mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 16:25:31 +03:00
Indentation corrected
This commit is contained in:
parent
06326c8b69
commit
9c9700f479
1 changed files with 163 additions and 62 deletions
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@ -27,6 +27,7 @@
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#include "build/build_config.h"
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#include "build/debug.h"
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#include "fc/runtime_config.h"
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#include "common/utils.h"
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@ -35,6 +36,7 @@
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#include "drivers/time.h"
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#include "flight/altitude.h"
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#include "flight/imu.h"
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#include "io/serial.h"
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@ -47,13 +49,6 @@
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#include "telemetry/jetiexbus.h"
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#include "telemetry/telemetry.h"
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#define EXBUS_HEADER_LEN 6
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#define EXBUS_CRC_LEN 2
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#define EXBUS_OVERHEAD (EXBUS_HEADER_LEN + EXBUS_CRC_LEN)
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#define EXBUS_MAX_CHANNEL_FRAME_SIZE (EXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + EXBUS_CRC_LEN)
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#define EXBUS_MAX_REQUEST_FRAME_SIZE 9
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#define EXTEL_DATA_MSG (0x40)
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#define EXTEL_UNMASK_TYPE (0x3F)
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#define EXTEL_SYNC_LEN 1
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@ -64,6 +59,7 @@
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#define EXTEL_MAX_PAYLOAD (EXTEL_MAX_LEN - EXTEL_OVERHEAD)
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#define EXBUS_MAX_REQUEST_BUFFER_SIZE (EXBUS_OVERHEAD + EXTEL_MAX_LEN)
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enum exTelHeader_e {
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EXTEL_HEADER_SYNC = 0,
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EXTEL_HEADER_TYPE_LEN,
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@ -85,12 +81,16 @@ enum {
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};
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enum exDataType_e {
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EX_TYPE_6b = 0, // int6_t Data type 6b (-31 ¸31)
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EX_TYPE_14b = 1, // int14_t Data type 14b (-8191 ¸8191)
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EX_TYPE_22b = 4, // int22_t Data type 22b (-2097151 ¸2097151)
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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_NONE = 0,
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EX_TYPE_6b = 0, // int6_t Data type 6b (-31 ¸31)
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EX_TYPE_14b = 1, // int14_t Data type 14b (-8191 ¸8191)
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EX_TYPE_22b = 4, // int22_t Data type 22b (-2097151 ¸2097151)
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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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const uint8_t exDataTypeLen[]={
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@ -105,23 +105,49 @@ const uint8_t exDataTypeLen[]={
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typedef struct exBusSensor_s{
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const char *label;
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const char *unit;
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int32_t value;
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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. "CF-Dev 1.12 S2")
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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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{ "CF-Dev 1.12 S1", "", 0, 0, 0 }, // device descripton
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{ "Voltage", "V", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
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{ "Current", "A", 0, EX_TYPE_14b, DECIMAL_MASK(2) },
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{ "Altitude", "m", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
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{ "Capacity", "mAh", 0, EX_TYPE_22b, DECIMAL_MASK(0) },
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{ "frames lost", " ", 0, EX_TYPE_22b, DECIMAL_MASK(0) }, // for debug only
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{ "time Diff", "us", 0, EX_TYPE_14b, DECIMAL_MASK(0) } // for debug only
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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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/*{ "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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};
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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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EX_CURRENT,
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EX_ALTITUDE,
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EX_CAPACITY,
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EX_FRAMES_LOST, // for debug only
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EX_TIME_DIFF // for debug only
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EX_POWER,
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EX_ROLL_ANGLE,
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EX_PITCH_ANGLE,
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EX_HEADING
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};
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#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
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static uint8_t jetiExBusTelemetryFrame[40];
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static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
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static void sendJetiExBusTelemetry(uint8_t packetID);
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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 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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Jeti Ex Bus Telemetry
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-----------------------------------------------
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*/
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*/
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void initJetiExBusTelemetry(void)
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{
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@ -173,8 +204,33 @@ void initJetiExBusTelemetry(void)
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jetiExTelemetryFrame[EXTEL_HEADER_LSN_LB] = 0x00; // increment by telemetry count (%16) > only 15 values per device possible
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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) && (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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if (sensors(SENSOR_BARO)) jetiExSensors[EX_ALTITUDE].parameter = EX_TYPE_SENSOR_ENABLED;
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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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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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activeSensorList[activeSensors] = item;
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activeSensors++;
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}
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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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{
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uint8_t labelLength = strlen(sensor->label);
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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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uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart)
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int32_t getSensorValue(uint8_t sensor){
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switch(sensor)
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{
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case EX_VOLTAGE:
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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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break;
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case EX_ALTITUDE:
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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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break;
