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Merge remote-tracking branch 'refs/remotes/origin/jeti-ex-telemetry'

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This commit is contained in:
Thomas Miric 2018-01-28 13:38:00 +01:00
commit 662bb37496
1 changed files with 38 additions and 37 deletions
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75
src/main/telemetry/jetiexbus.c
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@ -30,6 +30,7 @@
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
#include "common/utils.h" #include "common/utils.h"
#include "common/bitarray.h"
#include "drivers/serial.h" #include "drivers/serial.h"
#include "drivers/serial_uart.h" #include "drivers/serial_uart.h"
@ -88,8 +89,6 @@ enum exDataType_e {
EX_TYPE_DT = 5, // int22_t Special data type – time and date EX_TYPE_DT = 5, // int22_t Special data type – time and date
EX_TYPE_30b = 8, // int30_t Data type 30b (-536870911 ¸536870911) EX_TYPE_30b = 8, // int30_t Data type 30b (-536870911 ¸536870911)
EX_TYPE_GPS = 9, // int30_t Special data type – GPS coordinates: lo/hi minute - lo/hi degree. EX_TYPE_GPS = 9, // int30_t Special data type – GPS coordinates: lo/hi minute - lo/hi degree.
EX_TYPE_SENSOR_DISABLED = 240,
EX_TYPE_SENSOR_ENABLED = 250,
EX_TYPE_DES = 255 // only for devicedescription EX_TYPE_DES = 255 // only for devicedescription
}; };
@ -107,23 +106,22 @@ typedef struct exBusSensor_s {
const char *unit; const char *unit;
const uint8_t exDataType; const uint8_t exDataType;
const uint8_t decimals; const uint8_t decimals;
uint8_t parameter;
} exBusSensor_t; } exBusSensor_t;
#define DECIMAL_MASK(decimals) (decimals << 5) #define DECIMAL_MASK(decimals) (decimals << 5)
// list of telemetry messages // list of telemetry messages
// after every 15 sensors a new header has to be inserted (e.g. "BF D2") // after every 15 sensors a new header has to be inserted (e.g. "BF D2")
exBusSensor_t jetiExSensors[] = { const exBusSensor_t jetiExSensors[] = {
{ "BF D1", "", EX_TYPE_DES, EX_TYPE_NONE, EX_TYPE_SENSOR_ENABLED}, // device descripton {"BF D1", "", EX_TYPE_DES, 0 }, // device descripton
{ "Voltage", "V", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED}, {"Voltage", "V", EX_TYPE_14b, DECIMAL_MASK(1)},
{ "Current", "A", EX_TYPE_14b, DECIMAL_MASK(2), EX_TYPE_SENSOR_DISABLED}, {"Current", "A", EX_TYPE_14b, DECIMAL_MASK(2)},
{ "Altitude", "m", EX_TYPE_14b, DECIMAL_MASK(2), EX_TYPE_SENSOR_DISABLED}, {"Altitude", "m", EX_TYPE_14b, DECIMAL_MASK(2)},
{ "Capacity", "mAh", EX_TYPE_22b, DECIMAL_MASK(0), EX_TYPE_SENSOR_DISABLED}, {"Capacity", "mAh", EX_TYPE_22b, DECIMAL_MASK(0)},
{ "Power", "W", EX_TYPE_22b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED}, {"Power", "W", EX_TYPE_22b, DECIMAL_MASK(1)},
{ "Roll angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED}, {"Roll angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1)},
{ "Pitch angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED}, {"Pitch angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1)},
{ "Heading", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED} {"Heading", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1)}
}; };
// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description // after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
@ -144,6 +142,7 @@ static uint8_t jetiExBusTelemetryFrame[40];
static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX; static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
static uint8_t activeSensorList[JETI_EX_SENSOR_COUNT]; static uint8_t activeSensorList[JETI_EX_SENSOR_COUNT];
static uint8_t activeSensors; static uint8_t activeSensors;
static uint32_t exSensorEnabled;
static uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item); static uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item);
@ -160,10 +159,10 @@ uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
} }
/* /*
* ----------------------------------------------- * -----------------------------------------------
* Jeti Ex Bus Telemetry * Jeti Ex Bus Telemetry
* ----------------------------------------------- * -----------------------------------------------
*/ */
void initJetiExBusTelemetry(void) void initJetiExBusTelemetry(void)
