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https://github.com/betaflight/betaflight.git
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Merge pull request #10801 from daleckystepan/ghst
This commit is contained in:
J Blackman
GitHub
commit
ccbb2491b3
5 changed files with 203 additions and 106 deletions
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@ -52,7 +52,7 @@
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#define GHST_PORT_MODE MODE_RXTX // bidirectional on single pin
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#define GHST_MAX_FRAME_TIME_US 500 // 14 bytes @ 420k = ~450us
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#define GHST_TIME_BETWEEN_FRAMES_US 4500 // fastest frame rate = 222.22Hz, or 4500us
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#define GHST_TIME_BETWEEN_FRAMES_US 2000 // fastest frame rate = 500Hz, or 2000us
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#define GHST_RSSI_DBM_MIN (-117) // Long Range mode value
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#define GHST_RSSI_DBM_MAX (-60) // Typical RSSI with typical power levels, typical antennas, and a few feet/meters between Tx and Rx
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@ -65,14 +65,20 @@
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#define GHST_PAYLOAD_OFFSET offsetof(ghstFrameDef_t, type)
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#define GHST_RC_CTR_VAL_12BIT_PRIMARY 2048
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#define GHST_RC_CTR_VAL_12BIT_AUX (128 << 2)
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STATIC_UNIT_TESTED volatile bool ghstFrameAvailable = false;
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STATIC_UNIT_TESTED volatile bool ghstValidatedFrameAvailable = false;
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STATIC_UNIT_TESTED volatile bool ghstTransmittingTelemetry = false;
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STATIC_UNIT_TESTED ghstFrame_t ghstIncomingFrame; // incoming frame, raw, not CRC checked, destination address not checked
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STATIC_UNIT_TESTED ghstFrame_t ghstValidatedFrame; // validated frame, CRC is ok, destination address is ok, ready for decode
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STATIC_UNIT_TESTED ghstFrame_t ghstFrameBuffer[2];
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STATIC_UNIT_TESTED uint32_t ghstChannelData[GHST_MAX_NUM_CHANNELS];
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ghstFrame_t *ghstIncomingFrame = &ghstFrameBuffer[0]; // incoming frame, raw, not CRC checked, destination address not checked
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ghstFrame_t *ghstValidatedFrame = &ghstFrameBuffer[1]; // validated frame, CRC is ok, destination address is ok, ready for decode
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STATIC_UNIT_TESTED uint16_t ghstChannelData[GHST_MAX_NUM_CHANNELS];
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static ghstRfProtocol_e ghstRfProtocol = GHST_RF_PROTOCOL_UNDEFINED;
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enum {
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DEBUG_GHST_CRC_ERRORS = 0,
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@ -84,7 +90,7 @@ enum {
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static serialPort_t *serialPort;
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static timeUs_t ghstRxFrameStartAtUs = 0;
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static timeUs_t ghstRxFrameEndAtUs = 0;
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static uint8_t telemetryBuf[GHST_FRAME_SIZE_MAX];
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static uint8_t telemetryBuf[GHST_FRAME_SIZE];
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static uint8_t telemetryBufLen = 0;
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/* GHST Protocol
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@ -106,16 +112,12 @@ static uint8_t telemetryBufLen = 0;
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*
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*/
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#define GHST_FRAME_LENGTH_ADDRESS 1
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#define GHST_FRAME_LENGTH_FRAMELENGTH 1
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#define GHST_FRAME_LENGTH_TYPE_CRC 1
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// called from telemetry/ghst.c
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void ghstRxWriteTelemetryData(const void *data, int len)
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void ghstRxWriteTelemetryData(const void *const data, const int len)
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{
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len = MIN(len, (int)sizeof(telemetryBuf));
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memcpy(telemetryBuf, data, len);
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telemetryBufLen = len;
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telemetryBufLen = MIN(len, (int)sizeof(telemetryBuf));
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memcpy(telemetryBuf, data, telemetryBufLen);
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}
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void ghstRxSendTelemetryData(void)
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@ -127,16 +129,23 @@ void ghstRxSendTelemetryData(void)
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}
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}
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STATIC_UNIT_TESTED uint8_t ghstFrameCRC(ghstFrame_t *pGhstFrame)
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STATIC_UNIT_TESTED uint8_t ghstFrameCRC(const ghstFrame_t *const pGhstFrame)
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{
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// CRC includes type and payload
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uint8_t crc = crc8_dvb_s2(0, pGhstFrame->frame.type);
