mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-26 01:35:41 +03:00
Merge remote-tracking branch 'refs/remotes/origin/master' into betaflight/master
This commit is contained in:
commit
a161e008c9
1 changed files with 204 additions and 104 deletions
|
@ -27,6 +27,7 @@
|
||||||
|
|
||||||
#include "build/build_config.h"
|
#include "build/build_config.h"
|
||||||
#include "build/debug.h"
|
#include "build/debug.h"
|
||||||
|
#include "fc/runtime_config.h"
|
||||||
|
|
||||||
#include "common/utils.h"
|
#include "common/utils.h"
|
||||||
|
|
||||||
|
@ -35,6 +36,7 @@
|
||||||
#include "drivers/time.h"
|
#include "drivers/time.h"
|
||||||
|
|
||||||
#include "flight/altitude.h"
|
#include "flight/altitude.h"
|
||||||
|
#include "flight/imu.h"
|
||||||
|
|
||||||
#include "io/serial.h"
|
#include "io/serial.h"
|
||||||
|
|
||||||
|
@ -47,13 +49,6 @@
|
||||||
#include "telemetry/jetiexbus.h"
|
#include "telemetry/jetiexbus.h"
|
||||||
#include "telemetry/telemetry.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_DATA_MSG (0x40)
|
||||||
#define EXTEL_UNMASK_TYPE (0x3F)
|
#define EXTEL_UNMASK_TYPE (0x3F)
|
||||||
#define EXTEL_SYNC_LEN 1
|
#define EXTEL_SYNC_LEN 1
|
||||||
|
@ -64,6 +59,7 @@
|
||||||
#define EXTEL_MAX_PAYLOAD (EXTEL_MAX_LEN - EXTEL_OVERHEAD)
|
#define EXTEL_MAX_PAYLOAD (EXTEL_MAX_LEN - EXTEL_OVERHEAD)
|
||||||
#define EXBUS_MAX_REQUEST_BUFFER_SIZE (EXBUS_OVERHEAD + EXTEL_MAX_LEN)
|
#define EXBUS_MAX_REQUEST_BUFFER_SIZE (EXBUS_OVERHEAD + EXTEL_MAX_LEN)
|
||||||
|
|
||||||
|
|
||||||
enum exTelHeader_e {
|
enum exTelHeader_e {
|
||||||
EXTEL_HEADER_SYNC = 0,
|
EXTEL_HEADER_SYNC = 0,
|
||||||
EXTEL_HEADER_TYPE_LEN,
|
EXTEL_HEADER_TYPE_LEN,
|
||||||
|
@ -85,43 +81,73 @@ enum {
|
||||||
};
|
};
|
||||||
|
|
||||||
enum exDataType_e {
|
enum exDataType_e {
|
||||||
EX_TYPE_6b = 0, // int6_t Data type 6b (-31 ¸31)
|
EX_TYPE_NONE = 0,
|
||||||
EX_TYPE_14b = 1, // int14_t Data type 14b (-8191 ¸8191)
|
EX_TYPE_6b = 0, // int6_t Data type 6b (-31 ¸31)
|
||||||
EX_TYPE_22b = 4, // int22_t Data type 22b (-2097151 ¸2097151)
|
EX_TYPE_14b = 1, // int14_t Data type 14b (-8191 ¸8191)
|
||||||
EX_TYPE_DT = 5, // int22_t Special data type – time and date
|
EX_TYPE_22b = 4, // int22_t Data type 22b (-2097151 ¸2097151)
|
||||||
EX_TYPE_30b = 8, // int30_t Data type 30b (-536870911 ¸536870911)
|
EX_TYPE_DT = 5, // int22_t Special data type – time and date
|
||||||
EX_TYPE_GPS = 9 // int30_t Special data type – GPS coordinates: lo/hi minute - lo/hi degree.
