Merge branch 'master' of https://github.com/borisbstyle/betaflight

src/main/blackbox/blackbox.c

@@ -72,6 +72,7 @@
 #include "flight/altitudehold.h"
 #include "flight/failsafe.h"
 #include "flight/imu.h"
+#include "flight/pid.h"
 #include "flight/navigation.h"
 
 #include "config/runtime_config.h"

src/main/blackbox/blackbox_io.c

@@ -53,6 +53,7 @@
 #include "flight/altitudehold.h"
 #include "flight/failsafe.h"
 #include "flight/imu.h"
+#include "flight/pid.h"
 #include "flight/navigation.h"
 
 #include "config/runtime_config.h"

src/main/config/config.c

@@ -23,6 +23,7 @@
 #include "debug.h"
 
 #include "build_config.h"
+#include "debug.h"
 
 #include "blackbox/blackbox_io.h"
 

src/main/drivers/bus_i2c.h

@@ -21,8 +21,8 @@
 #define I2C_LONG_TIMEOUT             ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
 #define I2C_DEFAULT_TIMEOUT          I2C_SHORT_TIMEOUT
 
-#include "drivers/io.h"
+#include "io.h"
-#include "drivers/rcc.h"
+#include "rcc.h"
 
 #ifndef I2C_DEVICE
 #define I2C_DEVICE I2CINVALID

src/main/drivers/exti.h

@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include "drivers/io.h"
+#include "io.h"
 
 // old EXTI interface, to be replaced
 typedef struct extiConfig_s {

src/main/drivers/sound_beeper.h

@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "drivers/io.h"
+#include "io.h"
 
 #ifdef BEEPER
 #define BEEP_TOGGLE              systemBeepToggle()

src/main/flight/altitudehold.h

@@ -15,19 +15,21 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "io/escservo.h"
+#pragma once
-#include "io/rc_controls.h"
-#include "flight/pid.h"
-
-#include "sensors/barometer.h"
 
 extern int32_t AltHold;
 extern int32_t vario;
 
 void calculateEstimatedAltitude(uint32_t currentTime);
 
-void configureAltitudeHold(pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, rcControlsConfig_t *initialRcControlsConfig, escAndServoConfig_t *initialEscAndServoConfig);
+struct pidProfile_s;
-void applyAltHold(airplaneConfig_t *airplaneConfig);
+struct barometerConfig_s;
+struct rcControlsConfig_s;
+struct escAndServoConfig_s;
+void configureAltitudeHold(struct pidProfile_s *initialPidProfile, struct barometerConfig_s *intialBarometerConfig, struct rcControlsConfig_s *initialRcControlsConfig, struct escAndServoConfig_s *initialEscAndServoConfig);
+
+struct airplaneConfig_t;
+void applyAltHold(struct airplaneConfig_s *airplaneConfig);
 void updateAltHoldState(void);
 void updateSonarAltHoldState(void);
 

src/main/flight/imu.h

@@ -69,9 +69,10 @@ typedef struct accProcessor_s {
     accProcessorState_e state;
 } accProcessor_t;
 
+struct pidProfile_s;
 void imuConfigure(
     imuRuntimeConfig_t *initialImuRuntimeConfig,
-    pidProfile_t *initialPidProfile,
+    struct pidProfile_s *initialPidProfile,
     accDeadband_t *initialAccDeadband,
     uint16_t throttle_correction_angle
 );

src/main/flight/pid.h

@@ -14,7 +14,6 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
-#include "rx/rx.h"
 
 #pragma once
 

src/main/io/display.c

@@ -63,6 +63,8 @@
 
 #include "io/display.h"
 
+#include "rx/rx.h"
+
 #include "scheduler/scheduler.h"
 
 extern profile_t *currentProfile;

src/main/io/rc_controls.h

@@ -17,8 +17,6 @@
 
 #pragma once
 
-#include "rx/rx.h"
-
 typedef enum {
     BOXARM = 0,
     BOXANGLE,
@@ -167,8 +165,9 @@ typedef struct rcControlsConfig_s {
 bool areUsingSticksToArm(void);
 
 bool areSticksInApModePosition(uint16_t ap_mode);
-throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
+struct rxConfig_s;
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
+throttleStatus_e calculateThrottleStatus(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
+void processRcStickPositions(struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
 
 bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
@@ -257,7 +256,7 @@ bool isAirmodeActive(void);
 bool isSuperExpoActive(void);
 void resetAdjustmentStates(void);
 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
-void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
+void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);
 
 bool isUsingSticksForArming(void);
 

src/main/io/rc_curves.c

@@ -18,12 +18,13 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "io/rc_controls.h"
+#include "config/config.h"
-#include "io/escservo.h"
 
