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Merge remote-tracking branch 'refs/remotes/origin/jeti-ex-telemetry'
This commit is contained in:
Thomas Miric
commit
694fd135ae
1 changed files with 81 additions and 95 deletions
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@ -114,7 +114,6 @@ typedef struct exBusSensor_s {
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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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@ -124,30 +123,7 @@ exBusSensor_t jetiExSensors[] = {
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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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/*{ "free", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_22b, DECIMAL_MASK(0), EX_TYPE_SENSOR_DISABLED},
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{ "BF D2", "", EX_TYPE_DES, EX_TYPE_NONE, EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
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{ "free", "", 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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};
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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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@ -182,12 +158,12 @@ uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
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}
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return(crc);
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}
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/*
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-----------------------------------------------
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Jeti Ex Bus Telemetry
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-----------------------------------------------
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*/
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/*
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* -----------------------------------------------
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* Jeti Ex Bus Telemetry
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* -----------------------------------------------
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*/
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void initJetiExBusTelemetry(void)
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{
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// Init Ex Bus Frame header
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@ -195,7 +171,6 @@ void initJetiExBusTelemetry(void)
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jetiExBusTelemetryFrame[EXBUS_HEADER_REQ] = 0x01;
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jetiExBusTelemetryFrame[EXBUS_HEADER_DATA_ID] = 0x3A; // Ex Telemetry
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// Init Ex Telemetry header
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uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
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jetiExTelemetryFrame[EXTEL_HEADER_SYNC] = 0x9F; // Startbyte
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@ -205,21 +180,27 @@ 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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// Check which sensors are available
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if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) jetiExSensors[EX_VOLTAGE].parameter = EX_TYPE_SENSOR_ENABLED;
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if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) jetiExSensors[EX_CURRENT].parameter = EX_TYPE_SENSOR_ENABLED;
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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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}
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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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}
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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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}
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if (sensors(SENSOR_BARO)) jetiExSensors[EX_ALTITUDE].parameter = EX_TYPE_SENSOR_ENABLED;
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if (sensors(SENSOR_BARO)) {
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jetiExSensors[EX_ALTITUDE].parameter = EX_TYPE_SENSOR_ENABLED;
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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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}
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if (sensors(SENSOR_MAG)) jetiExSensors[EX_HEADING].parameter = EX_TYPE_SENSOR_ENABLED;
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if (sensors(SENSOR_MAG)) {
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jetiExSensors[EX_HEADING].parameter = EX_TYPE_SENSOR_ENABLED;
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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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@ -229,8 +210,7 @@ void initJetiExBusTelemetry(void)
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}
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}
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void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
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void createExTelemetryTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
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{
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uint8_t labelLength = strlen(sensor->label);
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uint8_t unitLength = strlen(sensor->unit);
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@ -246,8 +226,8 @@ void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const
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exMessage[exMessage[EXTEL_HEADER_TYPE_LEN] + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], exMessage[EXTEL_HEADER_TYPE_LEN]);
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}
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int32_t getSensorValue(uint8_t sensor) {
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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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@ -266,7 +246,7 @@ int32_t getSensorValue(uint8_t sensor) {
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break;
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case EX_POWER:
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return (getBatteryVoltageLatest()*getAmperageLatest()/100);
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return (getBatteryVoltageLatest() * getAmperageLatest()/100);
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break;
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case EX_ROLL_ANGLE:
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@ -281,14 +261,15 @@ int32_t getSensorValue(uint8_t sensor) {
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return (attitude.values.yaw);
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break;
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default: return -1;
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default:
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return -1;
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}
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}
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uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t item)
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uint8_t createExTelemetryValueMessage(uint8_t *exMessage, uint8_t item)
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{
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uint8_t sensorItem = activeSensorList[item];
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uint8_t sensorItemStart = sensorItem;
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uint8_t sensorItemMaxGroup = sensorItem | 0xF0;
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uint8_t iCount;
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uint8_t messageSize;
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uint32_t sensorValue;
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@ -297,7 +278,7 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t item)
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exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0; // Device ID
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uint8_t *p = &exMessage[EXTEL_HEADER_ID];
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while (sensorItem <= (sensorItemStart | 0x0F)) {
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while (sensorItem <= sensorItemMaxGroup) {
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*p++ = ((sensorItem & 0x0F) << 4) | jetiExSensors[sensorItem].exDataType; // Sensor ID (%16) | EX Data Type
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sensorValue = getSensorValue(sensorItem);
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@ -311,10 +292,15 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t item)
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item++;
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if (item > activeSensors) break;
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if (item > activeSensors) {
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item = 0;
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break;
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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) break;
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if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[sensorItem].exDataType]) + 1) {
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break;
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}
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}
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messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
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@ -324,7 +310,6 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t item)
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return item; // return the next item
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}
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void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t packetID)
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{
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uint16_t crc16;
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@ -343,7 +328,6 @@ void checkJetiExBusTelemetryState(void)
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return;
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}
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void handleJetiExBusTelemetry(void)
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{
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static uint16_t framesLost = 0; // only for debug
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@ -387,8 +371,6 @@ void handleJetiExBusTelemetry(void)
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}
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}
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uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
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{
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static uint8_t sensorDescriptionCounter = 0xFF;
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@ -396,20 +378,23 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
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uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
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if (requestLoop < 0xFF) {
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while(1) {
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sensorDescriptionCounter++;
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if(jetiExSensors[sensorDescriptionCounter].parameter >= EX_TYPE_SENSOR_ENABLED) break;
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if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT ) {
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sensorDescriptionCounter = 0;
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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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break;
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}
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}
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createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
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if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT ) {
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sensorDescriptionCounter = 0;
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}
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createExTelemetryTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
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createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
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requestLoop++;
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} else {
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if(item == activeSensors) item = 0;
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item = createExTelemetrieValueMessage(jetiExTelemetryFrame, item);
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if(item >= activeSensors) {
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item = 0;
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}
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item = createExTelemetryValueMessage(jetiExTelemetryFrame, item);
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createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
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}
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@ -421,3 +406,4 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
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#endif // TELEMETRY
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#endif // SERIAL_RX
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