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Changes from Ledvinap
This commit is contained in:
Thomas Miric
parent
7f9d289961
commit
3845ed98ab
2 changed files with 41 additions and 39 deletions
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@ -39,9 +39,9 @@
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#endif // SPRACINGF3MQ
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// Space reduction measures to make the firmware fit into flash:
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#undef USE_TELEMETRY_JETIEXBUS
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#undef USE_SERIALRX_JETIEXBUS
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#undef USE_TELEMETRY_MAVLINK
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//#undef USE_TELEMETRY_JETIEXBUS
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//#undef USE_SERIALRX_JETIEXBUS
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//#undef USE_TELEMETRY_MAVLINK
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#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
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@ -100,8 +100,8 @@
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#define SERIAL_PORT_COUNT 4
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#define USE_ESCSERIAL
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#define ESCSERIAL_TIMER_TX_PIN PA15 // (HARDARE=0,PPM)
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//#define USE_ESCSERIAL
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//#define ESCSERIAL_TIMER_TX_PIN PA15 // (HARDARE=0,PPM)
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#define UART1_TX_PIN PA9
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#define UART1_RX_PIN PA10
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@ -164,14 +164,14 @@
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#define CURRENT_METER_ADC_PIN PA5
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#endif
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#define USE_OSD
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//#define USE_OSD
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#define DISABLE_EXTENDED_CMS_OSD_MENU
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#define USE_OSD_OVER_MSP_DISPLAYPORT
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#define USE_MSP_CURRENT_METER
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#define USE_TRANSPONDER
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//#define USE_TRANSPONDER
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#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
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//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
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#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
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#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_TELEMETRY)
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@ -30,6 +30,7 @@
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#include "fc/runtime_config.h"
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#include "common/utils.h"
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#include "common/bitarray.h"
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#include "drivers/serial.h"
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#include "drivers/serial_uart.h"
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@ -88,8 +89,6 @@ enum exDataType_e {
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EX_TYPE_DT = 5, // int22_t Special data type – time and date
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EX_TYPE_30b = 8, // int30_t Data type 30b (-536870911 ¸536870911)
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EX_TYPE_GPS = 9, // int30_t Special data type – GPS coordinates: lo/hi minute - lo/hi degree.
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EX_TYPE_SENSOR_DISABLED = 240,
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EX_TYPE_SENSOR_ENABLED = 250,
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EX_TYPE_DES = 255 // only for devicedescription
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};
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@ -107,23 +106,22 @@ typedef struct exBusSensor_s {
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const char *unit;
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const uint8_t exDataType;
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const uint8_t decimals;
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uint8_t parameter;
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} exBusSensor_t;
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#define DECIMAL_MASK(decimals) (decimals << 5)
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// list of telemetry messages
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// after every 15 sensors a new header has to be inserted (e.g. "BF D2")
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exBusSensor_t jetiExSensors[] = {
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{ "BF D1", "", EX_TYPE_DES, EX_TYPE_NONE, EX_TYPE_SENSOR_ENABLED}, // device descripton
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{ "Voltage", "V", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "Current", "A", EX_TYPE_14b, DECIMAL_MASK(2), EX_TYPE_SENSOR_DISABLED},
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{ "Altitude", "m", EX_TYPE_14b, DECIMAL_MASK(2), EX_TYPE_SENSOR_DISABLED},
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{ "Capacity", "mAh", EX_TYPE_22b, DECIMAL_MASK(0), EX_TYPE_SENSOR_DISABLED},
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{ "Power", "W", EX_TYPE_22b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "Roll angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "Pitch angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "Heading", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED}
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const exBusSensor_t jetiExSensors[] = {
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{ "BF D1", "", EX_TYPE_DES, 0}, // device descripton
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{ "Voltage", "V", EX_TYPE_14b, DECIMAL_MASK(1)},
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{ "Current", "A", EX_TYPE_14b, DECIMAL_MASK(2)},
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{ "Altitude", "m", EX_TYPE_14b, DECIMAL_MASK(2)},
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{ "Capacity", "mAh", EX_TYPE_22b, DECIMAL_MASK(0)},
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{ "Power", "W", EX_TYPE_22b, DECIMAL_MASK(1)},
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{ "Roll angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1)},
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{ "Pitch angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1)},
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{ "Heading", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1)}
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};
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// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
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@ -144,9 +142,11 @@ static uint8_t jetiExBusTelemetryFrame[40];
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static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
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static uint8_t activeSensorList[JETI_EX_SENSOR_COUNT];
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static uint8_t activeSensors;
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static uint32_t exSensorEnabled;
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static uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item);
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// Jeti Ex Telemetry CRC calculations for a frame