+#include "io/escservo.h"
+#include "io/rc_controls.h"
 #include "io/rc_curves.h"
 
-#include "config/config.h"
+#include "rx/rx.h"
 
 #define THROTTLE_LOOKUP_LENGTH 12
 static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];    // lookup table for expo & mid THROTTLE

src/main/rx/rx.c

@@ -41,6 +41,8 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/system.h"
+
+#include "rx/rx.h"
 #include "rx/pwm.h"
 #include "rx/sbus.h"
 #include "rx/spektrum.h"
@@ -51,8 +53,6 @@
 #include "rx/ibus.h"
 #include "rx/jetiexbus.h"
 
-#include "rx/rx.h"
-
 
 //#define DEBUG_RX_SIGNAL_LOSS
 

src/main/rx/xbus.h

@@ -17,7 +17,5 @@
 
 #pragma once
 
-#include "rx/rx.h"
-
 bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
 uint8_t xBusFrameStatus(void);

src/main/sensors/battery.c

@@ -35,6 +35,8 @@
 #include "io/rc_controls.h"
 #include "io/beeper.h"
 
+#include "rx/rx.h"
+
 #define VBATT_PRESENT_THRESHOLD_MV    10
 #define VBATT_LPF_FREQ  0.4f
 

src/main/target/VRRACE/target.c

@@ -0,0 +1,103 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM7  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),      // motor #1 or servo #1 (swap to servo if needed)
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2 or servo #2 (swap to servo if needed)
+    PWM9  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1 or #3
+    PWM10 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM11 | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM12 | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #4 or #6
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM2  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM3  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM4  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM5  | (MAP_TO_SERVO_OUTPUT  << 8),
+    PWM6  | (MAP_TO_SERVO_OUTPUT  << 8),
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM1  | (MAP_TO_PWM_INPUT << 8),     // input #1
+    PWM2  | (MAP_TO_PWM_INPUT << 8),
+    PWM3  | (MAP_TO_PWM_INPUT << 8),
+    PWM4  | (MAP_TO_PWM_INPUT << 8),
+    PWM5  | (MAP_TO_PWM_INPUT << 8),
+    PWM6  | (MAP_TO_PWM_INPUT << 8),     // input #6
+    PWM7  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #1
+    PWM8  | (MAP_TO_MOTOR_OUTPUT  << 8),     // motor #2
+    PWM9  | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #1
+    PWM10 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #2
+    PWM11 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #3
+    PWM12 | (MAP_TO_SERVO_OUTPUT  << 8),     // servo #4
+    0xFFFF
+};
+
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM1,  IO_TAG(PE9),  TIM_Channel_1, TIM1_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // PPM
+    { TIM1,  IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S2_IN
+    { TIM1,  IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S3_IN
+    { TIM1,  IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn,        0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S4_IN
+    { TIM9,  IO_TAG(PE6),  TIM_Channel_1, TIM1_BRK_TIM9_IRQn,  0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S5_IN
+    { TIM9,  IO_TAG(PE7),  TIM_Channel_2, TIM1_BRK_TIM9_IRQn,  0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S6_IN
+
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S1_OUT
+    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S2_OUT
+    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT
+    { TIM3,  IO_TAG(PB5),  TIM_Channel_2, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S4_OUT
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,           1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT
+};