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for (int i = 0; i < pGhstFrame->frame.len - GHST_FRAME_LENGTH_TYPE_CRC - 1; ++i) {
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for (int i = 0; i < pGhstFrame->frame.len - GHST_FRAME_LENGTH_TYPE - GHST_FRAME_LENGTH_CRC; ++i) {
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crc = crc8_dvb_s2(crc, pGhstFrame->frame.payload[i]);
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}
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return crc;
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}
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static void rxSwapFrameBuffers()
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{
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ghstFrame_t *const tmp = ghstIncomingFrame;
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ghstIncomingFrame = ghstValidatedFrame;
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ghstValidatedFrame = tmp;
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}
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// Receive ISR callback, called back from serial port
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STATIC_UNIT_TESTED void ghstDataReceive(uint16_t c, void *data)
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{
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@ -157,28 +166,34 @@ STATIC_UNIT_TESTED void ghstDataReceive(uint16_t c, void *data)
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// assume frame is 5 bytes long until we have received the frame length
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// full frame length includes the length of the address and framelength fields
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const int fullFrameLength = ghstFrameIdx < 3 ? 5 : ghstIncomingFrame.frame.len + GHST_FRAME_LENGTH_ADDRESS + GHST_FRAME_LENGTH_FRAMELENGTH;
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const int fullFrameLength = ghstFrameIdx < 3 ? 5 : ghstIncomingFrame->frame.len + GHST_FRAME_LENGTH_ADDRESS + GHST_FRAME_LENGTH_FRAMELENGTH;
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if (ghstFrameIdx < fullFrameLength) {
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ghstIncomingFrame.bytes[ghstFrameIdx++] = (uint8_t)c;
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if (ghstFrameIdx < fullFrameLength && ghstFrameIdx < sizeof(ghstFrame_t)) {
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ghstIncomingFrame->bytes[ghstFrameIdx++] = (uint8_t)c;
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if (ghstFrameIdx >= fullFrameLength) {
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ghstFrameIdx = 0;
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// NOTE: this data is not yet CRC checked, nor do we know whether we are the correct recipient, this is
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// handled in ghstFrameStatus
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memcpy(&ghstValidatedFrame, &ghstIncomingFrame, sizeof(ghstIncomingFrame));
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// Not CRC checked but we are interested just in frame for us
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// eg. telemetry frames are read back here also, skip them
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if (ghstIncomingFrame->frame.addr == GHST_ADDR_FC) {
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rxSwapFrameBuffers();
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ghstFrameAvailable = true;
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// remember what time the incoming (Rx) packet ended, so that we can ensure a quite bus before sending telemetry
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ghstRxFrameEndAtUs = microsISR();
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}
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}
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}
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}
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static bool shouldSendTelemetryFrame(void)
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{
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const timeUs_t now = micros();
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const timeUs_t timeSinceRxFrameEndUs = cmpTimeUs(now, ghstRxFrameEndAtUs);
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const timeDelta_t timeSinceRxFrameEndUs = cmpTimeUs(now, ghstRxFrameEndAtUs);
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return telemetryBufLen > 0 && timeSinceRxFrameEndUs > GHST_RX_TO_TELEMETRY_MIN_US && timeSinceRxFrameEndUs < GHST_RX_TO_TELEMETRY_MAX_US;
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}
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@ -186,29 +201,25 @@ STATIC_UNIT_TESTED uint8_t ghstFrameStatus(rxRuntimeState_t *rxRuntimeState)
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{
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UNUSED(rxRuntimeState);
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static int16_t crcErrorCount = 0;
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uint8_t status = RX_FRAME_PENDING;
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if (ghstFrameAvailable) {
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ghstFrameAvailable = false;
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const uint8_t crc = ghstFrameCRC(&ghstValidatedFrame);
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const int fullFrameLength = ghstValidatedFrame.frame.len + GHST_FRAME_LENGTH_ADDRESS + GHST_FRAME_LENGTH_FRAMELENGTH;
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if (crc == ghstValidatedFrame.bytes[fullFrameLength - 1] && ghstValidatedFrame.frame.addr == GHST_ADDR_FC) {
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const uint8_t crc = ghstFrameCRC(ghstValidatedFrame);
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const int fullFrameLength = ghstValidatedFrame->frame.len + GHST_FRAME_LENGTH_ADDRESS + GHST_FRAME_LENGTH_FRAMELENGTH;
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if (crc == ghstValidatedFrame->bytes[fullFrameLength - 1]) {