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uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
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{
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@ -180,30 +180,32 @@ void initJetiExBusTelemetry(void)
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jetiExTelemetryFrame[EXTEL_HEADER_LSN_HB] = 0x00;
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jetiExTelemetryFrame[EXTEL_HEADER_RES] = 0x00; // reserved, by default 0x00
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bitArraySet(&exSensorEnabled, 0);
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// Check which sensors are available
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if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) {
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jetiExSensors[EX_VOLTAGE].parameter = EX_TYPE_SENSOR_ENABLED;
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bitArraySet(&exSensorEnabled, EX_VOLTAGE);
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}
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if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
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jetiExSensors[EX_CURRENT].parameter = EX_TYPE_SENSOR_ENABLED;
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bitArraySet(&exSensorEnabled, EX_CURRENT);
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}
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if ((batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) && (batteryConfig()->currentMeterSource != CURRENT_METER_NONE)) {
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jetiExSensors[EX_POWER].parameter = EX_TYPE_SENSOR_ENABLED;
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jetiExSensors[EX_CAPACITY].parameter = EX_TYPE_SENSOR_ENABLED;
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bitArraySet(&exSensorEnabled, EX_POWER);
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bitArraySet(&exSensorEnabled, EX_CAPACITY);
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}
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if (sensors(SENSOR_BARO)) {
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jetiExSensors[EX_ALTITUDE].parameter = EX_TYPE_SENSOR_ENABLED;
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bitArraySet(&exSensorEnabled, EX_ALTITUDE);
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}
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if (sensors(SENSOR_ACC)) {
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jetiExSensors[EX_ROLL_ANGLE].parameter = EX_TYPE_SENSOR_ENABLED;
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jetiExSensors[EX_PITCH_ANGLE].parameter = EX_TYPE_SENSOR_ENABLED;
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bitArraySet(&exSensorEnabled, EX_ROLL_ANGLE);
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bitArraySet(&exSensorEnabled, EX_PITCH_ANGLE);
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}
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if (sensors(SENSOR_MAG)) {
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jetiExSensors[EX_HEADING].parameter = EX_TYPE_SENSOR_ENABLED;
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bitArraySet(&exSensorEnabled, EX_HEADING);
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}
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for (uint8_t item = 0; item < JETI_EX_SENSOR_COUNT; item++ ) {
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if (jetiExSensors[item].parameter == EX_TYPE_SENSOR_ENABLED) {
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if (bitArrayGet(&exSensorEnabled, item)) {
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activeSensorList[activeSensors] = item;
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activeSensors++;
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}
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@ -230,19 +232,19 @@ int32_t getSensorValue(uint8_t sensor)
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{
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switch(sensor) {
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case EX_VOLTAGE:
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return (getBatteryVoltageLatest());
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return getBatteryVoltageLatest();
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break;
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case EX_CURRENT:
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return (getAmperageLatest());
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return getAmperageLatest();
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break;
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case EX_ALTITUDE:
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return (getEstimatedAltitude());
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return getEstimatedAltitude();
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break;
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case EX_CAPACITY:
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return (getMAhDrawn());
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return getMAhDrawn();
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break;
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case EX_POWER:
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@ -250,15 +252,15 @@ int32_t getSensorValue(uint8_t sensor)
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break;
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case EX_ROLL_ANGLE:
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return (attitude.values.roll);
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return attitude.values.roll;
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break;
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case EX_PITCH_ANGLE:
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return (attitude.values.pitch);
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return attitude.values.pitch;
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break;
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case EX_HEADING:
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return (attitude.values.yaw);
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return attitude.values.yaw;
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break;
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default:
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@ -298,7 +300,7 @@ uint8_t createExTelemetryValueMessage(uint8_t *exMessage, uint8_t item)
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}
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sensorItem = activeSensorList[item];
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if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[sensorItem].exDataType]) + 1) {
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if ((p - &exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[sensorItem].exDataType] + 1 >= EXTEL_MAX_PAYLOAD) {
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break;
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}
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}
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@ -379,7 +381,7 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
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if (requestLoop < 0xFF) {
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while( ++sensorDescriptionCounter < JETI_EX_SENSOR_COUNT) {
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if (jetiExSensors[sensorDescriptionCounter].parameter >= EX_TYPE_SENSOR_ENABLED) {
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if (bitArrayGet(&exSensorEnabled, sensorDescriptionCounter)) {
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break;
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}
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}
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