diff --git a/Makefile b/Makefile
index d4849c9818..4e5f715038 100644
--- a/Makefile
+++ b/Makefile
@@ -315,6 +315,7 @@ COMMON_SRC = build_config.c \
rx/spektrum.c \
rx/xbus.c \
rx/ibus.c \
+ rx/jetiexbus.c \
sensors/acceleration.c \
sensors/battery.c \
sensors/boardalignment.c \
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index cf901b93bf..2b28933615 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -361,7 +361,8 @@ static const char * const lookupTableSerialRX[] = {
"SUMH",
"XB-B",
"XB-B-RJ01",
- "IBUS"
+ "IBUS",
+ "JETIEXBUS"
};
static const char * const lookupTableGyroLpf[] = {
diff --git a/src/main/main.c b/src/main/main.c
index b4e02e8374..5a71368cc0 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -691,6 +691,8 @@ int main(void) {
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
+ // Reschedule telemetry to 500hz for Jeti Exbus
+ if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) rescheduleTask(TASK_TELEMETRY, 2000);
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c
new file mode 100644
index 0000000000..d3ac730016
--- /dev/null
+++ b/src/main/rx/jetiexbus.c
@@ -0,0 +1,609 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ *
+ * Authors:
+ * Thomas Miric - marv-t
+ *
+ * Jeti EX Bus Communication Protocol:
+ * http://www.jetimodel.com/en/show-file/642/
+ *
+ * JETI Telemetry Communication Protocol:
+ * http://www.jetimodel.com/en/show-file/26/
+ *
+ * Following restrictions:
+ * Communication speed: 125000 bps
+ * Number of channels: 16
+ *
+ * Connect as follows:
+ * Jeti EX Bus -> Serial RX (connect directly)
+ * Serial TX -> Resistor(2k4) ->Serial RX
+ * In jeti pdf it is different, but if the resistor breaks, the receiver continues to operate.
+ *
+ */
+
+#include
+#include
+#include
+
+#include "common/utils.h"
+#include "platform.h"
+#include "build_config.h"
+#include "drivers/system.h"
+#include "drivers/serial.h"
+#include "drivers/serial_uart.h"
+#include "io/serial.h"
+#include "rx/jetiexbus.h"
+
+
+#ifdef TELEMETRY
+
+#include
+#include "sensors/sensors.h"
+#include "sensors/battery.h"
+#include "sensors/barometer.h"
+#include "telemetry/telemetry.h"
+
+#endif //TELEMETRY
+
+
+#include "debug.h"
+#include "rx/rx.h"
+
+//
+// Serial driver for Jeti EX Bus receiver
+//
+#define JETIEXBUS_BAUDRATE 125000 // EX Bus 125000; EX Bus HS 250000 not supported
+#define JETIEXBUS_OPTIONS (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO | SERIAL_NOT_INVERTED)
+#define JETIEXBUS_MIN_FRAME_GAP 1000
+#define JETIEXBUS_CHANNEL_COUNT 16 // most Jeti TX transmit 16 channels
+
+#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 EXBUS_START_CHANNEL_FRAME (0x3E)
+#define EXBUS_START_REQUEST_FRAME (0x3D)
+#define EXBUS_EX_REQUEST (0x3A)
+#define EXBUS_JETIBOX_REQUEST (0x3B)
+
+#define EXBUS_CHANNELDATA (0x3E03) // Frame contains Channel Data
+#define EXBUS_CHANNELDATA_DATA_REQUEST (0x3E01) // Frame contains Channel Data, but with a request for data