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ghstValidatedFrameAvailable = true;
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return RX_FRAME_COMPLETE | RX_FRAME_PROCESSING_REQUIRED; // request callback through ghstProcessFrame to do the decoding work
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}
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if (crc != ghstValidatedFrame.bytes[fullFrameLength - 1]) {
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status = RX_FRAME_COMPLETE | RX_FRAME_PROCESSING_REQUIRED; // request callback through ghstProcessFrame to do the decoding work
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} else {
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DEBUG_SET(DEBUG_GHST, DEBUG_GHST_CRC_ERRORS, ++crcErrorCount);
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status = RX_FRAME_DROPPED; // frame was invalid
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}
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} else if (checkGhstTelemetryState() && shouldSendTelemetryFrame()) {
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status = RX_FRAME_PROCESSING_REQUIRED;
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}
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return RX_FRAME_DROPPED; // frame was invalid
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}
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if (shouldSendTelemetryFrame()) {
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return RX_FRAME_PROCESSING_REQUIRED;
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}
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return RX_FRAME_PENDING;
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return status;
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}
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static bool ghstProcessFrame(const rxRuntimeState_t *rxRuntimeState)
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@ -217,38 +228,44 @@ static bool ghstProcessFrame(const rxRuntimeState_t *rxRuntimeState)
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// is correct, and the message was actually for us.
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UNUSED(rxRuntimeState);
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static int16_t unknownFrameCount = 0;
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// do we have a telemetry buffer to send?
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if (shouldSendTelemetryFrame()) {
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if (checkGhstTelemetryState() && shouldSendTelemetryFrame()) {
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ghstTransmittingTelemetry = true;
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ghstRxSendTelemetryData();
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}
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if (ghstValidatedFrameAvailable) {
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ghstValidatedFrameAvailable = false;
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const uint8_t ghstFrameType = ghstValidatedFrame->frame.type;
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const bool scalingLegacy = ghstFrameType >= GHST_UL_RC_CHANS_HS4_FIRST && ghstFrameType <= GHST_UL_RC_CHANS_HS4_LAST;
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const bool scaling12bit = ghstFrameType >= GHST_UL_RC_CHANS_HS4_12_FIRST && ghstFrameType <= GHST_UL_RC_CHANS_HS4_12_LAST;
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if ( scaling12bit || scalingLegacy ) {
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int startIdx = 0;
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if (ghstValidatedFrame.frame.type >= GHST_UL_RC_CHANS_HS4_FIRST &&
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ghstValidatedFrame.frame.type <= GHST_UL_RC_CHANS_HS4_LAST) {
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const ghstPayloadPulses_t* const rcChannels = (ghstPayloadPulses_t*)&ghstValidatedFrame.frame.payload;
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// all uplink frames contain CH1..4 data (12 bit)
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ghstChannelData[0] = rcChannels->ch1to4.ch1 >> 1;
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ghstChannelData[1] = rcChannels->ch1to4.ch2 >> 1;
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ghstChannelData[2] = rcChannels->ch1to4.ch3 >> 1;
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ghstChannelData[3] = rcChannels->ch1to4.ch4 >> 1;
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switch(ghstValidatedFrame.frame.type) {
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case GHST_UL_RC_CHANS_HS4_RSSI: {
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const ghstPayloadPulsesRssi_t* const rssiFrame = (ghstPayloadPulsesRssi_t*)&ghstValidatedFrame.frame.payload;
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switch (ghstFrameType) {
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case GHST_UL_RC_CHANS_HS4_RSSI:
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case GHST_UL_RC_CHANS_HS4_12_RSSI: {
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const ghstPayloadPulsesRssi_t* const rssiFrame = (ghstPayloadPulsesRssi_t*)&ghstValidatedFrame->frame.payload;
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DEBUG_SET(DEBUG_GHST, DEBUG_GHST_RX_RSSI, -rssiFrame->rssi);
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DEBUG_SET(DEBUG_GHST, DEBUG_GHST_RX_LQ, rssiFrame->lq);
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ghstRfProtocol = rssiFrame->rfProtocol;
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// Enable telemetry just for modes that support it
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setGhstTelemetryState(ghstRfProtocol == GHST_RF_PROTOCOL_NORMAL
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|| ghstRfProtocol == GHST_RF_PROTOCOL_RACE
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|| ghstRfProtocol == GHST_RF_PROTOCOL_LONGRANGE
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|| ghstRfProtocol == GHST_RF_PROTOCOL_RACE250);