|
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[]={
|
const uint8_t exDataTypeLen[]={
|
||||||
[EX_TYPE_6b] = 1,
|
[EX_TYPE_6b] = 1,
|
||||||
[EX_TYPE_14b] = 2,
|
[EX_TYPE_14b] = 2,
|
||||||
[EX_TYPE_22b] = 3,
|
[EX_TYPE_22b] = 3,
|
||||||
[EX_TYPE_DT] = 3,
|
[EX_TYPE_DT] = 3,
|
||||||
[EX_TYPE_30b] = 4,
|
[EX_TYPE_30b] = 4,
|
||||||
[EX_TYPE_GPS] = 4
|
[EX_TYPE_GPS] = 4
|
||||||
};
|
};
|
||||||
|
|
||||||
typedef struct exBusSensor_s{
|
typedef struct exBusSensor_s{
|
||||||
const char *label;
|
const char *label;
|
||||||
const char *unit;
|
const char *unit;
|
||||||
int32_t value;
|
|
||||||
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. "CF-Dev 1.12 S2")
|
// after every 15 sensors a new header has to be inserted (e.g. "BF D2")
|
||||||
|
|
||||||
exBusSensor_t jetiExSensors[] = {
|
exBusSensor_t jetiExSensors[] = {
|
||||||
{ "CF-Dev 1.12 S1", "", 0, 0, 0 }, // device descripton
|
{ "BF D1", "", EX_TYPE_DES, EX_TYPE_NONE, EX_TYPE_SENSOR_ENABLED}, // device descripton
|
||||||
{ "Voltage", "V", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
|
{ "Voltage", "V", EX_TYPE_14b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
|
||||||
{ "Current", "A", 0, EX_TYPE_14b, DECIMAL_MASK(2) },
|
{ "Current", "A", EX_TYPE_14b, DECIMAL_MASK(2), EX_TYPE_SENSOR_DISABLED},
|
||||||
{ "Altitude", "m", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
|
{ "Altitude", "m", EX_TYPE_14b, DECIMAL_MASK(2), EX_TYPE_SENSOR_DISABLED},
|
||||||
{ "Capacity", "mAh", 0, EX_TYPE_22b, DECIMAL_MASK(0) },
|
{ "Capacity", "mAh", EX_TYPE_22b, DECIMAL_MASK(0), EX_TYPE_SENSOR_DISABLED},
|
||||||
{ "frames lost", " ", 0, EX_TYPE_22b, DECIMAL_MASK(0) }, // for debug only
|
{ "Power", "W", EX_TYPE_22b, DECIMAL_MASK(1), EX_TYPE_SENSOR_DISABLED},
|
||||||
{ "time Diff", "us", 0, EX_TYPE_14b, DECIMAL_MASK(0) } // for debug only
|
{ "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
|
// 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_CURRENT,
|
||||||
EX_ALTITUDE,
|
EX_ALTITUDE,
|
||||||
EX_CAPACITY,
|
EX_CAPACITY,
|
||||||
EX_FRAMES_LOST, // for debug only
|
EX_POWER,
|
||||||
EX_TIME_DIFF // for debug only
|
EX_ROLL_ANGLE,
|
||||||
|
EX_PITCH_ANGLE,
|
||||||
|
EX_HEADING
|
||||||
};
|
};
|
||||||
|
|
||||||
#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
|
#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
|
||||||
|
|
||||||
static uint8_t jetiExBusTelemetryFrame[40];
|
static uint8_t jetiExBusTelemetryFrame[40];
|
||||||
static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
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
|
// Jeti Ex Telemetry CRC calculations for a frame
|
||||||
uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
|
uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
|
||||||
|
@ -146,8 +177,8 @@ uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
|
||||||
uint8_t crc=0;
|
uint8_t crc=0;
|
||||||
|
|
||||||
for (uint8_t mlen = 0; mlen < msgLen; mlen++) {
|
for (uint8_t mlen = 0; mlen < msgLen; mlen++) {
|
||||||
crc ^= pt[mlen];
|
crc ^= pt[mlen];
|
||||||
crc = crc ^ (crc << 1) ^ (crc << 2) ^ (0x0e090700 >> ((crc >> 3) & 0x18));
|
crc = crc ^ (crc << 1) ^ (crc << 2) ^ (0x0e090700 >> ((crc >> 3) & 0x18));
|
||||||
}
|
}
|
||||||
return(crc);
|
return(crc);
|
||||||
}
|
}
|
||||||
|
@ -155,7 +186,7 @@ uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
|
||||||
-----------------------------------------------
|
-----------------------------------------------
|
||||||
Jeti Ex Bus Telemetry
|
Jeti Ex Bus Telemetry
|
||||||
-----------------------------------------------
|
-----------------------------------------------
|
||||||
*/
|
*/
|
||||||
|
|
||||||
void initJetiExBusTelemetry(void)
|
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_LB] = 0x00; // increment by telemetry count (%16) > only 15 values per device possible
|
||||||
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
|
||||||
|
|
||||||
|
|
||||||
|
// 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)
|
