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correction and formating updated
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8a1fd399bf
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1 changed files with 48 additions and 55 deletions
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@ -93,7 +93,7 @@ enum exDataType_e {
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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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const uint8_t exDataTypeLen[] = {
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[EX_TYPE_6b] = 1,
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[EX_TYPE_14b] = 2,
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[EX_TYPE_22b] = 3,
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@ -102,7 +102,7 @@ const uint8_t exDataTypeLen[]={
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[EX_TYPE_GPS] = 4
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};
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typedef struct exBusSensor_s{
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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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const uint8_t exDataType;
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@ -125,7 +125,7 @@ exBusSensor_t jetiExSensors[] = {
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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", "\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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@ -175,7 +175,7 @@ static uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item);
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uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
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{
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uint8_t crc=0;
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for (uint8_t mlen = 0; mlen < msgLen; mlen++) {
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crc ^= pt[mlen];
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crc = crc ^ (crc << 1) ^ (crc << 2) ^ (0x0e090700 >> ((crc >> 3) & 0x18));
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@ -194,8 +194,8 @@ void initJetiExBusTelemetry(void)
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jetiExBusTelemetryFrame[EXBUS_HEADER_SYNC] = 0x3B; // Startbytes
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jetiExBusTelemetryFrame[EXBUS_HEADER_REQ] = 0x01;
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jetiExBusTelemetryFrame[EXBUS_HEADER_DATA_ID] = 0x3A; // Ex Telemetry
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// Init Ex Telemetry header
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uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
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jetiExTelemetryFrame[EXTEL_HEADER_SYNC] = 0x9F; // Startbyte
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@ -204,24 +204,23 @@ 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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jetiExSensors[EX_CAPACITY].parameter = EX_TYPE_SENSOR_ENABLED;
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}
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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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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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@ -235,54 +234,53 @@ void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const
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{
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uint8_t labelLength = strlen(sensor->label);
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uint8_t unitLength = strlen(sensor->unit);
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exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_OVERHEAD + labelLength + unitLength;
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exMessage[EXTEL_HEADER_LSN_LB] = messageID & 0xF0; // Device ID
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exMessage[EXTEL_HEADER_ID] = messageID & 0x0F; // Sensor ID (%16)
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exMessage[EXTEL_HEADER_DATA] = (labelLength << 3) + unitLength;
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memcpy(&exMessage[EXTEL_HEADER_DATA + 1], sensor->label, labelLength);
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memcpy(&exMessage[EXTEL_HEADER_DATA + 1 + labelLength], sensor->unit, unitLength);
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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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int32_t getSensorValue(uint8_t sensor){
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switch(sensor)
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{
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int32_t getSensorValue(uint8_t sensor) {
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switch(sensor) {
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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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@ -294,14 +292,14 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t item)
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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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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 (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 = getSensorValue(sensorItem);
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iCount = exDataTypeLen[jetiExSensors[sensorItem].exDataType];
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while (iCount > 1) {
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@ -310,20 +308,19 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t item)
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iCount--;
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}
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*p++ = (sensorValue & 0x9F) | jetiExSensors[sensorItem].decimals;
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item++;
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if (item > activeSensors)
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break;
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if (item > activeSensors) break;
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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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if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[sensorItem].exDataType]) + 1) break;
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}
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messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
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exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_DATA_MSG | messageSize;
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exMessage[messageSize + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], messageSize);
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return item; // return the next item
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}
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@ -331,11 +328,11 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t item)
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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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exBusMessage[EXBUS_HEADER_PACKET_ID] = packetID;
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exBusMessage[EXBUS_HEADER_SUBLEN] = (exMessage[EXTEL_HEADER_TYPE_LEN] & EXTEL_UNMASK_TYPE) + 2; // +2: startbyte & CRC8
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exBusMessage[EXBUS_HEADER_MSG_LEN] = EXBUS_OVERHEAD + exBusMessage[EXBUS_HEADER_SUBLEN];
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crc16 = jetiExBusCalcCRC16(exBusMessage, exBusMessage[EXBUS_HEADER_MSG_LEN] - EXBUS_CRC_LEN);
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exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 2] = crc16;
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exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 1] = crc16 >> 8;
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@ -353,18 +350,18 @@ void handleJetiExBusTelemetry(void)
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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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if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
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// to prevent timing issues from request to answer - max. 4ms
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timeDiff = micros() - jetiTimeStampRequest;
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if (timeDiff > 3000) { // include reserved time
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jetiExBusRequestState = EXBUS_STATE_ZERO;
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framesLost++;
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return;
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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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// switch to TX mode
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if (serialRxBytesWaiting(jetiExBusPort) == 0) {
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return;
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}
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}
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// check the state if transmit is ready
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if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
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if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
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@ -397,9 +394,9 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
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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 < 0xFF) {
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while(1){
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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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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++;
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} else {
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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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serialWriteBuf(jetiExBusPort, jetiExBusTelemetryFrame, jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]);
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jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
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return item;
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}
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#endif // TELEMETRY
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#endif // SERIAL_RX
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