diff --git a/reference/spektrum/Bi-Directional SRXL.pdf b/reference/spektrum/Bi-Directional SRXL.pdf new file mode 100644 index 0000000000..f073908efd Binary files /dev/null and b/reference/spektrum/Bi-Directional SRXL.pdf differ diff --git a/reference/spektrum/spektrumTelemetrySensors.h b/reference/spektrum/spektrumTelemetrySensors.h new file mode 100644 index 0000000000..13bec79b99 --- /dev/null +++ b/reference/spektrum/spektrumTelemetrySensors.h @@ -0,0 +1,822 @@ +////////////////////////////////////////////////////////////////// +// +// Copyright 2013 by Horizon Hobby, Inc. +// Released to Public Domain +// +// This header file may be incorporated into non-Horizon +// products. +// +////////////////////////////////////////////////////////////////// + +#ifndef TELEMETRY_H +#define TELEMETRY_H + +////////////////////////////////////////////////////////////////// +// +// Assigned I2C Addresses and Device Types +// +////////////////////////////////////////////////////////////////// + +#define TELE_DEVICE_NODATA (0x00) // No data in packet +#define TELE_DEVICE_VOLTAGE (0x01) // High-Voltage sensor (INTERNAL) +#define TELE_DEVICE_TEMPERATURE (0x02) // Temperature Sensor (INTERNAL) +#define TELE_DEVICE_RSV_03 (0x03) // Reserved +#define TELE_DEVICE_RSV_04 (0x04) // Reserved +#define TELE_DEVICE_RSV_05 (0x05) // Reserved +#define TELE_DEVICE_RSV_06 (0x06) // Reserved +#define TELE_DEVICE_RSV_07 (0x07) // Reserved +#define TELE_DEVICE_RSV_08 (0x08) // Reserved +#define TELE_DEVICE_RSV_09 (0x09) // Reserved +#define TELE_DEVICE_PBOX (0x0A) // PowerBox +#define TELE_DEVICE_LAPTIMER (0x0B) // Lap Timer +#define TELE_DEVICE_TEXTGEN (0x0C) // Text Generator +#define TELE_DEVICE_AIRSPEED (0x11) // Air Speed +#define TELE_DEVICE_ALTITUDE (0x12) // Altitude +#define TELE_DEVICE_GMETER (0x14) // GForce +#define TELE_DEVICE_JETCAT (0x15) // JetCat interface +#define TELE_DEVICE_GPS_LOC (0x16) // GPS Location Data +#define TELE_DEVICE_GPS_STATS (0x17) // GPS Status +#define TELE_DEVICE_RX_MAH (0x18) // Receiver Pack Capacity (Dual) +#define TELE_DEVICE_JETCAT_2 (0x19) // JetCat interface, msg 2 +#define TELE_DEVICE_GYRO (0x1A) // 3-axis gyro +#define TELE_DEVICE_ATTMAG (0x1B) // Attitude and Magnetic Compass +#define TELE_DEVICE_AS3X_LEGACYGAIN (0x1F) // Active AS3X Gains for legacy mode +#define TELE_DEVICE_ESC (0x20) // ESC +#define TELE_DEVICE_FUEL (0x22) // Fuel Flow Meter +#define TELE_DEVICE_ALPHA6 (0x24) // Alpha6 Stabilizer +// DO NOT USE (0x30) // Reserved for internal use +// DO NOT USE (0x32) // Reserved for internal use +#define TELE_DEVICE_MAH (0x34) // Battery Gauge (mAh) (Dual) +#define TELE_DEVICE_DIGITAL_AIR (0x36) // Digital Inputs & Tank Pressure +#define TELE_DEVICE_STRAIN (0x38) // Thrust/Strain Gauge +#define TELE_DEVICE_LIPOMON (0x3A) // 6S Cell Monitor (LiPo taps) +#define TELE_DEVICE_LIPOMON_14 (0x3F) // 14S Cell Monitor (LiPo taps) +#define TELE_DEVICE_VARIO_S (0x40) // Vario +#define TELE_DEVICE_RSV_43 (0x43) // Reserved +#define TELE_DEVICE_USER_16SU (0x50) // User-Def, STRU_TELE_USER_16SU +#define TELE_DEVICE_USER_16SU32U (0x52) // User-Def, STRU_TELE_USER_16SU32U +#define