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if (rssiSource == RSSI_SOURCE_RX_PROTOCOL) {
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// rssi sent sign-inverted
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const uint16_t rssiPercentScaled = scaleRange(-rssiFrame->rssi, GHST_RSSI_DBM_MIN, 0, GHST_RSSI_DBM_MAX, RSSI_MAX_VALUE);
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uint16_t rssiPercentScaled = scaleRange(-rssiFrame->rssi, GHST_RSSI_DBM_MIN, GHST_RSSI_DBM_MAX, 0, RSSI_MAX_VALUE);
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rssiPercentScaled = MIN(rssiPercentScaled, RSSI_MAX_VALUE);
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setRssi(rssiPercentScaled, RSSI_SOURCE_RX_PROTOCOL);
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}
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@ -264,22 +281,55 @@ static bool ghstProcessFrame(const rxRuntimeState_t *rxRuntimeState)
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break;
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}
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case GHST_UL_RC_CHANS_HS4_5TO8: startIdx = 4; break;
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case GHST_UL_RC_CHANS_HS4_9TO12: startIdx = 8; break;
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case GHST_UL_RC_CHANS_HS4_13TO16: startIdx = 12; break;
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case GHST_UL_RC_CHANS_HS4_5TO8:
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case GHST_UL_RC_CHANS_HS4_12_5TO8:
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startIdx = 4;
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break;
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case GHST_UL_RC_CHANS_HS4_9TO12:
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case GHST_UL_RC_CHANS_HS4_12_9TO12:
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startIdx = 8;
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break;
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case GHST_UL_RC_CHANS_HS4_13TO16:
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case GHST_UL_RC_CHANS_HS4_12_13TO16:
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startIdx = 12;
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break;
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default:
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DEBUG_SET(DEBUG_GHST, DEBUG_GHST_UNKNOWN_FRAMES, ++unknownFrameCount);
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break;
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}
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if (startIdx > 0)
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{
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// remainder of uplink frame contains 4 more channels (8 bit), sent in a round-robin fashion
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// We need to wait for the first RSSI frame to know ghstRfProtocol
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if (ghstRfProtocol != GHST_RF_PROTOCOL_UNDEFINED) {
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const ghstPayloadPulses_t* const rcChannels = (ghstPayloadPulses_t*)&ghstValidatedFrame->frame.payload;
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// all uplink frames contain CH1..4 data (12 bit)
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ghstChannelData[0] = rcChannels->ch1to4.ch1;
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ghstChannelData[1] = rcChannels->ch1to4.ch2;
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ghstChannelData[2] = rcChannels->ch1to4.ch3;
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ghstChannelData[3] = rcChannels->ch1to4.ch4;
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if (startIdx > 0) {
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// remainder of uplink frame contains 4 more channels (8 bit), sent in a round-robin fashion
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ghstChannelData[startIdx++] = rcChannels->cha << 2;
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ghstChannelData[startIdx++] = rcChannels->chb << 2;
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ghstChannelData[startIdx++] = rcChannels->chc << 2;
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ghstChannelData[startIdx++] = rcChannels->chd << 2;
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}
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// Recalculate old scaling to the new one
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if (scalingLegacy) {
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for (int i = 0; i < 4; i++) {
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ghstChannelData[i] = ((5 * ghstChannelData[i]) >> 2) - 430; // Primary
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if (startIdx > 4) {
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--startIdx;
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ghstChannelData[startIdx] = 5 * (ghstChannelData[startIdx] >> 2) - 108; // Aux
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}
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}
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}
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ghstChannelData[startIdx++] = rcChannels->cha << 3;
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ghstChannelData[startIdx++] = rcChannels->chb << 3;
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ghstChannelData[startIdx++] = rcChannels->chc << 3;
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ghstChannelData[startIdx++] = rcChannels->chd << 3;
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}
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}
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}
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@ -291,16 +341,30 @@ STATIC_UNIT_TESTED float ghstReadRawRC(const rxRuntimeState_t *rxRuntimeState, u
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{
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UNUSED(rxRuntimeState);