{ {
// Init Ex Bus Frame header // Init Ex Bus Frame header
@ -180,30 +179,32 @@ void initJetiExBusTelemetry(void)
jetiExTelemetryFrame[EXTEL_HEADER_LSN_HB] = 0x00; jetiExTelemetryFrame[EXTEL_HEADER_LSN_HB] = 0x00;
jetiExTelemetryFrame[EXTEL_HEADER_RES] = 0x00; // reserved, by default 0x00 jetiExTelemetryFrame[EXTEL_HEADER_RES] = 0x00; // reserved, by default 0x00
bitArraySet(&exSensorEnabled, 0);
// Check which sensors are available // Check which sensors are available
if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) { if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) {
jetiExSensors[EX_VOLTAGE].parameter = EX_TYPE_SENSOR_ENABLED; bitArraySet(&exSensorEnabled, EX_VOLTAGE);
} }
if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) { if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
jetiExSensors[EX_CURRENT].parameter = EX_TYPE_SENSOR_ENABLED; bitArraySet(&exSensorEnabled, EX_CURRENT);
} }
if ((batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) && (batteryConfig()->currentMeterSource != CURRENT_METER_NONE)) { if ((batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) && (batteryConfig()->currentMeterSource != CURRENT_METER_NONE)) {
jetiExSensors[EX_POWER].parameter = EX_TYPE_SENSOR_ENABLED; bitArraySet(&exSensorEnabled, EX_POWER);
jetiExSensors[EX_CAPACITY].parameter = EX_TYPE_SENSOR_ENABLED; bitArraySet(&exSensorEnabled, EX_CAPACITY);
} }
if (sensors(SENSOR_BARO)) { if (sensors(SENSOR_BARO)) {
jetiExSensors[EX_ALTITUDE].parameter = EX_TYPE_SENSOR_ENABLED; bitArraySet(&exSensorEnabled, EX_ALTITUDE);
} }
if (sensors(SENSOR_ACC)) { if (sensors(SENSOR_ACC)) {
jetiExSensors[EX_ROLL_ANGLE].parameter = EX_TYPE_SENSOR_ENABLED; bitArraySet(&exSensorEnabled, EX_ROLL_ANGLE);
jetiExSensors[EX_PITCH_ANGLE].parameter = EX_TYPE_SENSOR_ENABLED; bitArraySet(&exSensorEnabled, EX_PITCH_ANGLE);
} }
if (sensors(SENSOR_MAG)) { if (sensors(SENSOR_MAG)) {
jetiExSensors[EX_HEADING].parameter = EX_TYPE_SENSOR_ENABLED; bitArraySet(&exSensorEnabled, EX_HEADING);
} }
for (uint8_t item = 0; item < JETI_EX_SENSOR_COUNT; item++ ) { for (uint8_t item = 0; item < JETI_EX_SENSOR_COUNT; item++ ) {
if (jetiExSensors[item].parameter == EX_TYPE_SENSOR_ENABLED) { if (bitArrayGet(&exSensorEnabled, item)) {
activeSensorList[activeSensors] = item; activeSensorList[activeSensors] = item;
activeSensors++; activeSensors++;
} }
@ -230,35 +231,35 @@ int32_t getSensorValue(uint8_t sensor)
{ {
switch(sensor) { switch(sensor) {
case EX_VOLTAGE: case EX_VOLTAGE:
return (getBatteryVoltageLatest()); return getBatteryVoltageLatest();
break; break;
case EX_CURRENT: case EX_CURRENT:
return (getAmperageLatest()); return getAmperageLatest();
break; break;
case EX_ALTITUDE: case EX_ALTITUDE:
return (getEstimatedAltitude()); return getEstimatedAltitude();
break; break;
case EX_CAPACITY: case EX_CAPACITY:
return (getMAhDrawn()); return getMAhDrawn();
break; break;
case EX_POWER: case EX_POWER:
return (getBatteryVoltageLatest() * getAmperageLatest()/100); return (getBatteryVoltageLatest() * getAmperageLatest() / 100);
break; break;
case EX_ROLL_ANGLE: case EX_ROLL_ANGLE:
return (attitude.values.roll); return attitude.values.roll;
break; break;
case EX_PITCH_ANGLE: case EX_PITCH_ANGLE:
return (attitude.values.pitch); return attitude.values.pitch;
break; break;
case EX_HEADING: case EX_HEADING:
return (attitude.values.yaw); return attitude.values.yaw;
break; break;
default: default:
@ -298,8 +299,8 @@ uint8_t createExTelemetryValueMessage(uint8_t *exMessage, uint8_t item)
} }
sensorItem = activeSensorList[item]; sensorItem = activeSensorList[item];
if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[sensorItem].exDataType]) + 1) { if ((p - &exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[sensorItem].exDataType] + 1 >= EXTEL_MAX_PAYLOAD) {
break; break;
} }
} }
@ -379,7 +380,7 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
if (requestLoop < 0xFF) { if (requestLoop < 0xFF) {
while( ++sensorDescriptionCounter < JETI_EX_SENSOR_COUNT) { while( ++sensorDescriptionCounter < JETI_EX_SENSOR_COUNT) {
if (jetiExSensors[sensorDescriptionCounter].parameter >= EX_TYPE_SENSOR_ENABLED) { if (bitArrayGet(&exSensorEnabled, sensorDescriptionCounter)) {
break; break;
} }
} }