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Code Issues Wiki Activity

Couple fixes

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This commit is contained in:
Michel Pastor 2019-02-02 13:15:27 +01:00
parent 286171674f
commit d63ef61c0f
13 changed files with 150 additions and 115 deletions
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44
src/main/blackbox/blackbox.c
View file

@ -353,19 +353,19 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
{"wind", 0, SIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"wind", 1, SIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"wind", 2, SIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"MPU temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"IMUTemperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
#ifdef USE_BARO
{"baro temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"baroTemperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
#endif
#ifdef USE_TEMPERATURE_SENSOR
{"temp0 temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"temp1 temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"temp2 temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"temp3 temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"temp4 temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"temp5 temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"temp6 temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"temp7 temperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"sens0Temp", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"sens1Temp", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"sens2Temp", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"sens3Temp", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"sens4Temp", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"sens5Temp", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"sens6Temp", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"sens7Temp", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
#endif
};
@ -465,9 +465,13 @@ typedef struct blackboxSlowState_s {
uint16_t powerSupplyImpedance;
uint16_t sagCompensatedVBat;
int16_t wind[XYZ_AXIS_COUNT];
int16_t mpuTemperature;
int16_t imuTemperature;
#ifdef USE_BARO
int16_t baroTemperature;
#endif
#ifdef USE_TEMPERATURE_SENSOR
int16_t tempSensorTemperature[MAX_TEMP_SENSORS];
#endif
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
//From rc_controls.c
@ -1055,10 +1059,15 @@ static void writeSlowFrame(void)
blackboxWriteSigned16VBArray(slowHistory.wind, XYZ_AXIS_COUNT);
blackboxWriteSignedVB(slowHistory.mpuTemperature);
blackboxWriteSignedVB(slowHistory.baroTemperature);
blackboxWriteSignedVB(slowHistory.imuTemperature);
#ifdef USE_BARO
blackboxWriteSignedVB(slowHistory.baroTemperature);
#endif
#ifdef USE_TEMPERATURE_SENSOR
blackboxWriteSigned16VBArray(slowHistory.tempSensorTemperature, MAX_TEMP_SENSORS);
#endif
blackboxSlowFrameIterationTimer = 0;
}
@ -1093,15 +1102,20 @@ static void loadSlowState(blackboxSlowState_t *slow)
}
bool valid_temp;
valid_temp = getMPUTemperature(&slow->mpuTemperature);
if (!valid_temp) slow->mpuTemperature = 0xFFFF;
valid_temp = getIMUTemperature(&slow->imuTemperature);
if (!valid_temp) slow->imuTemperature = 0xFFFF;
#ifdef USE_BARO
valid_temp = getBaroTemperature(&slow->baroTemperature);
if (!valid_temp) slow->baroTemperature = 0xFFFF;
#endif
#ifdef USE_TEMPERATURE_SENSOR
for (uint8_t index; index < MAX_TEMP_SENSORS; ++index) {
valid_temp = getSensorTemperature(index, slow->tempSensorTemperature + index);
if (!valid_temp) slow->tempSensorTemperature[index] = 0xFFFF;
}
#endif
}

2
src/main/cms/cms_menu_osd.c
View file

@ -245,7 +245,7 @@ static const OSD_Entry menuOsdElemsEntries[] =
OSD_ELEMENT_ENTRY("WIND HOR", OSD_WIND_SPEED_HORIZONTAL),
OSD_ELEMENT_ENTRY("WIND VERT", OSD_WIND_SPEED_VERTICAL),
OSD_ELEMENT_ENTRY("MPU TEMP", OSD_MPU_TEMPERATURE),
OSD_ELEMENT_ENTRY("IMU TEMP", OSD_IMU_TEMPERATURE),
#ifdef USE_BARO
OSD_ELEMENT_ENTRY("BARO TEMP", OSD_BARO_TEMPERATURE),
#endif