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// derived from original SBus scaling, with slight correction for offset (now symmetrical
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// around OpenTx 0 value)
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// scaling is:
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// OpenTx RC PWM
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// min -1024 172 988us
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// ctr 0 992 1500us
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// max 1024 1811 2012us
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// Scaling 12bit channels (8bit channels in brackets)
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// OpenTx RC PWM (BF)
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// min -1024 0( 0) 988us
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// ctr 0 2048(128) 1500us
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// max 1024 4096(256) 2012us
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//
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return (5 * ((float)ghstChannelData[chan] + 1) / 8) + 880;
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// Scaling legacy (nearly 10bit)
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// derived from original SBus scaling, with slight correction for offset
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// now symmetrical around OpenTx 0 value
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// scaling is:
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// OpenTx RC PWM (BF)
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// min -1024 172( 22) 988us
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// ctr 0 992(124) 1500us
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// max 1024 1811(226) 2012us
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//
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float pwm = ghstChannelData[chan];
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if (chan < 4) {
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pwm = 0.25f * pwm;
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}
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return pwm + 988;
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}
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// UART idle detected (inter-packet)
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@ -313,16 +377,20 @@ static void ghstIdle()
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bool ghstRxInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
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{
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for (int iChan = 0; iChan < GHST_MAX_NUM_CHANNELS; ++iChan) {
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ghstChannelData[iChan] = (16 * rxConfig->midrc) / 10 - 1408;
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}
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rxRuntimeState->channelCount = GHST_MAX_NUM_CHANNELS;
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rxRuntimeState->rcReadRawFn = ghstReadRawRC;
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rxRuntimeState->rcFrameStatusFn = ghstFrameStatus;
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rxRuntimeState->rcFrameTimeUsFn = rxFrameTimeUs;
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rxRuntimeState->rcProcessFrameFn = ghstProcessFrame;
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for (int iChan = 0; iChan < rxRuntimeState->channelCount; ++iChan) {
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if (iChan < 4 ) {
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ghstChannelData[iChan] = GHST_RC_CTR_VAL_12BIT_PRIMARY;
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} else {
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ghstChannelData[iChan] = GHST_RC_CTR_VAL_12BIT_AUX;
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}
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}
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const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
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if (!portConfig) {
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return false;
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@ -24,10 +24,11 @@
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#define GHST_MAX_NUM_CHANNELS 16
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void ghstRxWriteTelemetryData(const void *data, int len);
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void ghstRxSendTelemetryData(void);
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struct rxConfig_s;
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struct rxRuntimeState_s;
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void ghstRxWriteTelemetryData(const void *const data, const int len);
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void ghstRxSendTelemetryData(void);
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bool ghstRxInit(const struct rxConfig_s *initialRxConfig, struct rxRuntimeState_s *rxRuntimeState);
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bool ghstRxIsActive(void);
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@ -45,18 +45,25 @@ typedef enum {
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} ghstAddr_e;
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typedef enum {
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// frame types 0x10 - 0x1f always include 4 primary channels, plus either 4 aux channels,
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// or other type-specific data. Expect types 0x14-0x1f to be added in the future, and even though
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// frame types 0x10 - 0x1f always include 10bit 4 primary channels, plus either 4 aux channels,
|
||||
// frame types 0x30 - 0x3f always include 12bit 4 primary channels, plus either 4 aux channels,
|
||||
// or other type-specific data. Expect types 0x14-0x1f (0x34 - 0x3f) to be added in the future, and even though
|
||||
// not explicitly supported, the 4 primary channels should always be extracted.