src/main/target/VRRACE/target.h

@@ -0,0 +1,180 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "VRRA"
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "VRRACE"
+
+#define LED0 PD14
+#define LED1 PD15
+#define BEEPER PA0
+#define BEEPER_INVERTED
+
+#define INVERTER PD7
+#define INVERTER_USART USART6
+
+#define MPU6500_CS_PIN        PE10
+#define MPU6500_SPI_INSTANCE  SPI2
+
+#define ACC
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN CW270_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN CW270_DEG
+
+// MPU6500 interrupts
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+#define MPU_INT_EXTI PD10
+#define USE_EXTI
+
+/*
+#define BARO
+#define USE_BARO_MS5611
+#define MS5611_I2C_INSTANCE I2CDEV_1
+
+#define USE_SDCARD
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN                   PD2
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_PIN                   PB12
+*/
+
+/*
+#define SDCARD_DETECT_PIN                   PD2
+#define SDCARD_DETECT_EXTI_LINE             EXTI_Line2
+#define SDCARD_DETECT_EXTI_PIN_SOURCE       EXTI_PinSource2
+#define SDCARD_DETECT_EXTI_PORT_SOURCE      EXTI_PortSourceGPIOD
+#define SDCARD_DETECT_EXTI_IRQn             EXTI2_IRQn
+
+#define SDCARD_SPI_INSTANCE                 SPI3
+#define SDCARD_SPI_CS_PIN                   PB3
+*/
+
+// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+/*
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+*/
+// Divide to under 25MHz for normal operation:
+/*
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
+*/
+
+/*
+#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream4
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
+#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+*/
+
+
+/*
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN         PB3
+#define M25P16_SPI_INSTANCE   SPI3
+*/
+
+#define USE_VCP
+#define VBUS_SENSING_PIN PA9
+//#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_RX_PIN PB7
+#define UART1_TX_PIN PB6
+
+#define USE_UART2
+#define UART2_RX_PIN PD6
+#define UART2_TX_PIN PD5
+
+#define USE_UART3
+#define UART3_RX_PIN PD9
+#define UART3_TX_PIN PD8
+
+#define USE_UART6
+#define UART6_RX_PIN PC7
+#define UART6_TX_PIN PC6
+
+#define USE_SOFTSERIAL1
+
+#define SOFTSERIAL_1_TIMER TIM1
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 2 // PWM 3
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 1 // PWM 2
+
+
+#define SERIAL_PORT_COUNT 6 //VCP, USART1, USART2, USART3, USART6, SOFTSERIAL1
+
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PE10
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+/*
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1)  // PB8-SCL, PB8-SDA
+#define USE_I2C_PULLUP
+#define I2C1_SCL             PB8
+#define I2C1_SDA             PB9
+*/
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define VBAT_ADC_PIN                PC0
+#define RSSI_ADC_GPIO_PIN           PB1
+#define CURRENT_METER_ADC_PIN       PA5
+
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_ONESHOT125 | FEATURE_SOFTSERIAL | FEATURE_TELEMETRY)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+/*
+#define SPEKTRUM_BIND
+// USART3 Rx, PB11
+#define BIND_PIN             PB11
+*/
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )

src/main/target/VRRACE/target.mk

@@ -0,0 +1,7 @@
+F405_TARGETS   += $(TARGET)
+FEATURES       += VCP
+
+TARGET_SRC = \
+            drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_mpu6500.c

src/main/telemetry/frsky.h

@@ -17,14 +17,13 @@
 
 #pragma once
 
-#include "rx/rx.h"
-
 typedef enum {
     FRSKY_VFAS_PRECISION_LOW = 0,
     FRSKY_VFAS_PRECISION_HIGH
 } frskyVFasPrecision_e;
 
-void handleFrSkyTelemetry(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
+struct rxConfig_s;
+void handleFrSkyTelemetry(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
 void checkFrSkyTelemetryState(void);
 
 void initFrSkyTelemetry(telemetryConfig_t *telemetryConfig);

src/main/telemetry/hott.h

@@ -488,7 +488,8 @@ typedef struct HOTT_AIRESC_MSG_s {
 void handleHoTTTelemetry(void);
 void checkHoTTTelemetryState(void);
 
-void initHoTTTelemetry(telemetryConfig_t *telemetryConfig);
+struct telemetryConfig_s;
+void initHoTTTelemetry(struct telemetryConfig_s *telemetryConfig);
 void configureHoTTTelemetryPort(void);
 void freeHoTTTelemetryPort(void);
 

src/main/telemetry/ltm.h

@@ -19,7 +19,8 @@
 
 #pragma once
 
-void initLtmTelemetry(telemetryConfig_t *initialTelemetryConfig);
+struct telemetryConfig_s;
+void initLtmTelemetry(struct telemetryConfig_s *initialTelemetryConfig);
 void handleLtmTelemetry(void);
 void checkLtmTelemetryState(void);
 

src/main/telemetry/smartport.h

@@ -7,7 +7,8 @@
 
 #pragma once
 
-void initSmartPortTelemetry(telemetryConfig_t *);
+struct telemetryConfig_s;
+void initSmartPortTelemetry(struct telemetryConfig_s *);
 
 void handleSmartPortTelemetry(void);
 void checkSmartPortTelemetryState(void);