17
src/main/drivers/1-wire/ds2482.c
View file

@ -89,23 +89,20 @@ bool ds2482_write_config(_1WireDev_t *_1WireDev, uint8_t config)
return busWrite(_1WireDev->busDev, DS2482_WRITE_CONFIG_CMD, DS2482_CONFIG_WRITE_BYTE(config));
}
bool ds2482_wait_for_bus(_1WireDev_t *_1WireDev)
bool ds2482_poll(_1WireDev_t *_1WireDev, bool wait_for_bus, uint8_t *status)
{
uint8_t status;
uint8_t status_temp;
do {
bool ack = busRead(_1WireDev->busDev, 0xFF, &status);
bool ack = busRead(_1WireDev->busDev, 0xFF, &status_temp);
if (!ack) return false;
} while (DS2482_1WIRE_BUSY(status));
} while (wait_for_bus && DS2482_1WIRE_BUSY(status_temp));
if (status) *status = status_temp;
return true;
}
bool ds2482_poll(_1WireDev_t *_1WireDev, bool wait_for_bus, uint8_t *status)
bool ds2482_wait_for_bus(_1WireDev_t *_1WireDev)
{
do {
bool ack = busRead(_1WireDev->busDev, 0xFF, status);
if (!ack) return false;
} while (wait_for_bus && DS2482_1WIRE_BUSY(*status));
return true;
return ds2482_poll(_1WireDev, true, NULL);
}
bool ds2482_1wire_reset(_1WireDev_t *_1WireDev)

19
src/main/fc/fc_msp.c
View file

@ -1355,10 +1355,15 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, osdConfig()->alt_alarm);
sbufWriteU16(dst, osdConfig()->dist_alarm);
sbufWriteU16(dst, osdConfig()->neg_alt_alarm);
sbufWriteU16(dst, osdConfig()->mpu_temp_alarm_min);
sbufWriteU16(dst, osdConfig()->mpu_temp_alarm_max);
sbufWriteU16(dst, osdConfig()->imu_temp_alarm_min);
sbufWriteU16(dst, osdConfig()->imu_temp_alarm_max);
#ifdef USE_BARO
sbufWriteU16(dst, osdConfig()->baro_temp_alarm_min);
sbufWriteU16(dst, osdConfig()->baro_temp_alarm_max);
#else
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
#endif
break;
case MSP2_INAV_OSD_PREFERENCES:
@ -1414,7 +1419,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
for (uint8_t index = 0; index < MAX_TEMP_SENSORS; ++index) {
int16_t temperature;
bool valid = getSensorTemperature(index, &temperature);
sbufWriteU16(dst, valid ? temperature : 0xFFFF);
sbufWriteU16(dst, valid ? temperature : -1000);
}
#endif
break;
@ -2607,10 +2612,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
osdConfigMutable()->alt_alarm = sbufReadU16(src);
osdConfigMutable()->dist_alarm = sbufReadU16(src);
osdConfigMutable()->neg_alt_alarm = sbufReadU16(src);
osdConfigMutable()->mpu_temp_alarm_min = sbufReadU16(src);
osdConfigMutable()->mpu_temp_alarm_max = sbufReadU16(src);
osdConfigMutable()->imu_temp_alarm_min = sbufReadU16(src);
osdConfigMutable()->imu_temp_alarm_max = sbufReadU16(src);
#ifdef USE_BARO
osdConfigMutable()->baro_temp_alarm_min = sbufReadU16(src);
osdConfigMutable()->baro_temp_alarm_max = sbufReadU16(src);
#endif
} else
return MSP_RESULT_ERROR;
}
@ -2662,7 +2669,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP2_INAV_SET_TEMP_SENSOR_CONFIG:
#ifdef USE_TEMPERATURE_SENSOR
if (dataSize >= sizeof(tempSensorConfig_t) * MAX_TEMP_SENSORS) {
if (dataSize == sizeof(tempSensorConfig_t) * MAX_TEMP_SENSORS) {
for (uint8_t index = 0; index < MAX_TEMP_SENSORS; ++index) {
tempSensorConfig_t *sensorConfig = tempSensorConfigMutable(index);
sensorConfig->type = sbufReadU8(src);