|
||||
GHST_UL_RC_CHANS_HS4_FIRST = 0x10, // First frame type including 4 primary channels
|
||||
GHST_UL_RC_CHANS_HS4_5TO8 = 0x10, // primary 4 channel, plus CH5-8
|
||||
GHST_UL_RC_CHANS_HS4_9TO12 = 0x11, // primary 4 channel, plus CH9-12
|
||||
GHST_UL_RC_CHANS_HS4_13TO16 = 0x12, // primary 4 channel, plus CH13-16
|
||||
GHST_UL_RC_CHANS_HS4_RSSI = 0x13, // primary 4 channel, plus RSSI, LQ, RF Mode, and Tx Power
|
||||
GHST_UL_RC_CHANS_HS4_LAST = 0x1f // Last frame type including 4 primary channels
|
||||
} ghstUl_e;
|
||||
GHST_UL_RC_CHANS_HS4_FIRST = 0x10, // 10 bit first frame
|
||||
GHST_UL_RC_CHANS_HS4_5TO8 = 0x10, // 10 bit primary 4 channel, plus CH5-8
|
||||
GHST_UL_RC_CHANS_HS4_9TO12 = 0x11, // 10 bit primary 4 channel, plus CH9-12
|
||||
GHST_UL_RC_CHANS_HS4_13TO16 = 0x12, // 10 bit primary 4 channel, plus CH13-16
|
||||
GHST_UL_RC_CHANS_HS4_RSSI = 0x13, // 10 bit primary 4 channel, plus RSSI, LQ, RF Mode, and Tx Power
|
||||
GHST_UL_RC_CHANS_HS4_LAST = 0x1f, // 10 bit last frame type
|
||||
|
||||
#define GHST_UL_RC_CHANS_SIZE 12 // 1 (type) + 10 (data) + 1 (crc)
|
||||
GHST_UL_RC_CHANS_HS4_12_FIRST = 0x30, // 12 bit first frame
|
||||
GHST_UL_RC_CHANS_HS4_12_5TO8 = 0x30, // 12 bit primary 4 channel, plus CH5-8
|
||||
GHST_UL_RC_CHANS_HS4_12_9TO12 = 0x31, // 12 bit primary 4 channel, plus CH9-12
|
||||
GHST_UL_RC_CHANS_HS4_12_13TO16 = 0x32, // 12 bit primary 4 channel, plus CH13-16
|
||||
GHST_UL_RC_CHANS_HS4_12_RSSI = 0x33, // 12 bit primary 4 channel, plus RSSI, LQ, RF Mode, and Tx Power
|
||||
GHST_UL_RC_CHANS_HS4_12_LAST = 0x3f, // 12 bit last frame type
|
||||
|
||||
} ghstUl_e;
|
||||
|
||||
typedef enum {
|
||||
GHST_DL_OPENTX_SYNC = 0x20,
|
||||
|
|
@ -68,14 +75,28 @@ typedef enum {
|
|||
GHST_DL_MAGBARO = 0x27
|
||||
} ghstDl_e;
|
||||
|
||||
typedef enum {
|
||||
GHST_RF_PROTOCOL_UNDEFINED = 0x00,
|
||||
GHST_RF_PROTOCOL_NORMAL = 0x05,
|
||||
GHST_RF_PROTOCOL_RACE = 0x06,
|
||||
GHST_RF_PROTOCOL_PURERACE = 0x07,
|
||||
GHST_RF_PROTOCOL_LONGRANGE = 0x08,
|
||||
GHST_RF_PROTOCOL_RACE250 = 0x0A, // 10
|
||||
GHST_RF_PROTOCOL_RACE500 = 0x0B, // 11
|
||||
GHST_RF_PROTOCOL_SOLID150 = 0x0C, // 12
|
||||
GHST_RF_PROTOCOL_SOLID250 = 0x0D // 13
|
||||
} ghstRfProtocol_e;
|
||||
|
||||
#define GHST_RC_CTR_VAL_12BIT 0x7C0 // servo center for 12 bit values (0x3e0 << 1)
|
||||
#define GHST_RC_CTR_VAL_8BIT 0x7C // servo center for 8 bit values