+#define EXBUS_TELEMETRY_REQUEST (0x3D01) // Frame is a request Frame
+
+enum {
+ EXBUS_STATE_ZERO = 0,
+ EXBUS_STATE_IN_PROGRESS,
+ EXBUS_STATE_RECEIVED,
+ EXBUS_STATE_PROCESSED
+};
+
+enum {
+ EXBUS_TRANS_ZERO = 0,
+ EXBUS_TRANS_RX_READY,
+ EXBUS_TRANS_RX,
+ EXBUS_TRANS_IS_TX_COMPLETED,
+ EXBUS_TRANS_TX
+};
+
+enum exBusHeader_e {
+ EXBUS_HEADER_SYNC = 0,
+ EXBUS_HEADER_REQ,
+ EXBUS_HEADER_MSG_LEN,
+ EXBUS_HEADER_PACKET_ID,
+ EXBUS_HEADER_DATA_ID,
+ EXBUS_HEADER_SUBLEN,
+ EXBUS_HEADER_DATA
+};
+
+#ifdef TELEMETRY
+
+#define EXTEL_DATA_MSG (0x40)
+#define EXTEL_UNMASK_TYPE (0x3F)
+#define EXTEL_SYNC_LEN 1
+#define EXTEL_CRC_LEN 1
+#define EXTEL_HEADER_LEN 6
+#define EXTEL_MAX_LEN 29
+#define EXTEL_OVERHEAD (EXTEL_SYNC_LEN + EXTEL_HEADER_LEN + EXTEL_CRC_LEN)
+#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,
+ EXTEL_HEADER_USN_LB,
+ EXTEL_HEADER_USN_HB,
+ EXTEL_HEADER_LSN_LB,
+ EXTEL_HEADER_LSN_HB,
+ EXTEL_HEADER_RES,
+ EXTEL_HEADER_ID,
+ EXTEL_HEADER_DATA
+};
+
+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.
+};
+
+const uint8_t exDataTypeLen[]={
+ [EX_TYPE_6b] = 1,
+ [EX_TYPE_14b] = 2,
+ [EX_TYPE_22b] = 3,
+ [EX_TYPE_DT] = 3,
+ [EX_TYPE_30b] = 4,
+ [EX_TYPE_GPS] = 4
+};
+
+typedef struct exBusSensor_s{
+ const char *label;
+ const char *unit;
+ int32_t value;
+ const uint8_t exDataType;
+ const uint8_t decimals;
+} 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")
+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
+};
+
+
+// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
+enum exSensors_e {
+ EX_VOLTAGE = 1,
+ EX_CURRENT,
+ EX_ALTITUDE,
+ EX_CAPACITY,
+ EX_FRAMES_LOST, // for debug only
+ EX_TIME_DIFF // for debug only
+};
+
+#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
+#endif //TELEMETRY
+
+static serialPort_t *jetiExBusPort;
+
+static uint32_t jetiTimeStampRequest = 0;
+
+static uint8_t jetiExBusFramePosition;
+static uint8_t jetiExBusFrameLength;
+
+static uint8_t jetiExBusFrameState = EXBUS_STATE_ZERO;
+static uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
+
+// Use max values for ram areas
+static uint8_t jetiExBusChannelFrame[EXBUS_MAX_CHANNEL_FRAME_SIZE];
+static uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE];
+
+static uint16_t jetiExBusChannelData[JETIEXBUS_CHANNEL_COUNT];
+static void jetiExBusDataReceive(uint16_t c);
+static uint16_t jetiExBusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
+
+static void jetiExBusFrameReset();
+
+#ifdef TELEMETRY
+
+static uint8_t jetiExBusTelemetryFrame[40];
+static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
+static void sendJetiExBusTelemetry(uint8_t packetID);
+
+uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen);
+
+#endif //TELEMETRY
+
+uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen);
+
+
+bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
+{
+ UNUSED(rxConfig);
+ serialPortConfig_t *portConfig;
+
+ if (callback) {
+ *callback = jetiExBusReadRawRC;
+ }
+