3
src/main/fc/fc_msp_box.c
View file

@ -367,7 +367,8 @@ uint16_t packSensorStatus(void)
IS_ENABLED(sensors(SENSOR_GPS)) << 3 |
IS_ENABLED(sensors(SENSOR_RANGEFINDER)) << 4 |
IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 |
IS_ENABLED(sensors(SENSOR_PITOT)) << 6;
IS_ENABLED(sensors(SENSOR_PITOT)) << 6 |
IS_ENABLED(sensors(SENSOR_TEMP)) << 7;
// Hardware failure indication bit
if (!isHardwareHealthy()) {

26
src/main/fc/settings.yaml
View file

@ -1592,14 +1592,24 @@ groups:
field: neg_alt_alarm
min: 0
max: 10000
- name: osd_mpu_temp_alarm_min
field: mpu_temp_alarm_min
min: -55
max: 125
- name: osd_mpu_temp_alarm_max
field: mpu_temp_alarm_max
min: -55
max: 125
- name: osd_imu_temp_alarm_min
field: imu_temp_alarm_min
min: -550
max: 1250
- name: osd_imu_temp_alarm_max
field: imu_temp_alarm_max
min: -550
max: 1250
- name: osd_baro_temp_alarm_min
field: baro_temp_alarm_min
condition: USE_BARO
min: -550
max: 1250
- name: osd_baro_temp_alarm_max
field: baro_temp_alarm_max
condition: USE_BARO
min: -550
max: 1250
- name: osd_artificial_horizon_reverse_roll
field: ahi_reverse_roll

16
src/main/io/osd.c
View file

@ -2294,11 +2294,11 @@ static bool osdDrawSingleElement(uint8_t item)
break;
}
case OSD_MPU_TEMPERATURE:
case OSD_IMU_TEMPERATURE:
{
int16_t temperature;
const bool valid = getMPUTemperature(&temperature);
osdDisplayTemperature(elemPosX, elemPosY, "MPU", valid, temperature, osdConfig()->mpu_temp_alarm_min, osdConfig()->mpu_temp_alarm_max);
const bool valid = getIMUTemperature(&temperature);
osdDisplayTemperature(elemPosX, elemPosY, "IMU", valid, temperature, osdConfig()->imu_temp_alarm_min, osdConfig()->imu_temp_alarm_max);
return true;
}
@ -2306,7 +2306,7 @@ static bool osdDrawSingleElement(uint8_t item)
{
int16_t temperature;
const bool valid = getBaroTemperature(&temperature);
osdDisplayTemperature(elemPosX, elemPosY, "BARO", valid, temperature, osdConfig()->mpu_temp_alarm_min, osdConfig()->mpu_temp_alarm_max);
osdDisplayTemperature(elemPosX, elemPosY, "BARO", valid, temperature, osdConfig()->imu_temp_alarm_min, osdConfig()->imu_temp_alarm_max);
return true;
}
@ -2640,7 +2640,7 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
osdConfig->item_pos[0][OSD_POWER] = OSD_POS(15, 1);
osdConfig->item_pos[0][OSD_MPU_TEMPERATURE] = OSD_POS(19, 2);
osdConfig->item_pos[0][OSD_IMU_TEMPERATURE] = OSD_POS(19, 2);
osdConfig->item_pos[0][OSD_BARO_TEMPERATURE] = OSD_POS(19, 3);
osdConfig->item_pos[0][OSD_TEMP_SENSOR_0_TEMPERATURE] = OSD_POS(19, 4);
osdConfig->item_pos[0][OSD_TEMP_SENSOR_1_TEMPERATURE] = OSD_POS(19, 5);
@ -2669,10 +2669,12 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
osdConfig->alt_alarm = 100;
osdConfig->dist_alarm = 1000;
osdConfig->neg_alt_alarm = 5;
osdConfig->mpu_temp_alarm_min = -200;
osdConfig->mpu_temp_alarm_max = 600;
osdConfig->imu_temp_alarm_min = -200;
osdConfig->imu_temp_alarm_max = 600;
#ifdef USE_BARO
osdConfig->baro_temp_alarm_min = -200;
osdConfig->baro_temp_alarm_max = 600;
#endif
osdConfig->video_system = VIDEO_SYSTEM_AUTO;