TELE_DEVICE_USER_16SU32S (0x54) // User-Def, STRU_TELE_USER_16SU32S +#define TELE_DEVICE_USER_16U32SU (0x56) // User-Def, STRU_TELE_USER_16U32SU +#define TELE_DEVICE_RSV_60 (0x60) // Reserved +#define TELE_DEVICE_RSV_68 (0x68) // Reserved +#define TELE_DEVICE_RSV_69 (0x69) // Reserved +#define TELE_DEVICE_RSV_6A (0x6A) // Reserved +#define TELE_DEVICE_RSV_6B (0x6B) // Reserved +#define TELE_DEVICE_RSV_6C (0x6C) // Reserved +#define TELE_DEVICE_RSV_6D (0x6D) // Reserved +#define TELE_DEVICE_RSV_6E (0x6E) // Reserved +#define TELE_DEVICE_RSV_6F (0x6F) // Reserved +#define TELE_DEVICE_RSV_70 (0x70) // Reserved +#define TELE_DEVICE_RTC (0x7C) // Pseudo-device giving timestamp +#define TELE_DEVICE_FRAMEDATA (0x7D) // Transmitter frame data +#define TELE_DEVICE_RPM (0x7E) // RPM sensor +#define TELE_DEVICE_QOS (0x7F) // RxV + flight log data +#define TELE_DEVICE_MAX (0x7F) // Last address available + +#define TELE_DEVICE_SHORTRANGE (0x80) // Data is from a TM1100 + + +////////////////////////////////////////////////////////////////// +// +// Message Data Structures +// +////////////////////////////////////////////////////////////////// + + +////////////////////////////////////////////////////////////////// +// +// Electronic Speed Control +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x20 + UINT8 sID; // Secondary ID + UINT16 RPM; // RPM, 10RPM (0-655340 RPM). 0xFFFF --> "No data" + UINT16 voltsInput; // Volts, 0.01v (0-655.34V). 0xFFFF --> "No data" + UINT16 tempFET; // Temperature, 0.1C (0-999.8C) 0xFFFF --> "No data" + UINT16 currentMotor; // Current, 10mA (0-655.34A). 0xFFFF --> "No data" + UINT16 tempBEC; // Temperature, 0.1C (0-999.8C) 0x7FFF --> "No data" + UINT8 currentBEC; // BEC Current, 100mA (0-25.4A). 0xFF ----> "No data" + UINT8 voltsBEC; // BEC Volts, 0.05V (0-12.70V). 0xFF ----> "No data" + UINT8 throttle; // 0.5% (0-127%). 0xFF ----> "No data" + UINT8 powerOut; // Power Output, 0.5% (0-127%). 0xFF ----> "No data"} STRU_TELE_ESC; + +////////////////////////////////////////////////////////////////// +// +// LAP TIMER +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x0B + UINT8 sID; // Secondary ID + UINT8 lapNumber; // Lap last finished + UINT8 gateNumber; // Last gate passed + UINT32 lastLapTime; // Time of lap in 1ms increments (NOT duration) + UINT32 gateTime; // Duration between last 2 gates + UINT8 unused[4]; +} STRU_TELE_LAPTIMER; + +////////////////////////////////////////////////////////////////// +// +// TEXT GENERATOR +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x0C + UINT8 sID; // Secondary ID + UINT8 lineNumber; // Line number to display (0 = title, 1-8 for general, + // 255 = Erase all text on screen) + char text[13]; // 0-terminated text +} STRU_TELE_TEXTGEN; + +////////////////////////////////////////////////////////////////// +// +// (Liquid) Fuel Flow/Capacity (Two Tanks/Engines) +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 id; // Source device = 0x22 + UINT8 sID; // Secondary ID + UINT16 fuelConsumed_A; // Integrated fuel consumption, 0.1mL + UINT16 flowRate_A; // Instantaneous consumption, 0.01mL/min + UINT16 temp_A; // Temperature, 