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Indentation corrected

This commit is contained in:
Thomas Miric 2018-01-25 16:28:41 +01:00
parent 06326c8b69
commit 9c9700f479

View file

@ -27,6 +27,7 @@
#include "build/build_config.h"
#include "build/debug.h"
#include "fc/runtime_config.h"
#include "common/utils.h"
@ -35,6 +36,7 @@
#include "drivers/time.h"
#include "flight/altitude.h"
#include "flight/imu.h"
#include "io/serial.h"
@ -47,13 +49,6 @@
#include "telemetry/jetiexbus.h"
#include "telemetry/telemetry.h"
#define EXBUS_HEADER_LEN 6
#define EXBUS_CRC_LEN 2
#define EXBUS_OVERHEAD (EXBUS_HEADER_LEN + EXBUS_CRC_LEN)
#define EXBUS_MAX_CHANNEL_FRAME_SIZE (EXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + EXBUS_CRC_LEN)
#define EXBUS_MAX_REQUEST_FRAME_SIZE 9
#define EXTEL_DATA_MSG (0x40)
#define EXTEL_UNMASK_TYPE (0x3F)
#define EXTEL_SYNC_LEN 1
@ -64,6 +59,7 @@
#define EXTEL_MAX_PAYLOAD (EXTEL_MAX_LEN - EXTEL_OVERHEAD)
#define EXBUS_MAX_REQUEST_BUFFER_SIZE (EXBUS_OVERHEAD + EXTEL_MAX_LEN)
enum exTelHeader_e {
EXTEL_HEADER_SYNC = 0,
EXTEL_HEADER_TYPE_LEN,
@ -85,12 +81,16 @@ enum {
};
enum exDataType_e {
EX_TYPE_6b = 0, // int6_t Data type 6b (-31 ¸31)
EX_TYPE_14b = 1, // int14_t Data type 14b (-8191 ¸8191)
EX_TYPE_22b = 4, // int22_t Data type 22b (-2097151 ¸2097151)
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_GPS = 9 // int30_t Special data type GPS coordinates: lo/hi minute - lo/hi degree.
EX_TYPE_NONE = 0,
EX_TYPE_6b = 0, // int6_t Data type 6b (-31 ¸31)
EX_TYPE_14b = 1, // int14_t Data type 14b (-8191 ¸8191)
EX_TYPE_22b = 4, // int22_t Data type 22b (-2097151 ¸2097151)
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_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
};
const uint8_t exDataTypeLen[]={
@ -105,23 +105,49 @@ const uint8_t exDataTypeLen[]={
typedef struct exBusSensor_s{
const char *label;
const char *unit;
int32_t value;
const uint8_t exDataType;
const uint8_t decimals;
uint8_t parameter;
} exBusSensor_t;
#define DECIMAL_MASK(decimals) (decimals << 5)
// list of telemetry messages
// after every 15 sensors a new header has to be inserted (e.g. "CF-Dev 1.12 S2")
// after every 15 sensors a new header has to be inserted (e.g. "BF D2")
exBusSensor_t jetiExSensors[] = {
{ "CF-Dev 1.12 S1", "", 0, 0, 0 }, // device descripton
{ "Voltage", "V", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
{ "Current", "A", 0, EX_TYPE_14b, DECIMAL_MASK(2) },
{ "Altitude", "m", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
{ "Capacity", "mAh", 0, EX_TYPE_22b, DECIMAL_MASK(0) },
{ "frames lost", " ", 0, EX_TYPE_22b, DECIMAL_MASK(0) }, // for debug only
{ "time Diff", "us", 0, EX_TYPE_14b, DECIMAL_MASK(0) } // for debug only
{ "BF D1", "", EX_TYPE_DES, EX_TYPE_NONE, EX_TYPE_SENSOR_ENABLED}, // device descripton
{ "Voltage", "V", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "Current", "A", EX_TYPE_14b, DECIMAL_MASK(2), EX_TYPE_SENSOR_DISABLED},
{ "Altitude", "m", EX_TYPE_14b, DECIMAL_MASK(2), EX_TYPE_SENSOR_DISABLED},
{ "Capacity", "mAh", EX_TYPE_22b, DECIMAL_MASK(0), EX_TYPE_SENSOR_DISABLED},
{ "Power", "W", EX_TYPE_22b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "Roll angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "Pitch angle", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "Heading", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
/*{ "free", "\xB0", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_22b, DECIMAL_MASK(0), EX_TYPE_SENSOR_DISABLED},
{ "BF D2", "", EX_TYPE_DES, EX_TYPE_NONE, EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
{ "free", "", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED}*/
};
// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
@ -130,15 +156,20 @@ enum exSensors_e {
EX_CURRENT,