+ rxRuntimeConfig->channelCount = JETIEXBUS_CHANNEL_COUNT;
+ jetiExBusFrameReset();
+
+ portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
+
+ if (!portConfig) {
+ return false;
+ }
+
+ jetiExBusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, jetiExBusDataReceive, JETIEXBUS_BAUDRATE, MODE_RXTX, JETIEXBUS_OPTIONS );
+ serialSetMode(jetiExBusPort, MODE_RX);
+ return jetiExBusPort != NULL;
+}
+
+
+// Jeti Ex Bus CRC calculations for a frame
+uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen)
+{
+ uint16_t crc16_data = 0;
+ uint8_t data=0;
+
+ for (uint8_t mlen = 0; mlen < msgLen; mlen++){
+ data = pt[mlen] ^ ((uint8_t)(crc16_data) & (uint8_t)(0xFF));
+ data ^= data << 4;
+ crc16_data = ((((uint16_t)data << 8) | ((crc16_data & 0xFF00) >> 8))
+ ^ (uint8_t)(data >> 4)
+ ^ ((uint16_t)data << 3));
+ }
+ return(crc16_data);
+}
+
+#ifdef TELEMETRY
+
+
+// Jeti Ex Telemetry CRC calculations for a frame
+uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
+{
+ uint8_t crc=0;
+
+ for (uint8_t mlen = 0; mlen < msgLen; mlen++) {
+ crc ^= pt[mlen];
+ crc = crc ^ (crc << 1) ^ (crc << 2) ^ (0x0e090700 >> ((crc >> 3) & 0x18));
+ }
+ return(crc);
+}
+
+#endif //TELEMETRY
+
+
+void jetiExBusDecodeChannelFrame(uint8_t *exBusFrame)
+{
+ uint16_t value;
+ uint8_t frameAddr;
+
+ // Decode header
+ switch (((uint16_t)exBusFrame[EXBUS_HEADER_SYNC] << 8) | ((uint16_t)exBusFrame[EXBUS_HEADER_REQ])){
+
+ case EXBUS_CHANNELDATA_DATA_REQUEST: // not yet specified
+ case EXBUS_CHANNELDATA:
+ for (uint8_t i = 0; i < JETIEXBUS_CHANNEL_COUNT; i++) {
+ frameAddr = EXBUS_HEADER_LEN + i * 2;
+ value = ((uint16_t)exBusFrame[frameAddr + 1]) << 8;
+ value += (uint16_t)exBusFrame[frameAddr];
+ // Convert to internal format
+ jetiExBusChannelData[i] = value >> 3;
+ }
+ break;
+ }
+}
+
+
+void jetiExBusFrameReset()
+{
+ jetiExBusFramePosition = 0;
+ jetiExBusFrameLength = EXBUS_MAX_CHANNEL_FRAME_SIZE;
+}
+
+
+/*
+ supported:
+ 0x3E 0x01 LEN Packet_ID 0x31 SUB_LEN Data_array CRC16 // Channel Data with telemetry request (2nd byte 0x01)
+ 0x3E 0x03 LEN Packet_ID 0x31 SUB_LEN Data_array CRC16 // Channel Data forbids answering (2nd byte 0x03)
+ 0x3D 0x01 0x08 Packet_ID 0x3A 0x00 CRC16 // Telemetry Request EX telemetry (5th byte 0x3A)
+
+ other messages - not supported:
+ 0x3D 0x01 0x09 Packet_ID 0x3B 0x01 0xF0 CRC16 // Jetibox request (5th byte 0x3B)
+ ...
+*/
+
+// Receive ISR callback
+static void jetiExBusDataReceive(uint16_t c)
+{
+ uint32_t now;
+ static uint32_t jetiExBusTimeLast = 0;
+ static int32_t jetiExBusTimeInterval;
+
+ static uint8_t *jetiExBusFrame;
+
+ // Check if we shall reset frame position due to time
+ now = micros();
+
+ jetiExBusTimeInterval = now - jetiExBusTimeLast;
+ jetiExBusTimeLast = now;
+
+ if (jetiExBusTimeInterval > JETIEXBUS_MIN_FRAME_GAP) {
+ jetiExBusFrameReset();
+ jetiExBusFrameState = EXBUS_STATE_ZERO;
+ jetiExBusRequestState = EXBUS_STATE_ZERO;
+ }
+
+ // Check if we shall start a frame?