0.1C (0-655.34C) + UINT16 fuelConsumed_B; // Integrated fuel consumption, 0.1mL + UINT16 flowRate_B; // Instantaneous consumption, 0.01mL/min + UINT16 temp_B; // Temperature, 0.1C (0-655.34C) + UINT16 spare; // Not used +} STRU_TELE_FUEL; + +////////////////////////////////////////////////////////////////// +// +// Battery Current/Capacity (Dual Batteries) +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 id; // Source device = 0x34 + UINT8 sID; // Secondary ID + INT16 current_A; // Instantaneous current, 0.1A (0-3276.8A) + INT16 chargeUsed_A; // Integrated mAh used, 1mAh (0-32.766Ah) + UINT16 temp_A; // Temperature, 0.1C (0-150.0C, + // 0x7FFF indicates not populated) + INT16 current_B; // Instantaneous current, 0.1A (0-6553.4A) + INT16 chargeUsed_B; // Integrated mAh used, 1mAh (0-65.534Ah) + UINT16 temp_B; // Temperature, 0.1C (0-150.0C, + // 0x7FFF indicates not populated) + UINT16 spare; // Not used +} STRU_TELE_MAH; + +////////////////////////////////////////////////////////////////// +// +// Digital Input Status (Retract Status) and Tank Pressure +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 id; // Source device = 0x36 + UINT8 sID; // Secondary ID + UINT16 digital; // Digital inputs (bit per input) + UINT16 pressure; // Tank pressure, 0.1PSI (0-6553.4PSI) +} STRU_TELE_DIGITAL_AIR; + +////////////////////////////////////////////////////////////////// +// +// Thrust/Strain Gauge +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 id; // Source device = 0x38 + UINT8 sID; // Secondary ID + UINT16 strain_A, // Strain sensor A + strain_B, // Strain sensor B + strain_C, // Strain sensor D + strain_D; // Strain sensor C +} STRU_TELE_STRAIN; + +////////////////////////////////////////////////////////////////// +// +// THIRD-PARTY 16-BIT DATA SIGNED/UNSIGNED +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 id; // Source device = 0x50 + UINT8 sID; // Secondary ID + INT16 sField1, // Signed 16-bit data fields + sField2, + sField3; + UINT16 uField1, // Unsigned 16-bit data fields + uField2, + uField3, + uField4; +} STRU_TELE_USER_16SU; + +////////////////////////////////////////////////////////////////// +// +// THIRD-PARTY 16-BIT SIGNED/UNSIGNED AND 32-BIT UNSIGNED +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 id; // Source device = 0x52 + UINT8 sID; // Secondary ID + INT16 sField1, // Signed 16-bit data fields + sField2; + UINT16 uField1, // Unsigned 16-bit data fields + uField2, + uField3; + UINT32 u32Field; // Unsigned 32-bit data field +} STRU_TELE_USER_16SU32U; + +////////////////////////////////////////////////////////////////// +// +// THIRD-PARTY 16-BIT SIGNED/UNSIGNED AND 32-BIT SIGNED +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 id; // Source device = 0x54 + UINT8 sID; // Secondary ID + INT16 sField1, // Signed 16-bit data fields + sField2; + UINT16 uField1, // Unsigned 16-bit data fields + uField2, + uField3; + INT32 u32Field; // Signed 32-bit data field +} STRU_TELE_USER_16U32SU; + +////////////////////////////////////////////////////////////////// +// +// THIRD-PARTY 16-BIT UNSIGNED AND 32-BIT SIGNED/UNSIGNED +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 