|
||||
|
||||
#define GHST_FRAME_SIZE 14 // including addr, type, len, crc, and payload
|
||||
#define GHST_PAYLOAD_SIZE 10 // just payload size
|
||||
|
||||
#define GHST_PAYLOAD_SIZE_MAX 14
|
||||
|
||||
#define GHST_FRAME_SIZE_MAX 24
|
||||
#define GHST_FRAME_LENGTH_ADDRESS 1
|
||||
#define GHST_FRAME_LENGTH_FRAMELENGTH 1
|
||||
#define GHST_FRAME_LENGTH_TYPE 1
|
||||
#define GHST_FRAME_LENGTH_CRC 1
|
||||
|
||||
#define GPS_FLAGS_FIX 0x01
|
||||
#define GPS_FLAGS_FIX_HOME 0x02
|
||||
|
|
@ -86,10 +107,10 @@ typedef enum {
|
|||
|
||||
typedef struct ghstFrameDef_s {
|
||||
uint8_t addr;
|
||||
uint8_t len;
|
||||
uint8_t len; // len = sizeof(type) + sizeof(payload) + sizeof(crc)
|
||||
uint8_t type;
|
||||
uint8_t payload[GHST_PAYLOAD_SIZE_MAX + 1]; // CRC adds 1
|
||||
} ghstFrameDef_t;
|
||||
uint8_t payload[GHST_PAYLOAD_SIZE + GHST_FRAME_LENGTH_CRC];
|
||||
} __attribute__ ((__packed__)) ghstFrameDef_t;
|
||||
|
||||
typedef union ghstFrame_u {
|
||||
uint8_t bytes[GHST_FRAME_SIZE];
|
||||
|
|
|
|||
|
|
@ -68,11 +68,12 @@
|
|||
#define GHST_CYCLETIME_US 100000 // 10x/sec
|
||||
#define GHST_FRAME_PACK_PAYLOAD_SIZE 10
|
||||
#define GHST_FRAME_GPS_PAYLOAD_SIZE 10
|
||||
#define GHST_FRAME_MAGBARO_PAYLOAD_SIZE 10
|
||||
#define GHST_FRAME_LENGTH_CRC 1
|
||||
#define GHST_FRAME_LENGTH_TYPE 1
|
||||
|
||||
static bool ghstTelemetryEnabled;
|
||||
static uint8_t ghstFrame[GHST_FRAME_SIZE_MAX];
|
||||
static uint8_t ghstFrame[GHST_FRAME_SIZE];
|
||||
|
||||
static void ghstInitializeFrame(sbuf_t *dst)
|
||||
{
|
||||
|
|
@ -95,7 +96,7 @@ void ghstFramePackTelemetry(sbuf_t *dst)
|
|||
{
|
||||
// use sbufWrite since CRC does not include frame length
|
||||
sbufWriteU8(dst, GHST_FRAME_PACK_PAYLOAD_SIZE + GHST_FRAME_LENGTH_CRC + GHST_FRAME_LENGTH_TYPE);
|
||||
sbufWriteU8(dst, 0x23); // GHST_DL_PACK_STAT
|
||||
sbufWriteU8(dst, GHST_DL_PACK_STAT);
|
||||
|
||||
if (telemetryConfig()->report_cell_voltage) {
|
||||
sbufWriteU16(dst, getBatteryAverageCellVoltage()); // units of 10mV
|
||||
|
|
@ -143,7 +144,7 @@ void ghstFrameGpsSecondaryTelemetry(sbuf_t *dst)
|
|||
sbufWriteU16(dst, gpsSol.groundCourse); // degrees * 10
|
||||
sbufWriteU8(dst, gpsSol.numSat);
|
||||
|
||||
sbufWriteU16(dst, (uint16_t) (GPS_distanceToHome / 10)); // use units of 10m to increase range of U16 to 655.36km
|
||||