6
src/main/io/osd.h
View file

@ -122,7 +122,7 @@ typedef enum {
OSD_MC_VEL_Z_PID_OUTPUTS,
OSD_MC_POS_XYZ_P_OUTPUTS,
OSD_3D_SPEED,
OSD_MPU_TEMPERATURE,
OSD_IMU_TEMPERATURE,
OSD_BARO_TEMPERATURE,
OSD_TEMP_SENSOR_0_TEMPERATURE,
OSD_TEMP_SENSOR_1_TEMPERATURE,
@ -170,8 +170,8 @@ typedef struct osdConfig_s {
uint16_t alt_alarm; // positive altitude in m
uint16_t dist_alarm; // home distance in m
uint16_t neg_alt_alarm; // abs(negative altitude) in m
int16_t mpu_temp_alarm_min;
int16_t mpu_temp_alarm_max;
int16_t imu_temp_alarm_min;
int16_t imu_temp_alarm_max;
#ifdef USE_BARO
int16_t baro_temp_alarm_min;
int16_t baro_temp_alarm_max;

6
src/main/rx/eleres.c
View file

@ -272,8 +272,12 @@ static void telemetryRX(void)
presfil -= presfil/4;
presfil += baro.baroPressure;
int16_t temperature;
const bool temp_valid = sensors(SENSOR_BARO) ? getBaroTemperature(&temperature) : getIMUTemperature(&temperature);
if (!temp_valid) temperature = -1250; // If temperature not valid report -125°C
thempfil -= thempfil/8;
thempfil += DEGREES_TO_DECIDEGREES(getCurrentTemperature());
thempfil += temperature;
switch (telem_state++) {
case 0:

1
src/main/sensors/sensors.h
View file

@ -55,6 +55,7 @@ typedef enum {
SENSOR_OPFLOW = 1 << 6,
SENSOR_GPS = 1 << 7,
SENSOR_GPSMAG = 1 << 8,
SENSOR_TEMP = 1 << 9
} sensors_e;
extern uint8_t requestedSensors[SENSOR_INDEX_COUNT];