id; // Source device = 0x56 + UINT8 sID; // Secondary ID + UINT16 uField1; // Unsigned 16-bit data field + INT32 u32Field; // Signed 32-bit data field + INT32 u32Field1, // Signed 32-bit data fields + u32Field2; + } STRU_TELE_USER_16U32SU; + +////////////////////////////////////////////////////////////////// +// +// POWERBOX +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x0A + UINT8 sID; // Secondary ID + UINT16 volt1; // Volts, 0v01v + UINT16 volt2; // Volts, 0.01v + UINT16 capacity1; // mAh, 1mAh + UINT16 capacity2; // mAh, 1mAh + UINT16 spare16_1; + UINT16 spare16_2; + UINT8 spare; + UINT8 alarms; // Alarm bitmask (see below) +} STRU_TELE_POWERBOX; + +#define TELE_PBOX_ALARM_VOLTAGE_1 (0x01) +#define TELE_PBOX_ALARM_VOLTAGE_2 (0x02) +#define TELE_PBOX_ALARM_CAPACITY_1 (0x04) +#define TELE_PBOX_ALARM_CAPACITY_2 (0x08) +//#define TELE_PBOX_ALARM_RPM (0x10) +//#define TELE_PBOX_ALARM_TEMPERATURE (0x20) +#define TELE_PBOX_ALARM_RESERVED_1 (0x40) +#define TELE_PBOX_ALARM_RESERVED_2 (0x80) + +////////////////////////////////////////////////////////////////// +// +// DUAL ENERGY +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 id; // Source device = 0x18 + UINT8 sID; // Secondary ID + INT16 current_A; // Instantaneous current, 0.01A (0-328.7A) + INT16 chargeUsed_A; // Integrated mAh used, 0.1mAh (0-3276.6mAh) + UINT16 volts_A; // Voltage, 0.01VC (0-16.00V) + INT16 current_B; // Instantaneous current, 0.1A (0-3276.8A) + INT16 chargeUsed_B; // Integrated mAh used, 1mAh (0-32.766Ah) + UINT16 volts_B; // Voltage, 0.01VC (0-16.00V) + UINT16 spare; // Not used +} STRU_TELE_ENERGY_DUAL; + +////////////////////////////////////////////////////////////////// +// +// HIGH-CURRENT +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x03 + UINT8 sID; // Secondary ID + INT16 current, // Range: +/- 150A + // Resolution: 300A/2048 = 0.196791 A/tick + dummy; // TBD +} STRU_TELE_IHIGH; + +#define IHIGH_RESOLUTION_FACTOR ((FP32)(0.196791)) + +////////////////////////////////////////////////////////////////// +// +// VARIO-S +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x40 + UINT8 sID; // Secondary ID + INT16 altitude; // .1m increments + INT16 delta_0250ms, // delta last 250ms, 0.1m/s increments + delta_0500ms, // delta last 500ms, 0.1m/s increments + delta_1000ms, // delta last 1.0 seconds + delta_1500ms, // delta last 1.5 seconds + delta_2000ms, // delta last 2.0 seconds + delta_3000ms; // delta last 3.0 seconds +} STRU_TELE_VARIO_S; + +////////////////////////////////////////////////////////////////// +// +// ALTIMETER +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; + UINT8 sID; // Secondary ID + INT16 altitude; // .1m increments + INT16 maxAltitude; // .1m increments +} STRU_TELE_ALT; + +////////////////////////////////////////////////////////////////// +// +// AIRSPEED +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; + UINT8 sID; // Secondary ID + UINT16 airspeed; // 1 km/h increments + UINT16 maxAirspeed; // 1 km/h increments +} STRU_TELE_SPEED; + +////////////////////////////////////////////////////////////////// +// +// GFORCE +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x14 + UINT8 sID; // Secondary ID + INT16 GForceX; // force is reported as .01G increments + INT16 GForceY; // Range = +/-4000 (+/- 40G) in Pro model + INT16 GForceZ; // Range = +/-800 (+/- 8G) in Standard model + INT16 maxGForceX; // abs(max G X-axis) FORE/AFT + INT16 maxGForceY; // abs (max G Y-axis) LEFT/RIGHT + INT16 maxGForceZ; // max G Z-axis WING SPAR LOAD + INT16 minGForceZ; // min G Z-axis WING SPAR LOAD +} STRU_TELE_G_METER; + +////////////////////////////////////////////////////////////////// +// +// JETCAT/TURBINE +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x15 + UINT8 sID; // Secondary ID + UINT8 status; // See table below + UINT8 throttle; // (BCD) xx Percent + UINT16 packVoltage; // (BCD) xx.yy + UINT16 pumpVoltage; // (BCD) xx.yy + UINT32 RPM; // (BCD) + UINT16 EGT; // (BCD) Temperature, Celsius + UINT8 offCondition; // (BCD) See table below + UINT8 spare; +} STRU_TELE_JETCAT; + +enum JETCAT_ECU_TURBINE_STATE { // ECU Status definitions + JETCAT_ECU_STATE_OFF = 0x00, + JETCAT_ECU_STATE_WAIT_for_RPM = 0x01, // (Stby/Start) + JETCAT_ECU_STATE_Ignite = 0x02, + JETCAT_ECU_STATE_Accelerate = 0x03, + JETCAT_ECU_STATE_Stabilise = 0x04, + JETCAT_ECU_STATE_Learn_HI = 0x05, + JETCAT_ECU_STATE_Learn_LO = 0x06, + JETCAT_ECU_STATE_UNDEFINED = 0x07, + JETCAT_ECU_STATE_Slow_Down = 0x08, + JETCAT_ECU_STATE_Manual = 0x09, + JETCAT_ECU_STATE_AutoOff = 0x10, + JETCAT_ECU_STATE_Run = 0x11, // (reg.) + JETCAT_ECU_STATE_Accleleration_delay = 0x12, + JETCAT_ECU_STATE_SpeedReg = 0x13, // (Speed Ctrl) + JETCAT_ECU_STATE_Two_Shaft_Regulate = 0x14, // (only for secondary shaft) + JETCAT_ECU_STATE_PreHeat1 = 0x15, + JETCAT_ECU_STATE_PreHeat2 = 0x16, + JETCAT_ECU_STATE_MainFStart = 0x17, + JETCAT_ECU_STATE_NotUsed = 0x18, + JETCAT_ECU_STATE_KeroFullOn = 0x19, + // undefined states 0x1A-0x1F + EVOJET_ECU_STATE_off = 0x20, + EVOJET_ECU_STATE_ignt = 0x21, + EVOJET_ECU_STATE_acce = 0x22, + EVOJET_ECU_STATE_run = 0x23, + EVOJET_ECU_STATE_cal = 0x24, + EVOJET_ECU_STATE_cool = 0x25, + EVOJET_ECU_STATE_fire = 0x26, + EVOJET_ECU_STATE_glow = 0x27, + EVOJET_ECU_STATE_heat = 0x28, + EVOJET_ECU_STATE_idle = 0x29, + EVOJET_ECU_STATE_lock = 0x2A, + EVOJET_ECU_STATE_rel = 0x2B, + EVOJET_ECU_STATE_spin = 0x2C, + EVOJET_ECU_STATE_stop = 0x2D, + // undefined states 0x2E-0x2F + HORNET_ECU_STATE_OFF = 0x30, + HORNET_ECU_STATE_SLOWDOWN = 0x31, + HORNET_ECU_STATE_COOL_DOWN = 0x32, + HORNET_ECU_STATE_AUTO = 0x33, + HORNET_ECU_STATE_AUTO_HC = 0x34, + HORNET_ECU_STATE_BURNER_ON = 0x35, + HORNET_ECU_STATE_CAL_IDLE = 0x36, + HORNET_ECU_STATE_CALIBRATE = 0x37, + HORNET_ECU_STATE_DEV_DELAY = 0x38, + HORNET_ECU_STATE_EMERGENCY = 0x39, + HORNET_ECU_STATE_FUEL_HEAT = 0x3A, + HORNET_ECU_STATE_FUEL_IGNITE = 0x3B, + HORNET_ECU_STATE_GO_IDLE = 0x3C, + HORNET_ECU_STATE_PROP_IGNITE = 0x3D, + HORNET_ECU_STATE_RAMP_DELAY = 0x3E, + HORNET_ECU_STATE_RAMP_UP = 0x3F, + HORNET_ECU_STATE_STANDBY = 0x40, + HORNET_ECU_STATE_STEADY = 0x41, + HORNET_ECU_STATE_WAIT_ACC = 0x42, + HORNET_ECU_STATE_ERROR = 0x43, + // undefined states 0x44-0x4F + XICOY_ECU_STATE_Temp_High = 0x50, + XICOY_ECU_STATE_Trim_Low = 0x51, + XICOY_ECU_STATE_Set_Idle = 0x52, + XICOY_ECU_STATE_Ready = 0x53, + XICOY_ECU_STATE_Ignition = 0x54, + XICOY_ECU_STATE_Fuel_Ramp = 0x55, + XICOY_ECU_STATE_Glow_Test = 0x56, + XICOY_ECU_STATE_Running = 0x57, + XICOY_ECU_STATE_Stop = 0x58, + XICOY_ECU_STATE_Flameout = 0x59, + XICOY_ECU_STATE_Speed_Low = 0x5A, + XICOY_ECU_STATE_Cooling = 0x5B, + XICOY_ECU_STATE_Igniter_Bad = 0x5C, + XICOY_ECU_STATE_Starter_F = 0x5D, + XICOY_ECU_STATE_Weak_Fuel = 0x5E, + XICOY_ECU_STATE_Start_On = 0x5F, + XICOY_ECU_STATE_Pre_Heat = 0x60, + XICOY_ECU_STATE_Battery = 0x61, + XICOY_ECU_STATE_Time_Out = 0x62, + XICOY_ECU_STATE_Overload = 0x63, + XICOY_ECU_STATE_Igniter_Fail = 0x64, + XICOY_ECU_STATE_Burner_On = 0x65, + XICOY_ECU_STATE_Starting = 0x66, + XICOY_ECU_STATE_SwitchOver = 0x67, + XICOY_ECU_STATE_Cal_Pump = 0x68, + XICOY_ECU_STATE_Pump_Limit = 0x69, + XICOY_ECU_STATE_No_Engine = 0x6A, + XICOY_ECU_STATE_Pwr_Boost = 0x6B, + XICOY_ECU_STATE_Run_Idle = 0x6C, + XICOY_ECU_STATE_Run_Max = 0x6D, + + TURBINE_ECU_MAX_STATE = 0x74 +}; + +enum JETCAT_ECU_OFF_CONDITIONS { // ECU off conditions. Valid only when the ECUStatus = JETCAT_ECU_STATE_OFF + JETCAT_ECU_OFF_No_Off_Condition_defined = 0, + JETCAT_ECU_OFF_Shut_down_via_RC, + JETCAT_ECU_OFF_Overtemperature, + JETCAT_ECU_OFF_Ignition_timeout, + JETCAT_ECU_OFF_Acceleration_time_out, + JETCAT_ECU_OFF_Acceleration_too_slow, + JETCAT_ECU_OFF_Over_RPM, + JETCAT_ECU_OFF_Low_Rpm_Off, + JETCAT_ECU_OFF_Low_Battery, + JETCAT_ECU_OFF_Auto_Off, + JETCAT_ECU_OFF_Low_temperature_Off, + JETCAT_ECU_OFF_Hi_Temp_Off, + JETCAT_ECU_OFF_Glow_Plug_defective, + JETCAT_ECU_OFF_Watch_Dog_Timer, + JETCAT_ECU_OFF_Fail_Safe_Off, + JETCAT_ECU_OFF_Manual_Off, // (via GSU) + JETCAT_ECU_OFF_Power_fail, // (Battery fail) + JETCAT_ECU_OFF_Temp_Sensor_fail, // (only during startup) + JETCAT_ECU_OFF_Fuel_fail, + JETCAT_ECU_OFF_Prop_fail, + JETCAT_ECU_OFF_2nd_Engine_fail, + JETCAT_ECU_OFF_2nd_Engine_Diff_Too_High, + JETCAT_ECU_OFF_2nd_Engine_No_Comm, + JETCAT_ECU_MAX_OFF_COND +}; + +typedef struct +{ + UINT8 identifier; // Source device = 0x19 + UINT8 sID; // Secondary ID + UINT16 FuelFlowRateMLMin; // (BCD) mL per Minute + UINT32 RestFuelVolumeInTankML; // (BCD) mL remaining in tank + // 8 bytes left +} STRU_TELE_JETCAT2; + +////////////////////////////////////////////////////////////////// +// +// GPS +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x16 + UINT8 sID; // Secondary ID + UINT16 altitudeLow; // BCD, meters, format 3.1 (Low bits of alt) + UINT32 latitude; // BCD, format 4.4, + // Degrees * 100 + minutes, < 100 degrees + UINT32 longitude; // BCD, format 4.4, + // Degrees * 100 + minutes, flag --> > 99deg + UINT16 course; // BCD, 3.1 + UINT8 HDOP; // BCD, format 1.1 + UINT8 GPSflags; // see definitions below +} STRU_TELE_GPS_LOC; + +typedef struct +{ + UINT8 identifier; // Source device = 0x17 + UINT8 sID; // Secondary ID + UINT16 speed; // BCD, knots, format 3.1 + UINT32 UTC; // BCD, format HH:MM:SS.S, format 6.1 + UINT8 numSats; // BCD, 0-99 + UINT8 altitudeHigh; // BCD, meters, format 2.0 (High bits alt) +} STRU_TELE_GPS_STAT; + +// GPS flags definitions: +#define GPS_INFO_FLAGS_IS_NORTH_BIT (0) +#define GPS_INFO_FLAGS_IS_NORTH (1 << GPS_INFO_FLAGS_IS_NORTH_BIT) +#define GPS_INFO_FLAGS_IS_EAST_BIT (1) +#define GPS_INFO_FLAGS_IS_EAST (1 << GPS_INFO_FLAGS_IS_EAST_BIT) +#define GPS_INFO_FLAGS_LONG_GREATER_99_BIT (2) +#define GPS_INFO_FLAGS_LONG_GREATER_99 (1 << GPS_INFO_FLAGS_LONG_GREATER_99_BIT) +#define GPS_INFO_FLAGS_GPS_FIX_VALID_BIT (3) +#define GPS_INFO_FLAGS_GPS_FIX_VALID (1 << GPS_INFO_FLAGS_GPS_FIX_VALID_BIT) +#define GPS_INFO_FLAGS_GPS_DATA_RECEIVED_BIT (4) +#define GPS_INFO_FLAGS_GPS_DATA_RECEIVED (1 << GPS_INFO_FLAGS_GPS_DATA_RECEIVED_BIT) +#define GPS_INFO_FLAGS_3D_FIX_BIT (5) +#define GPS_INFO_FLAGS_3D_FIX (1 << GPS_INFO_FLAGS_3D_FIX_BIT) +#define GPS_INFO_FLAGS_NEGATIVE_ALT_BIT (7) +#define GPS_INFO_FLAGS_NEGATIVE_ALT (1 << GPS_INFO_FLAGS_NEGATIVE_ALT_BIT) + +////////////////////////////////////////////////////////////////// +// +// GYRO +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x1A + UINT8 sID; // Secondary ID + INT16 gyroX; // Rotation rates of the body - Rate + // is about the X Axis which is + // defined out the nose of the + // vehicle. + INT16 gyroY; // Units are 0.1 deg/sec - Rate is + // about the Y Axis which is defined + // out the right wing of the vehicle. + INT16 gyroZ; // Rate is about the Z axis which is + // defined down from the vehicle. + INT16 maxGyroX; // Max rates (absolute value) + INT16 maxGyroY; + INT16 maxGyroZ; +} STRU_TELE_GYRO; + +////////////////////////////////////////////////////////////////// +// +// Alpha6 Stabilizer +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x24 + UINT8 sID; // Secondary ID + UINT16 volts; // 0.01V increments + UINT8 state_FM; // Flight Mode and System State + // (see below) + UINT8 gainRoll, // Roll Gain, high bit --> + // Heading Hold + gainPitch, // Pitch Gain + gainYaw; // Yaw Gain + INT16 attRoll, // Roll Attitude, 0.1degree, RHR + attPitch, // Pitch Attitude + attYaw; // Yaw Attitude + UINT16 spare; +} STRU_TELE_ALPHA6; + +#define GBOX_STATE_BOOT (0x00) // Alpha6 State - Boot +#define GBOX_STATE_INIT (0x01) // Init +#define GBOX_STATE_READY (0x02) // Ready +#define GBOX_STATE_SENSORFAULT (0x03) // Sensor Fault +#define GBOX_STATE_POWERFAULT (0x04) // Power Fault +#define GBOX_STATE_MASK (0x0F) + +#define GBOX_FMODE_FM0 (0x00) // FM0 through FM4 +#define GBOX_FMODE_FM1 (0x10) +#define GBOX_FMODE_FM2 (0x20) +#define GBOX_FMODE_FM3 (0x30) +#define GBOX_FMODE_FM4 (0x40) +#define GBOX_FMODE_PANIC (0x50) +#define GBOX_FMODE_MASK (0xF0) + +////////////////////////////////////////////////////////////////// +// +// 6S LiPo Cell Monitor +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x3A + UINT8 sID; // Secondary ID + UINT16 cell[6]; // Voltage across cell 1, .01V steps + // 0x7FFF --> cell not present + UINT16 temp; // Temperature, 0.1C (0-655.34C) +} STRU_TELE_LIPOMON; + +////////////////////////////////////////////////////////////////// +// +// 14S LiPo Cell Monitor +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x3F + UINT8 sID; // Secondary ID + UINT8 cell[14]; // Voltage across cell 1, .01V steps, + // excess of 2.56V (ie, 3.00V would + // report 300-256 = 44) + // 