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https://github.com/betaflight/betaflight.git
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Merge remote-tracking branch 'refs/remotes/origin/jeti-ex-telemetry'
This commit is contained in:
Thomas Miric
commit
befe77f143
1 changed files with 100 additions and 100 deletions
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@ -94,12 +94,12 @@ enum exDataType_e {
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};
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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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[EX_TYPE_DT] = 3,
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[EX_TYPE_30b] = 4,
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[EX_TYPE_GPS] = 4
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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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[EX_TYPE_DT] = 3,
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[EX_TYPE_30b] = 4,
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[EX_TYPE_GPS] = 4
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};
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typedef struct exBusSensor_s{
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@ -116,38 +116,38 @@ typedef struct exBusSensor_s{
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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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{ "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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{ "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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@ -177,8 +177,8 @@ uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
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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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crc ^= pt[mlen];
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crc = crc ^ (crc << 1) ^ (crc << 2) ^ (0x0e090700 >> ((crc >> 3) & 0x18));
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}
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return(crc);
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}
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@ -211,22 +211,22 @@ void initJetiExBusTelemetry(void)
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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_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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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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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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@ -300,24 +300,24 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t item)
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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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*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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*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[sensorItem].decimals;
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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[sensorItem].decimals;
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item++;
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if (item > activeSensors)
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break;
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item++;
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if (item > activeSensors)
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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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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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messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
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@ -356,37 +356,37 @@ void handleJetiExBusTelemetry(void)
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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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// 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 (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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serialSetMode(jetiExBusPort, MODE_TX);
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jetiExBusTransceiveState = EXBUS_TRANS_TX;
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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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return;
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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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serialSetMode(jetiExBusPort, MODE_TX);
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jetiExBusTransceiveState = EXBUS_TRANS_TX;
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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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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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serialSetMode(jetiExBusPort, MODE_RX);
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jetiExBusTransceiveState = EXBUS_TRANS_RX;
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jetiExBusRequestState = EXBUS_STATE_ZERO;
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}
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if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
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serialSetMode(jetiExBusPort, MODE_RX);
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jetiExBusTransceiveState = EXBUS_TRANS_RX;
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jetiExBusRequestState = EXBUS_STATE_ZERO;
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}
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}
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}
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@ -399,28 +399,27 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
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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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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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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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createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
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createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
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requestLoop++;
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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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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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@ -428,3 +427,4 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
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#endif // TELEMETRY
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#endif // SERIAL_RX
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