EX_ALTITUDE,
EX_CAPACITY,
EX_FRAMES_LOST, // for debug only
EX_TIME_DIFF // for debug only
EX_POWER,
EX_ROLL_ANGLE,
EX_PITCH_ANGLE,
EX_HEADING
};
#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
static uint8_t jetiExBusTelemetryFrame[40];
static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
static void sendJetiExBusTelemetry(uint8_t packetID);
static uint8_t activeSensorList[JETI_EX_SENSOR_COUNT];
static uint8_t activeSensors;
static uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item);
// Jeti Ex Telemetry CRC calculations for a frame
uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
@ -155,7 +186,7 @@ uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
-----------------------------------------------
Jeti Ex Bus Telemetry
-----------------------------------------------
*/
*/
void initJetiExBusTelemetry(void)
{
@ -173,8 +204,33 @@ void initJetiExBusTelemetry(void)
jetiExTelemetryFrame[EXTEL_HEADER_LSN_LB] = 0x00; // increment by telemetry count (%16) > only 15 values per device possible
jetiExTelemetryFrame[EXTEL_HEADER_LSN_HB] = 0x00;
jetiExTelemetryFrame[EXTEL_HEADER_RES] = 0x00; // reserved, by default 0x00
// Check which sensors are available
if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) jetiExSensors[EX_VOLTAGE].parameter = EX_TYPE_SENSOR_ENABLED;
if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) jetiExSensors[EX_CURRENT].parameter = EX_TYPE_SENSOR_ENABLED;
if ((batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) && (batteryConfig()->currentMeterSource != CURRENT_METER_NONE)) {
jetiExSensors[EX_POWER].parameter = EX_TYPE_SENSOR_ENABLED;
} jetiExSensors[EX_CAPACITY].parameter = EX_TYPE_SENSOR_ENABLED;
if (sensors(SENSOR_BARO)) jetiExSensors[EX_ALTITUDE].parameter = EX_TYPE_SENSOR_ENABLED;
if (sensors(SENSOR_ACC)){
jetiExSensors[EX_ROLL_ANGLE].parameter = EX_TYPE_SENSOR_ENABLED;
jetiExSensors[EX_PITCH_ANGLE].parameter = EX_TYPE_SENSOR_ENABLED;
}
if (sensors(SENSOR_MAG)) jetiExSensors[EX_HEADING].parameter = EX_TYPE_SENSOR_ENABLED;
for (uint8_t item = 0; item < JETI_EX_SENSOR_COUNT; item++ ) {
if (jetiExSensors[item].parameter == EX_TYPE_SENSOR_ENABLED) {
activeSensorList[activeSensors] = item;
activeSensors++;
}
}
}
void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
{
uint8_t labelLength = strlen(sensor->label);
@ -191,38 +247,76 @@ void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const
exMessage[exMessage[EXTEL_HEADER_TYPE_LEN] + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], exMessage[EXTEL_HEADER_TYPE_LEN]);
}
uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart)
int32_t getSensorValue(uint8_t sensor){
switch(sensor)
{
case EX_VOLTAGE:
return (getBatteryVoltageLatest());
break;
case EX_CURRENT:
return (getAmperageLatest());
break;
case EX_ALTITUDE:
return (getEstimatedAltitude());
break;
case EX_CAPACITY:
return (getMAhDrawn());
break;
case EX_POWER:
return (getBatteryVoltageLatest()*getAmperageLatest()/100);
break;
case EX_ROLL_ANGLE:
return (attitude.values.roll);
break;
case EX_PITCH_ANGLE:
return (attitude.values.pitch);
break;
case EX_HEADING:
return (attitude.values.yaw);
break;
default: return -1;
}
}
uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t item)
{
uint8_t item = itemStart;
uint8_t sensorItem = activeSensorList[item];
uint8_t sensorItemStart = sensorItem;
uint8_t iCount;
uint8_t messageSize;
uint32_t sensorValue;
if ((item & 0x0F) == 0)
item++;
if (item >= JETI_EX_SENSOR_COUNT)
item = 1;
exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0; // Device ID
exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0; // Device ID
uint8_t *p = &exMessage[EXTEL_HEADER_ID];
while (item <= (itemStart | 0x0F)) {
*p++ = ((item & 0x0F) << 4) | jetiExSensors[item].exDataType; // Sensor ID (%16) | EX Data Type