0xFF --> cell not present +} STRU_TELE_LIPOMON_14; + +////////////////////////////////////////////////////////////////// +// +// ATTITUDE & MAG COMPASS +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x1B + UINT8 sID; // Secondary ID + INT16 attRoll; // Attitude, 3 axes. Roll is a + // rotation about the X Axis of + // the vehicle using the RHR. + INT16 attPitch; // Units are 0.1 deg - Pitch is a + // rotation about the Y Axis of the + // vehicle using the RHR. + INT16 attYaw; // Yaw is a rotation about the Z + // Axis of the vehicle using the RHR. + INT16 magX; // Magnetic Compass, 3 axes + INT16 magY; // Units are TBD + INT16 magZ; // +} STRU_TELE_ATTMAG; + +////////////////////////////////////////////////////////////////// +// +// Real-Time Clock +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x7C + UINT8 sID; // Secondary ID + UINT8 spare[6]; + UINT64 UTC64; // Linux 64-bit time_t for + // post-2038 date compatibility +} STRU_TELE_RTC; + +////////////////////////////////////////////////////////////////// +// +// RPM/Volts/Temperature +// +////////////////////////////////////////////////////////////////// +// +typedef struct +{ + UINT8 identifier; // Source device = 0x7E + UINT8 sID; // Secondary ID + UINT16 microseconds; // microseconds between pulse leading edges + UINT16 volts; // 0.01V increments + INT16 temperature; // degrees F + INT8 dBm_A, // Average signal for A antenna in dBm + dBm_B; // Average signal for B antenna in dBm. + // If only 1 antenna, set B = A +} STRU_TELE_RPM; + +////////////////////////////////////////////////////////////////// +// +// QoS DATA +// +////////////////////////////////////////////////////////////////// +// +// NOTE: AR6410-series send: +// id = 7F +// sID = 0 +// A = 0 +// B = 0 +// L = 0 +// R = 0 +// F = fades +// H = holds +// rxV = 0xFFFF +// +typedef struct +{ + UINT8 identifier; // Source device = 0x7F + UINT8 sID; // Secondary ID + UINT16 A; + UINT16 B; + UINT16 L; + UINT16 R; + UINT16 F; + UINT16 H; + UINT16 rxVoltage; // Volts, 0.01V increments +} STRU_TELE_QOS; + +////////////////////////////////////////////////////////////////// +// +// UNION OF ALL DEVICE MESSAGES +// +////////////////////////////////////////////////////////////////// +// +typedef union +{ + UINT16 raw[8]; + STRU_TELE_RTC rtc; + STRU_TELE_QOS qos; + STRU_TELE_RPM rpm; + STRU_TELE_FRAMEDATA frame; + STRU_TELE_ALT alt; + STRU_TELE_SPEED speed; + STRU_TELE_ENERGY_DUAL eDual; + STRU_TELE_VARIO_S varioS; + STRU_TELE_G_METER accel; + STRU_TELE_JETCAT jetcat; + STRU_TELE_JETCAT2 jetcat2; + STRU_TELE_GPS_LOC gpsloc; + STRU_TELE_GPS_STAT gpsstat; + STRU_TELE_GYRO gyro; + STRU_TELE_ATTMAG attMag; + STRU_TELE_POWERBOX powerBox; + STRU_TELE_ESC escGeneric; + STRU_TELE_LAPTIMER lapTimer; + STRU_TELE_TEXTGEN textgen; + STRU_TELE_FUEL fuel; + STRU_TELE_MAH mAh; + STRU_TELE_DIGITAL_AIR digAir; + STRU_TELE_STRAIN strain; + STRU_TELE_LIPOMON lipomon; + STRU_TELE_LIPOMON_14 lipomon14; + STRU_TELE_USER_16SU user_16SU; + STRU_TELE_USER_16SU32U user_16SU32U; + STRU_TELE_USER_16SU32S user_16SU32S; + STRU_TELE_USER_16U32SU user_16U32SU; +} UN_TELEMETRY; // All telemetry messages +