sbufWriteU16(dst, GPS_distanceToHome / 10); // use units of 10m to increase range of U16 to 655.36km
|
||||
sbufWriteU16(dst, GPS_directionToHome / 10);
|
||||
|
||||
uint8_t gpsFlags = 0;
|
||||
|
|
@ -186,7 +187,7 @@ void ghstFrameMagBaro(sbuf_t *dst)
|
|||
#endif
|
||||
|
||||
// use sbufWrite since CRC does not include frame length
|
||||
sbufWriteU8(dst, GHST_FRAME_GPS_PAYLOAD_SIZE + GHST_FRAME_LENGTH_CRC + GHST_FRAME_LENGTH_TYPE);
|
||||
sbufWriteU8(dst, GHST_FRAME_MAGBARO_PAYLOAD_SIZE + GHST_FRAME_LENGTH_CRC + GHST_FRAME_LENGTH_TYPE);
|
||||
sbufWriteU8(dst, GHST_DL_MAGBARO);
|
||||
|
||||
sbufWriteU16(dst, yaw); // magHeading, deci-degrees
|
||||
|
|
@ -252,13 +253,14 @@ static void processGhst(void)
|
|||
|
||||
void initGhstTelemetry(void)
|
||||
{
|
||||
// If the GHST Rx driver is active, since tx and rx share the same pin, assume telemetry is enabled.
|
||||
ghstTelemetryEnabled = ghstRxIsActive();
|
||||
|
||||
if (!ghstTelemetryEnabled) {
|
||||
// If the GHST Rx driver is active, since tx and rx share the same pin, assume telemetry
|
||||
// can be initialized but not enabled yet.
|
||||
if (!ghstRxIsActive()) {
|
||||
return;
|
||||
}
|
||||
|
||||
ghstTelemetryEnabled = false;
|
||||
|
||||
int index = 0;
|
||||
if ((isBatteryVoltageConfigured() && telemetryIsSensorEnabled(SENSOR_VOLTAGE))
|
||||
|| (isAmperageConfigured() && telemetryIsSensorEnabled(SENSOR_CURRENT | SENSOR_FUEL))) {
|
||||
|
|
@ -285,9 +287,14 @@ void initGhstTelemetry(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
ghstScheduleCount = (uint8_t)index;
|
||||
ghstScheduleCount = index;
|
||||
}
|
||||
|
||||
void setGhstTelemetryState(bool state)
|
||||
{
|
||||
ghstTelemetryEnabled = state;
|
||||
}
|
||||
|
||||
bool checkGhstTelemetryState(void)
|
||||
{
|
||||
return ghstTelemetryEnabled;
|
||||
|
|
@ -296,7 +303,7 @@ bool checkGhstTelemetryState(void)
|
|||
// Called periodically by the scheduler
|
||||
void handleGhstTelemetry(timeUs_t currentTimeUs)
|
||||
{
|
||||
static uint32_t ghstLastCycleTime;
|
||||
static timeUs_t ghstLastCycleTime;
|
||||
|
||||
if (!ghstTelemetryEnabled) {
|
||||
return;
|
||||
|
|
|
|||
|
|
@ -29,5 +29,5 @@
|
|||
|
||||
void initGhstTelemetry(void);
|
||||
bool checkGhstTelemetryState(void);
|
||||
void setGhstTelemetryState(bool state);
|
||||
void handleGhstTelemetry(timeUs_t currentTimeUs);
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue