample] = dcd;
dcd_sample = (dcd_sample+1)%DCD_SAMPLES;
if (dcd_sample % UTIL_UPDATE_INTERVAL == 0) {
int util_count = 0;
for (int ui = 0; ui < DCD_SAMPLES; ui++) {
if (util_samples[ui]) util_count++;
}
local_channel_util = (float)util_count / (float)DCD_SAMPLES;
total_channel_util = local_channel_util + airtime;
if (total_channel_util > 1.0) total_channel_util = 1.0;
int16_t cb = current_airtime_bin();
uint16_t nb = cb+1; if (nb == AIRTIME_BINS) { nb = 0; }
if (total_channel_util > longterm_bins[cb]) longterm_bins[cb] = total_channel_util;
longterm_bins[nb] = 0.0;
update_airtime();
}
#endif
}
}
void validate_status() {
#if MCU_VARIANT == MCU_1284P
uint8_t boot_flags = OPTIBOOT_MCUSR;
uint8_t F_POR = PORF;
uint8_t F_BOR = BORF;
uint8_t F_WDR = WDRF;
#elif MCU_VARIANT == MCU_2560
uint8_t boot_flags = OPTIBOOT_MCUSR;
if (boot_flags == 0x00) boot_flags = 0x03;
uint8_t F_POR = PORF;
uint8_t F_BOR = BORF;
uint8_t F_WDR = WDRF;
#elif MCU_VARIANT == MCU_ESP32
// TODO: Get ESP32 boot flags
uint8_t boot_flags = 0x02;
uint8_t F_POR = 0x00;
uint8_t F_BOR = 0x00;
uint8_t F_WDR = 0x01;
#elif MCU_VARIANT == MCU_NRF52
// TODO: Get NRF52 boot flags
uint8_t boot_flags = 0x02;
uint8_t F_POR = 0x00;
uint8_t F_BOR = 0x00;
uint8_t F_WDR = 0x01;
#endif
if (hw_ready || device_init_done) {
hw_ready = false;
Serial.write("Error, invalid hardware check state\r\n");
#if HAS_DISPLAY
if (disp_ready) {
device_init_done = true;
update_display();
}
#endif
led_indicate_boot_error();
}
if (boot_flags & (1<<F_POR)) {
boot_vector = START_FROM_POWERON;
} else if (boot_flags & (1<<F_BOR)) {
boot_vector = START_FROM_BROWNOUT;
} else if (boot_flags & (1<<F_WDR)) {
boot_vector = START_FROM_BOOTLOADER;
} else {
Serial.write("Error, indeterminate boot vector\r\n");
#if HAS_DISPLAY
if (disp_ready) {
device_init_done = true;
update_display();
}
#endif
led_indicate_boot_error();
}
if (boot_vector == START_FROM_BOOTLOADER || boot_vector == START_FROM_POWERON) {
if (eeprom_lock_set()) {
if (eeprom_product_valid() && eeprom_model_valid() && eeprom_hwrev_valid()) {
if (eeprom_checksum_valid()) {
eeprom_ok = true;
if (modem_installed) {
#if PLATFORM == PLATFORM_ESP32 || PLATFORM == PLATFORM_NRF52
if (device_init()) {
hw_ready = true;
} else {
hw_ready = false;
}
#else
hw_ready = true;
#endif
} else {
hw_ready = false;
Serial.write("No radio module found\r\n");
#if HAS_DISPLAY
if (disp_ready) {
device_init_done = true;
update_display();
}
#endif
}
if (hw_ready && eeprom_have_conf()) {
eeprom_conf_load();
op_mode = MODE_TNC;
startRadio();
}
} else {
hw_ready = false;
Serial.write("Invalid EEPROM checksum\r\n");
#if HAS_DISPLAY
if (disp_ready) {
device_init_done = true;
update_display();
}
#endif
}
} else {
hw_ready = false;
Serial.write("Invalid EEPROM configuration\r\n");
#if HAS_DISPLAY
if (disp_ready) {
device_init_done = true;
update_display();
}
#endif
}
} else {
hw_ready = false;
Serial.write("Device unprovisioned, no device configuration found in EEPROM\r\n");
#if HAS_DISPLAY
if (disp_ready) {
device_init_done = true;
update_display();
}
#endif
}
} else {
hw_ready = false;
Serial.write("Error, incorrect boot vector\r\n");
#if HAS_DISPLAY
if (disp_ready) {
device_init_done = true;
update_display();
}
#endif
led_indicate_boot_error();
}
}
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
#define _e 2.71828183
#define _S 12.5
float csma_slope(float u) { return (pow(_e,_S*u-_S/2.0))/(pow(_e,_S*u-_S/2.0)+1.0); }
void update_csma_p() {
csma_p = (uint8_t)((1.0-(csma_p_min+(csma_p_max-csma_p_min)*csma_slope(airtime+csma_b_speed)))*255.0);
}
#endif
void loop() {
if (radio_online) {
#if MCU_VARIANT == MCU_ESP32
modem_packet_t *modem_packet = NULL;
if(modem_packet_queue && xQueueReceive(modem_packet_queue, &modem_packet, 0) == pdTRUE && modem_packet) {
read_len = modem_packet->len;
last_rssi = modem_packet->rssi;
last_snr_raw = modem_packet->snr_raw;
memcpy(&pbuf, modem_packet->data, modem_packet->len);
free(modem_packet);
modem_packet = NULL;
kiss_indicate_stat_rssi();
kiss_indicate_stat_snr();
kiss_write_packet();
}
airtime_lock = false;
if (st_airtime_limit != 0.0 && airtime >= st_airtime_limit) airtime_lock = true;
if (lt_airtime_limit != 0.0 && longterm_airtime >= lt_airtime_limit) airtime_lock = true;
#elif MCU_VARIANT == MCU_NRF52
modem_packet_t *modem_packet = NULL;
if(modem_packet_queue && xQueueReceive(modem_packet_queue, &modem_packet, 0) == pdTRUE && modem_packet) {
memcpy(&pbuf, modem_packet->data, modem_packet->len);
read_len = modem_packet->len;
free(modem_packet);
modem_packet = NULL;
portENTER_CRITICAL();
last_rssi = LoRa->packetRssi();
last_snr_raw = LoRa->packetSnrRaw();
portEXIT_CRITICAL();
kiss_indicate_stat_rssi();
kiss_indicate_stat_snr();
kiss_write_packet();
}
airtime_lock = false;
if (st_airtime_limit != 0.0 && airtime >= st_airtime_limit) airtime_lock = true;
if (lt_airtime_limit != 0.0 && longterm_airtime >= lt_airtime_limit) airtime_lock = true;
#endif
checkModemStatus();
if (!airtime_lock) {
if (queue_height > 0) {
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
long check_time = millis();
if (check_time > post_tx_yield_timeout) {
if (dcd_waiting && (check_time >= dcd_wait_until)) { dcd_waiting = false; }
if (!dcd_waiting) {
for (uint8_t dcd_i = 0; dcd_i < dcd_threshold*2; dcd_i++) {
delay(STATUS_INTERVAL_MS); updateModemStatus();
}
if (!dcd) {
uint8_t csma_r = (uint8_t)random(256);
if (csma_p >= csma_r) {
flushQueue();
} else {
dcd_waiting = true;
dcd_wait_until = millis()+csma_slot_ms;
}
}
}
}
#else
if (!dcd_waiting) updateModemStatus();
if (!dcd && !dcd_led) {
if (dcd_waiting) delay(lora_rx_turnaround_ms);
updateModemStatus();
if (!dcd) {
dcd_waiting = false;
flushQueue();
}
} else {
dcd_waiting = true;
}
#endif
}
}
} else {
if (hw_ready) {
if (console_active) {
#if HAS_CONSOLE
console_loop();
#endif
} else {
led_indicate_standby();
}
} else {
led_indicate_not_ready();
stopRadio();
}
}
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
buffer_serial();
if (!fifo_isempty(&serialFIFO)) serial_poll();
#else
if (!fifo_isempty_locked(&serialFIFO)) serial_poll();
#endif
#if HAS_DISPLAY
if (disp_ready) update_display();
#endif
#if HAS_PMU
if (pmu_ready) update_pmu();
#endif
#if HAS_BLUETOOTH || HAS_BLE == true
if (!console_active && bt_ready) update_bt();
#endif
#if HAS_INPUT
input_read();
#endif
if (memory_low) {
#if PLATFORM == PLATFORM_ESP32
if (esp_get_free_heap_size() < 8192) {
kiss_indicate_error(ERROR_MEMORY_LOW); memory_low = false;
} else {
memory_low = false;
}
#else
kiss_indicate_error(ERROR_MEMORY_LOW); memory_low = false;
#endif
}
}
void sleep_now() {
#if HAS_SLEEP == true
#if BOARD_MODEL == BOARD_RNODE_NG_22
display_intensity = 0;
update_display(true);
#endif
#if PIN_DISP_SLEEP >= 0
pinMode(PIN_DISP_SLEEP, OUTPUT);
digitalWrite(PIN_DISP_SLEEP, DISP_SLEEP_LEVEL);
#endif
#if HAS_BLUETOOTH
if (bt_state == BT_STATE_CONNECTED) {
bt_stop();
delay(100);
}
#endif
esp_sleep_enable_ext0_wakeup(PIN_WAKEUP, WAKEUP_LEVEL);
esp_deep_sleep_start();
#endif
}
void button_event(uint8_t event, unsigned long duration) {
#if MCU_VARIANT == MCU_ESP32 || MCU_VARIANT == MCU_NRF52
if (display_blanked) {
display_unblank();
} else {
if (duration > 10000) {
#if HAS_CONSOLE
#if HAS_BLUETOOTH || HAS_BLE
bt_stop();
#endif
console_active = true;
console_start();
#endif
} else if (duration > 5000) {
#if HAS_BLUETOOTH || HAS_BLE
if (bt_state != BT_STATE_CONNECTED) { bt_enable_pairing(); }
#endif
} else if (duration > 700) {
#if HAS_SLEEP
sleep_now();
#endif
} else {
#if HAS_BLUETOOTH || HAS_BLE
if (bt_state != BT_STATE_CONNECTED) {
if (bt_state == BT_STATE_OFF) {
bt_start();
bt_conf_save(true);
} else {
bt_stop();
bt_conf_save(false);
}
}
#endif
}
}
#endif
}
volatile bool serial_polling = false;
void serial_poll() {
serial_polling = true;
#if MCU_VARIANT != MCU_ESP32 && MCU_VARIANT != MCU_NRF52
while (!fifo_isempty_locked(&serialFIFO)) {
#else
while (!fifo_isempty(&serialFIFO)) {
#endif
char sbyte = fifo_pop(&serialFIFO);
serialCallback(sbyte);
}
serial_polling = false;
}
#if MCU_VARIANT != MCU_ESP32
#define MAX_CYCLES 20
#else
#define MAX_CYCLES 10
#endif
void buffer_serial() {
if (!serial_buffering) {
serial_buffering = true;
uint8_t c = 0;
#if HAS_BLUETOOTH || HAS_BLE == true
while (
c < MAX_CYCLES &&
( (bt_state != BT_STATE_CONNECTED && Serial.available()) || (bt_state == BT_STATE_CONNECTED && SerialBT.available()) )
)
#else
while (c < MAX_CYCLES && Serial.available())
#endif
{
c++;
#if MCU_VARIANT != MCU_ESP32 && MCU_VARIANT != MCU_NRF52
if (!fifo_isfull_locked(&serialFIFO)) {
fifo_push_locked(&serialFIFO, Serial.read());
}
#elif HAS_BLUETOOTH || HAS_BLE == true
if (bt_state == BT_STATE_CONNECTED) {
if (!fifo_isfull(&serialFIFO)) {
fifo_push(&serialFIFO, SerialBT.read());
}
} else {
if (!fifo_isfull(&serialFIFO)) {
fifo_push(&serialFIFO, Serial.read());
}
}
#else
if (!fifo_isfull(&serialFIFO)) {
fifo_push(&serialFIFO, Serial.read());
}
#endif
}
serial_buffering = false;
}
}
void serial_interrupt_init() {
#if MCU_VARIANT == MCU_1284P
TCCR3A = 0;
TCCR3B = _BV(CS10) |
_BV(WGM33)|
_BV(WGM32);
// Buffer incoming frames every 1ms
ICR3 = 16000;
TIMSK3 = _BV(ICIE3);
#elif MCU_VARIANT == MCU_2560
// TODO: This should probably be updated for
// atmega2560 support. Might be source of
// reported issues from snh.
TCCR3A = 0;
TCCR3B = _BV(CS10) |
_BV(WGM33)|
_BV(WGM32);
// Buffer incoming frames every 1ms
ICR3 = 16000;
TIMSK3 = _BV(ICIE3);
#elif MCU_VARIANT == MCU_ESP32
// No interrupt-based polling on ESP32
#endif
}
#if MCU_VARIANT == MCU_1284P || MCU_VARIANT == MCU_2560
ISR(TIMER3_CAPT_vect) {
buffer_serial();
}
#endif
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