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case EX_POWER:
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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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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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break;
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case EX_HEADING:
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return (attitude.values.yaw);
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break;
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default: 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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{
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uint8_t item = itemStart;
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uint8_t sensorItem = activeSensorList[item];
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uint8_t sensorItemStart = sensorItem;
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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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if ((item & 0x0F) == 0)
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item++;
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if (item >= JETI_EX_SENSOR_COUNT)
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item = 1;
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exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0; // Device ID
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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 (item <= (itemStart | 0x0F)) {
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*p++ = ((item & 0x0F) << 4) | jetiExSensors[item].exDataType; // Sensor ID (%16) | EX Data Type
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while (sensorItem <= (sensorItemStart | 0x0F)) {
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*p++ = ((sensorItem & 0x0F) << 4) | jetiExSensors[sensorItem].exDataType; // Sensor ID (%16) | EX Data Type
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sensorValue = jetiExSensors[item].value;
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iCount = exDataTypeLen[jetiExSensors[item].exDataType];
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sensorValue = getSensorValue(sensorItem);
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iCount = exDataTypeLen[jetiExSensors[sensorItem].exDataType];
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while (iCount > 1) {
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*p++ = sensorValue;
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sensorValue = sensorValue >> 8;
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iCount--;
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}
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*p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals;
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*p++ = (sensorValue & 0x9F) | jetiExSensors[sensorItem].decimals;
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item++;
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if (item > JETI_EX_SENSOR_COUNT)
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if (item > activeSensors)
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break;
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if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1)
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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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break;
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}
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@ -233,6 +327,7 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart)
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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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@ -251,9 +346,11 @@ 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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static uint8_t item = 0;
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uint32_t timeDiff;
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// Check if we shall reset frame position due to time
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@ -269,19 +366,13 @@ void handleJetiExBusTelemetry(void)
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}
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if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (jetiExBusCalcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
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jetiExSensors[EX_VOLTAGE].value = getBatteryVoltage();
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jetiExSensors[EX_CURRENT].value = getAmperage();
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jetiExSensors[EX_ALTITUDE].value = getEstimatedAltitude();
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jetiExSensors[EX_CAPACITY].value = getMAhDrawn();
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jetiExSensors[EX_FRAMES_LOST].value = framesLost;
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jetiExSensors[EX_TIME_DIFF].value = timeDiff;
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// switch to TX mode
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if (serialRxBytesWaiting(jetiExBusPort) == 0) {
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serialSetMode(jetiExBusPort, MODE_TX);
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jetiExBusTransceiveState = EXBUS_TRANS_TX;
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sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID]);
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item = sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID], item);
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jetiExBusRequestState = EXBUS_STATE_PROCESSED;
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return;
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}
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} else {
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jetiExBusRequestState = EXBUS_STATE_ZERO;
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@ -299,32 +390,42 @@ void handleJetiExBusTelemetry(void)
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}
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}
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void sendJetiExBusTelemetry(uint8_t packetID)
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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 = 0;
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static uint8_t sensorValueCounter = 1;
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static uint8_t sensorDescriptionCounter = 0xFF;
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static uint8_t requestLoop = 0;
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uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
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if (requestLoop == 100) { //every nth request send the name of a value
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if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT )
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sensorDescriptionCounter = 0;
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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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break;
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}
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}
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createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
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createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
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requestLoop = 0;
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sensorDescriptionCounter++;
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requestLoop++;
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} else {
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sensorValueCounter = createExTelemetrieValueMessage(jetiExTelemetryFrame, sensorValueCounter);
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if(item == activeSensors) item = 0;
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item = createExTelemetrieValueMessage(jetiExTelemetryFrame, item);
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createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
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}
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for (uint8_t iCount = 0; iCount < jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]; iCount++) {
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serialWrite(jetiExBusPort, jetiExBusTelemetryFrame[iCount]);
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}
|
||||
serialWriteBuf(jetiExBusPort, jetiExBusTelemetryFrame, jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]);
|
||||
|
||||
jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
|
||||
requestLoop++;
|
||||
|
||||
return item;
|
||||
}
|
||||
|
||||
#endif // TELEMETRY
|
||||
#endif // SERIAL_RX
|
||||
|
||||
|
|
Loading…
Add table
Add a link
Reference in a new issue