void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
|
||||||
{
|
{
|
||||||
uint8_t labelLength = strlen(sensor->label);
|
uint8_t labelLength = strlen(sensor->label);
|
||||||
|
@ -191,39 +247,77 @@ 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]);
|
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 iCount;
|
||||||
uint8_t messageSize;
|
uint8_t messageSize;
|
||||||
uint32_t sensorValue;
|
uint32_t sensorValue;
|
||||||
|
|
||||||
if ((item & 0x0F) == 0)
|
|
||||||
item++;
|
|
||||||
|
|
||||||
if (item >= JETI_EX_SENSOR_COUNT)
|
exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0; // Device ID
|
||||||
item = 1;
|
|
||||||
|
|
||||||
exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0; // Device ID
|
|
||||||
uint8_t *p = &exMessage[EXTEL_HEADER_ID];
|
uint8_t *p = &exMessage[EXTEL_HEADER_ID];
|
||||||
|
|
||||||
while (item <= (itemStart | 0x0F)) {
|
while (sensorItem <= (sensorItemStart | 0x0F)) {
|
||||||
*p++ = ((item & 0x0F) << 4) | jetiExSensors[item].exDataType; // Sensor ID (%16) | EX Data Type
|
*p++ = ((sensorItem & 0x0F) << 4) | jetiExSensors[sensorItem].exDataType; // Sensor ID (%16) | EX Data Type
|
||||||
|
|
||||||
sensorValue = jetiExSensors[item].value;
|
sensorValue = getSensorValue(sensorItem);
|
||||||
iCount = exDataTypeLen[jetiExSensors[item].exDataType];
|
iCount = exDataTypeLen[jetiExSensors[sensorItem].exDataType];
|
||||||
while (iCount > 1) {
|
while (iCount > 1) {
|
||||||
*p++ = sensorValue;
|
*p++ = sensorValue;
|
||||||
sensorValue = sensorValue >> 8;
|
sensorValue = sensorValue >> 8;
|
||||||
iCount--;
|
iCount--;
|
||||||
}
|
}
|
||||||
*p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals;
|
*p++ = (sensorValue & 0x9F) | jetiExSensors[sensorItem].decimals;
|
||||||
|
|
||||||
item++;
|
item++;
|
||||||
if (item > JETI_EX_SENSOR_COUNT)
|
if (item > activeSensors)
|
||||||
break;
|
break;
|
||||||
if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1)
|
|
||||||
break;
|
sensorItem = activeSensorList[item];
|
||||||
|
if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[sensorItem].exDataType]) + 1)
|
||||||
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
|
messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
|
||||||
|
@ -233,6 +327,7 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart)
|
||||||
return item; // return the next item
|
return item; // return the next item
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t packetID)
|
void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t packetID)
|
||||||
{
|
{
|
||||||
uint16_t crc16;
|
uint16_t crc16;
|
||||||
|
@ -251,80 +346,85 @@ void checkJetiExBusTelemetryState(void)
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void handleJetiExBusTelemetry(void)
|
void handleJetiExBusTelemetry(void)
|
||||||
{
|
{
|
||||||
static uint16_t framesLost = 0; // only for debug
|
static uint16_t framesLost = 0; // only for debug
|
||||||
|
static uint8_t item = 0;
|
||||||
uint32_t timeDiff;
|
uint32_t timeDiff;
|
||||||
// Check if we shall reset frame position due to time
|
// Check if we shall reset frame position due to time
|
||||||
|
|
||||||
if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
|
if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
|
||||||
|
|
||||||
// to prevent timing issues from request to answer - max. 4ms
|
// to prevent timing issues from request to answer - max. 4ms
|
||||||
timeDiff = micros() - jetiTimeStampRequest;
|
timeDiff = micros() - jetiTimeStampRequest;
|
||||||
|
|
||||||
if (timeDiff > 3000) { // include reserved time
|
if (timeDiff > 3000) { // include reserved time
|
||||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||||
framesLost++;
|
framesLost++;
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (jetiExBusCalcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
|
if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (jetiExBusCalcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
|
||||||
jetiExSensors[EX_VOLTAGE].value = getBatteryVoltage();
|