+ if (jetiExBusFramePosition == 0) {
+ switch(c){
+ case EXBUS_START_CHANNEL_FRAME:
+ jetiExBusFrameState = EXBUS_STATE_IN_PROGRESS;
+ jetiExBusFrame = jetiExBusChannelFrame;
+ break;
+
+ case EXBUS_START_REQUEST_FRAME:
+ jetiExBusRequestState = EXBUS_STATE_IN_PROGRESS;
+ jetiExBusFrame = jetiExBusRequestFrame;
+ break;
+
+ default:
+ return;
+ }
+ }
+
+ // Store in frame copy
+ jetiExBusFrame[jetiExBusFramePosition] = (uint8_t)c;
+ jetiExBusFramePosition++;
+
+ // Check the header for the message length
+ if (jetiExBusFramePosition == EXBUS_HEADER_LEN) {
+
+ if((jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS) && (jetiExBusFrame[EXBUS_HEADER_MSG_LEN] <= EXBUS_MAX_CHANNEL_FRAME_SIZE)) {
+ jetiExBusFrameLength = jetiExBusFrame[EXBUS_HEADER_MSG_LEN];
+ return;
+ }
+
+ if((jetiExBusRequestState == EXBUS_STATE_IN_PROGRESS) && (jetiExBusFrame[EXBUS_HEADER_MSG_LEN] <= EXBUS_MAX_REQUEST_FRAME_SIZE)) {
+ jetiExBusFrameLength = jetiExBusFrame[EXBUS_HEADER_MSG_LEN];
+ return;
+ }
+
+ jetiExBusFrameReset(); // not a valid frame
+ jetiExBusFrameState = EXBUS_STATE_ZERO;
+ jetiExBusRequestState = EXBUS_STATE_ZERO;
+ return;
+ }
+
+ // Done?
+ if (jetiExBusFrameLength == jetiExBusFramePosition) {
+ if (jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS)
+ jetiExBusFrameState = EXBUS_STATE_RECEIVED;
+ if (jetiExBusRequestState == EXBUS_STATE_IN_PROGRESS) {
+ jetiExBusRequestState = EXBUS_STATE_RECEIVED;
+ jetiTimeStampRequest = micros();
+ }
+
+ jetiExBusFrameReset();
+ }
+}
+
+
+// Check if it is time to read a frame from the data...
+uint8_t jetiExBusFrameStatus()
+{
+ if (jetiExBusFrameState != EXBUS_STATE_RECEIVED)
+ return SERIAL_RX_FRAME_PENDING;
+
+ if(calcCRC16(jetiExBusChannelFrame, jetiExBusChannelFrame[EXBUS_HEADER_MSG_LEN]) == 0) {
+ jetiExBusDecodeChannelFrame(jetiExBusChannelFrame);
+ jetiExBusFrameState = EXBUS_STATE_ZERO;
+ return SERIAL_RX_FRAME_COMPLETE;
+ } else {
+ jetiExBusFrameState = EXBUS_STATE_ZERO;
+ return SERIAL_RX_FRAME_PENDING;
+ }
+}
+
+
+static uint16_t jetiExBusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
+{
+ if (chan >= rxRuntimeConfig->channelCount)
+ return 0;
+
+ return (jetiExBusChannelData[chan]);
+}
+
+
+#ifdef TELEMETRY
+/*
+ -----------------------------------------------
+ Jeti Ex Bus Telemetry
+ -----------------------------------------------
+*/
+
+void initJetiExBusTelemetry(telemetryConfig_t *initialTelemetryConfig)
+{
+ UNUSED(initialTelemetryConfig);
+
+ // Init Ex Bus Frame header
+ jetiExBusTelemetryFrame[EXBUS_HEADER_SYNC] = 0x3B; // Startbytes
+ jetiExBusTelemetryFrame[EXBUS_HEADER_REQ] = 0x01;
+ jetiExBusTelemetryFrame[EXBUS_HEADER_DATA_ID] = 0x3A; // Ex Telemetry
+
+
+ // Init Ex Telemetry header
+ uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
+ jetiExTelemetryFrame[EXTEL_HEADER_SYNC] = 0x9F; // Startbyte
+ jetiExTelemetryFrame[EXTEL_HEADER_USN_LB] = 0x1E; // Serial Number 4 Byte
+ jetiExTelemetryFrame[EXTEL_HEADER_USN_HB] = 0xA4;
+ 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
+}
+
+
+void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
+{
+ uint8_t labelLength = strlen(sensor->label);
+ uint8_t unitLength = strlen(sensor->unit);
+
+ exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_OVERHEAD + labelLength + unitLength;
+ exMessage[EXTEL_HEADER_LSN_LB] = messageID & 0xF0; // Device ID
+ exMessage[EXTEL_HEADER_ID] = messageID & 0x0F; // Sensor ID (%16)
+ exMessage[EXTEL_HEADER_DATA] = (labelLength << 3) + unitLength;
+