while (sensorItem <= (sensorItemStart | 0x0F)) {
*p++ = ((sensorItem & 0x0F) << 4) | jetiExSensors[sensorItem].exDataType; // Sensor ID (%16) | EX Data Type
sensorValue = jetiExSensors[item].value;
iCount = exDataTypeLen[jetiExSensors[item].exDataType];
sensorValue = getSensorValue(sensorItem);
iCount = exDataTypeLen[jetiExSensors[sensorItem].exDataType];
while (iCount > 1) {
*p++ = sensorValue;
sensorValue = sensorValue >> 8;
iCount--;
}
*p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals;
*p++ = (sensorValue & 0x9F) | jetiExSensors[sensorItem].decimals;
item++;
if (item > JETI_EX_SENSOR_COUNT)
if (item > activeSensors)
break;
if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1)
sensorItem = activeSensorList[item];
if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[sensorItem].exDataType]) + 1)
break;
}
@ -233,6 +327,7 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart)
return item; // return the next item
}
void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t packetID)
{
uint16_t crc16;
@ -251,9 +346,11 @@ void checkJetiExBusTelemetryState(void)
return;
}
void handleJetiExBusTelemetry(void)
{
static uint16_t framesLost = 0; // only for debug
static uint8_t item = 0;
uint32_t timeDiff;
// Check if we shall reset frame position due to time
@ -269,19 +366,13 @@ void handleJetiExBusTelemetry(void)
}
if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (jetiExBusCalcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
jetiExSensors[EX_VOLTAGE].value = getBatteryVoltage();
jetiExSensors[EX_CURRENT].value = getAmperage();
jetiExSensors[EX_ALTITUDE].value = getEstimatedAltitude();
jetiExSensors[EX_CAPACITY].value = getMAhDrawn();
jetiExSensors[EX_FRAMES_LOST].value = framesLost;
jetiExSensors[EX_TIME_DIFF].value = timeDiff;
// switch to TX mode
if (serialRxBytesWaiting(jetiExBusPort) == 0) {
serialSetMode(jetiExBusPort, MODE_TX);
jetiExBusTransceiveState = EXBUS_TRANS_TX;
sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID]);
item = sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID], item);
jetiExBusRequestState = EXBUS_STATE_PROCESSED;
return;
}
} else {
jetiExBusRequestState = EXBUS_STATE_ZERO;
@ -299,32 +390,42 @@ void handleJetiExBusTelemetry(void)
}
}
void sendJetiExBusTelemetry(uint8_t packetID)
uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
{
static uint8_t sensorDescriptionCounter = 0;
static uint8_t sensorValueCounter = 1;
static uint8_t sensorDescriptionCounter = 0xFF;
static uint8_t requestLoop = 0;
uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
if (requestLoop == 100) { //every nth request send the name of a value
if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT )
sensorDescriptionCounter = 0;
if (requestLoop < 0xFF) {
while(1){
sensorDescriptionCounter++;
if(jetiExSensors[sensorDescriptionCounter].parameter >= EX_TYPE_SENSOR_ENABLED) break;
if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT ) {
sensorDescriptionCounter = 0;
break;
}
}
createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
requestLoop = 0;
sensorDescriptionCounter++;
requestLoop++;
} else {
sensorValueCounter = createExTelemetrieValueMessage(jetiExTelemetryFrame, sensorValueCounter);
if(item == activeSensors) item = 0;
item = createExTelemetrieValueMessage(jetiExTelemetryFrame, item);
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
}
for (uint8_t iCount = 0; iCount < jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]; iCount++) {
serialWrite(jetiExBusPort, jetiExBusTelemetryFrame[iCount]);
}
serialWriteBuf(jetiExBusPort, jetiExBusTelemetryFrame, jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]);
jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
requestLoop++;
return item;
}
#endif // TELEMETRY
#endif // SERIAL_RX