// switch to TX mode
|
||||||
jetiExSensors[EX_CURRENT].value = getAmperage();
|
if (serialRxBytesWaiting(jetiExBusPort) == 0) {
|
||||||
jetiExSensors[EX_ALTITUDE].value = getEstimatedAltitude();
|
serialSetMode(jetiExBusPort, MODE_TX);
|
||||||
jetiExSensors[EX_CAPACITY].value = getMAhDrawn();
|
jetiExBusTransceiveState = EXBUS_TRANS_TX;
|
||||||
jetiExSensors[EX_FRAMES_LOST].value = framesLost;
|
item = sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID], item);
|
||||||
jetiExSensors[EX_TIME_DIFF].value = timeDiff;
|
jetiExBusRequestState = EXBUS_STATE_PROCESSED;
|
||||||
|
return;
|
||||||
// switch to TX mode
|
}
|
||||||
if (serialRxBytesWaiting(jetiExBusPort) == 0) {
|
} else {
|
||||||
serialSetMode(jetiExBusPort, MODE_TX);
|
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||||
jetiExBusTransceiveState = EXBUS_TRANS_TX;
|
return;
|
||||||
sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID]);
|
|
||||||
jetiExBusRequestState = EXBUS_STATE_PROCESSED;
|
|
||||||
}
|
}
|
||||||
} else {
|
|
||||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// check the state if transmit is ready
|
// check the state if transmit is ready
|
||||||
if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
|
if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
|
||||||
if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
|
if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
|
||||||
serialSetMode(jetiExBusPort, MODE_RX);
|
serialSetMode(jetiExBusPort, MODE_RX);
|
||||||
jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
||||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void sendJetiExBusTelemetry(uint8_t packetID)
|
|
||||||
|
|
||||||
|
uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
|
||||||
{
|
{
|
||||||
static uint8_t sensorDescriptionCounter = 0;
|
static uint8_t sensorDescriptionCounter = 0xFF;
|
||||||
static uint8_t sensorValueCounter = 1;
|
|
||||||
static uint8_t requestLoop = 0;
|
static uint8_t requestLoop = 0;
|
||||||
uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
|
uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
|
||||||
|
|
||||||
if (requestLoop == 100) { //every nth request send the name of a value
|
if (requestLoop < 0xFF) {
|
||||||
if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT )
|
while(1){
|
||||||
sensorDescriptionCounter = 0;
|
sensorDescriptionCounter++;
|
||||||
|
if(jetiExSensors[sensorDescriptionCounter].parameter >= EX_TYPE_SENSOR_ENABLED) break;
|
||||||
|
if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT ) {
|
||||||
|
sensorDescriptionCounter = 0;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
|
createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
|
||||||
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
|
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
|
||||||
|
|
||||||
|
requestLoop++;
|
||||||
|
|
||||||
requestLoop = 0;
|
|
||||||
sensorDescriptionCounter++;
|
|
||||||
} else {
|
} else {
|
||||||
sensorValueCounter = createExTelemetrieValueMessage(jetiExTelemetryFrame, sensorValueCounter);
|
if(item == activeSensors) item = 0;
|
||||||
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
|
item = createExTelemetrieValueMessage(jetiExTelemetryFrame, item);
|
||||||
|
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
|
||||||
}
|
}
|
||||||
|
|
||||||
for (uint8_t iCount = 0; iCount < jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]; iCount++) {
|
serialWriteBuf(jetiExBusPort, jetiExBusTelemetryFrame, jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]);
|
||||||
serialWrite(jetiExBusPort, jetiExBusTelemetryFrame[iCount]);
|
|
||||||
}
|
|
||||||
jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
|
jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
|
||||||
requestLoop++;
|
|
||||||
|
return item;
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif // TELEMETRY
|
#endif // TELEMETRY
|
||||||
#endif // SERIAL_RX
|
#endif // SERIAL_RX
|
||||||
|
|
Loading…
Add table
Add a link
Reference in a new issue