+ memcpy(&exMessage[EXTEL_HEADER_DATA + 1], sensor->label, labelLength);
+ memcpy(&exMessage[EXTEL_HEADER_DATA + 1 + labelLength], sensor->unit, unitLength);
+
+ 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)
+{
+ uint8_t item = itemStart;
+ 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
+ uint8_t *p = &exMessage[EXTEL_HEADER_ID];
+
+ while(item <= (itemStart | 0x0F)) {
+ *p++ = ((item & 0x0F) << 4) | jetiExSensors[item].exDataType; // Sensor ID (%16) | EX Data Type
+
+ sensorValue = jetiExSensors[item].value;
+ iCount = exDataTypeLen[jetiExSensors[item].exDataType];
+ while(iCount > 1) {
+ *p++ = sensorValue;
+ sensorValue = sensorValue >> 8;
+ iCount--;
+ }
+ *p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals;
+
+ item++;
+ if(item > JETI_EX_SENSOR_COUNT)
+ break;
+ if(EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1)
+ break;
+ }
+
+ messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
+ exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_DATA_MSG | messageSize;
+ exMessage[messageSize + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], messageSize);
+
+ return item; // return the next item
+}
+
+
+void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t packetID)
+{
+ uint16_t crc16;
+
+ exBusMessage[EXBUS_HEADER_PACKET_ID] = packetID;
+ exBusMessage[EXBUS_HEADER_SUBLEN] = (exMessage[EXTEL_HEADER_TYPE_LEN] & EXTEL_UNMASK_TYPE) + 2; // +2: startbyte & CRC8
+ exBusMessage[EXBUS_HEADER_MSG_LEN] = EXBUS_OVERHEAD + exBusMessage[EXBUS_HEADER_SUBLEN];
+
+ crc16 = calcCRC16(exBusMessage, exBusMessage[EXBUS_HEADER_MSG_LEN] - EXBUS_CRC_LEN);
+ exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 2] = crc16;
+ exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 1] = crc16 >> 8;
+}
+
+
+void checkJetiExBusTelemetryState(void)
+{
+ return;
+}
+
+
+void handleJetiExBusTelemetry(void)
+{
+ static uint16_t framesLost = 0; // only for debug
+ uint32_t timeDiff;
+ // Check if we shall reset frame position due to time
+
+ if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
+
+ // to prevent timing issues from request to answer - max. 4ms
+ timeDiff = micros() - jetiTimeStampRequest;
+
+ if(timeDiff > 3000) { // include reserved time
+ jetiExBusRequestState = EXBUS_STATE_ZERO;
+ framesLost++;
+ return;
+ }
+
+ if((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (calcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
+ jetiExSensors[EX_VOLTAGE].value = vbat;
+ jetiExSensors[EX_CURRENT].value = amperage;
+ jetiExSensors[EX_ALTITUDE].value = BaroAlt;
+ jetiExSensors[EX_CAPACITY].value = mAhDrawn;
+ jetiExSensors[EX_FRAMES_LOST].value = framesLost;
+ jetiExSensors[EX_TIME_DIFF].value = timeDiff;
+
+ // switch to TX mode
+ if (uartTotalRxBytesWaiting(jetiExBusPort) == 0) {
+ serialSetMode(jetiExBusPort, MODE_TX);
+ jetiExBusTransceiveState = EXBUS_TRANS_TX;
+ sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID]);
+ jetiExBusRequestState = EXBUS_STATE_PROCESSED;
+ }
+ } else {
+ jetiExBusRequestState = EXBUS_STATE_ZERO;
+ return;
+ }
+ }
+
+ // check the state if transmit is ready
+ if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
+ if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
+ serialSetMode(jetiExBusPort, MODE_RX);
+ jetiExBusTransceiveState = EXBUS_TRANS_RX;
+ jetiExBusRequestState = EXBUS_STATE_ZERO;
+ }
+ }
+}
+
+
+void sendJetiExBusTelemetry(uint8_t packetID)
+{
+ static uint8_t sensorDescriptionCounter = 0;
+ static uint8_t sensorValueCounter = 1;
+ 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;
+
+ createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
+ createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
+
+ requestLoop = 0;
+ sensorDescriptionCounter++;
+ } else {
+ sensorValueCounter = createExTelemetrieValueMessage(jetiExTelemetryFrame, sensorValueCounter);
+ createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
+ }
+
+ for (uint8_t iCount = 0; iCount < jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]; iCount++) {
+ serialWrite(jetiExBusPort, jetiExBusTelemetryFrame[iCount]);
+ }
+ jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
+ requestLoop++;
+}
+
+#endif //TELEMETRY
diff --git a/src/main/rx/jetiexbus.h b/src/main/rx/jetiexbus.h
new file mode 100644
index 0000000000..a975e5c643
--- /dev/null
+++ b/src/main/rx/jetiexbus.h
@@ -0,0 +1,35 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#pragma once
+
+
+#include "rx/rx.h"
+
+bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
+uint8_t jetiExBusFrameStatus(void);
+
+
+#ifdef TELEMETRY
+
+#include "telemetry/telemetry.h"
+
+void initJetiExBusTelemetry(telemetryConfig_t *initialTelemetryConfig);
+void checkJetiExBusTelemetryState(void);
+void handleJetiExBusTelemetry(void);
+
+#endif //TELEMETRY
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index e2789f6d23..c4718f6685 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -50,6 +50,7 @@
#include "rx/msp.h"
#include "rx/xbus.h"
#include "rx/ibus.h"
+#include "rx/jetiexbus.h"
#include "rx/rx.h"
@@ -240,6 +241,10 @@ void serialRxInit(rxConfig_t *rxConfig)
rxRefreshRate = 20000; // TODO - Verify speed
enabled = ibusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
+ case SERIALRX_JETIEXBUS:
+ rxRefreshRate = 5500;
+ enabled = jetiExBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
+ break;
}
if (!enabled) {
@@ -274,6 +279,8 @@ uint8_t serialRxFrameStatus(rxConfig_t *rxConfig)
return xBusFrameStatus();
case SERIALRX_IBUS:
return ibusFrameStatus();
+ case SERIALRX_JETIEXBUS:
+ return jetiExBusFrameStatus();
}
return SERIAL_RX_FRAME_PENDING;
}
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 6ac43194c6..d960d10eee 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -52,7 +52,8 @@ typedef enum {
SERIALRX_XBUS_MODE_B = 5,
SERIALRX_XBUS_MODE_B_RJ01 = 6,
SERIALRX_IBUS = 7,
- SERIALRX_PROVIDER_MAX = SERIALRX_IBUS
+ SERIALRX_JETIEXBUS = 8,
+ SERIALRX_PROVIDER_MAX = SERIALRX_JETIEXBUS
} SerialRXType;
#define SERIALRX_PROVIDER_COUNT (SERIALRX_PROVIDER_MAX + 1)
diff --git a/src/main/telemetry/telemetry.c b/src/main/telemetry/telemetry.c
index 4ac2713900..4963d9df6e 100644
--- a/src/main/telemetry/telemetry.c
+++ b/src/main/telemetry/telemetry.c
@@ -40,6 +40,7 @@
#include "telemetry/hott.h"
#include "telemetry/smartport.h"
#include "telemetry/ltm.h"
+#include "rx/jetiexbus.h"
static telemetryConfig_t *telemetryConfig;
@@ -54,7 +55,8 @@ void telemetryInit(void)
initHoTTTelemetry(telemetryConfig);
initSmartPortTelemetry(telemetryConfig);
initLtmTelemetry(telemetryConfig);
-
+ initJetiExBusTelemetry(telemetryConfig);
+
telemetryCheckState();
}
@@ -78,6 +80,7 @@ void telemetryCheckState(void)
checkHoTTTelemetryState();
checkSmartPortTelemetryState();
checkLtmTelemetryState();
+ checkJetiExBusTelemetryState();
}
void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
@@ -86,6 +89,7 @@ void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
handleHoTTTelemetry();
handleSmartPortTelemetry();
handleLtmTelemetry();
+ handleJetiExBusTelemetry();
}
#endif