90
src/main/sensors/temperature.c
View file

@ -53,9 +53,9 @@ PG_REGISTER_ARRAY(tempSensorConfig_t, MAX_TEMP_SENSORS, tempSensorConfig, PG_TEM
static uint16_t mpuTemperature, baroTemperature;
static uint8_t mpuBaroTempValid = 0;
#ifdef USE_TEMPERATURE_SENSOR
static int16_t tempSensorValue[MAX_TEMP_SENSORS];
#ifdef USE_TEMPERATURE_SENSOR
// Each bit corresponds to a sensor LSB = first sensor. 1 = valid value
static uint8_t sensorStatus[MAX_TEMP_SENSORS / 8 + (MAX_TEMP_SENSORS % 8 ? 1 : 0)];
@ -97,6 +97,8 @@ void temperatureInit(void)
memset(sensorStatus, 0, sizeof(sensorStatus) * sizeof(*sensorStatus));
addBootlogEvent2(BOOT_EVENT_TEMP_SENSOR_DETECTION, BOOT_EVENT_FLAGS_NONE);
sensorsSet(SENSOR_TEMP);
#ifdef USE_TEMPERATURE_LM75
memset(lm75Dev, 0, sizeof(lm75Dev));
for (uint8_t lm75Addr = 0; lm75Addr < 8; ++lm75Addr) {
@ -123,7 +125,7 @@ void temperatureInit(void)
switch (configSlot->type) {
#ifdef DS18B20_DRIVER_AVAILABLE
case TEMP_SENSOR_DS18B20:
tempSensorValue[configIndex] = -125;
tempSensorValue[configIndex] = -1250;
ds18b20_configure(configSlot->address, DS18B20_CONFIG_9BIT);
break;
#endif
@ -133,8 +135,6 @@ void temperatureInit(void)
}
}
#endif
static bool temperatureSensorValueIsValid(uint8_t sensorIndex)
{
uint8_t mask = 1 << (sensorIndex % 8);
@ -142,6 +142,44 @@ static bool temperatureSensorValueIsValid(uint8_t sensorIndex)
return sensorStatus[byteIndex] & mask;
}
// returns decidegrees centigrade
bool getSensorTemperature(uint8_t sensorIndex, int16_t *temperature)
{
*temperature = tempSensorValue[sensorIndex];
return temperatureSensorValueIsValid(sensorIndex);
}
// Converts 64bit integer address to hex format
// hex_address must be at least 17 bytes long (16 chars + NULL)
void tempSensorAddressToString(uint64_t address, char *hex_address)
{
if (address < 8)
tfp_sprintf(hex_address, "%d", address);
else {
uint32_t *address32 = (uint32_t *)&address;
tfp_sprintf(hex_address, "%08lx%08lx", address32[1], address32[0]);
}
}
// Converts address string in hex format to unsigned integer
// the hex_address parameter must be NULL or space terminated
bool tempSensorStringToAddress(const char *hex_address, uint64_t *address)
{
uint16_t char_count = 0;
*address = 0;
while (*hex_address && (*hex_address != ' ')) {
if (++char_count > 16) return false;
char byte = *hex_address++;
if (byte >= '0' && byte <= '9') byte = byte - '0';
else if (byte >= 'a' && byte <='f') byte = byte - 'a' + 10;
else if (byte >= 'A' && byte <='F') byte = byte - 'A' + 10;
else return false;
*address = (*address << 4) | (byte & 0xF);
}
return true;
}
#endif /* USE_TEMPERATURE_SENSOR */
void temperatureUpdate(void)
{
@ -159,6 +197,7 @@ void temperatureUpdate(void)
mpuBaroTempValid &= ~(1 << BARO_TEMP_VALID_BIT);
#endif
#ifdef USE_TEMPERATURE_SENSOR
for (uint8_t sensorIndex = 0; sensorIndex < MAX_TEMP_SENSORS; ++sensorIndex) {
const tempSensorConfig_t *configSlot = tempSensorConfig(sensorIndex);
bool valueValid = false;
@ -178,14 +217,14 @@ void temperatureUpdate(void)
#ifdef DS18B20_DRIVER_AVAILABLE
int16_t temperature;
if (ds18b20_read_temperature(configSlot->address, &temperature)) {
if (temperatureSensorValueIsValid(sensorIndex) || (tempSensorValue[sensorIndex] == -124)) {
if (temperatureSensorValueIsValid(sensorIndex) || (tempSensorValue[sensorIndex] == -1240)) {
tempSensorValue[sensorIndex] = temperature;
valueValid = true;
} else
tempSensorValue[sensorIndex] = -124;
tempSensorValue[sensorIndex] = -1240;
} else
tempSensorValue[sensorIndex] = -125;
tempSensorValue[sensorIndex] = -1250;
#endif
break;
@ -200,56 +239,27 @@ void temperatureUpdate(void)
sensorStatus[byteIndex] &= ~statusMask;
}
#endif
#ifdef DS18B20_DRIVER_AVAILABLE
ds18b20_start_conversion();
#endif
}
bool getMPUTemperature(int16_t *temperature)
// returns decidegrees centigrade
bool getIMUTemperature(int16_t *temperature)
{
*temperature = mpuTemperature;
return MPU_TEMP_VALID;
}
// returns decidegrees centigrade
bool getBaroTemperature(int16_t *temperature)
{
*temperature = baroTemperature;
return BARO_TEMP_VALID;
}
bool getSensorTemperature(uint8_t sensorIndex, int16_t *temperature)
{
*temperature = tempSensorValue[sensorIndex];
return temperatureSensorValueIsValid(sensorIndex);
}
void tempSensorAddressToString(uint64_t address, char *hex_address)
{
if (address < 8)
tfp_sprintf(hex_address, "%d", address);
else {
uint32_t *address32 = (uint32_t *)&address;
tfp_sprintf(hex_address, "%08lx%08lx", address32[1], address32[0]);
}
}
bool tempSensorStringToAddress(const char *hex_address, uint64_t *address)
{
uint16_t char_count = 0;
*address = 0;
while (*hex_address && (*hex_address != ' ')) {
if (++char_count > 16) return false;
char byte = *hex_address++;
if (byte >= '0' && byte <= '9') byte = byte - '0';
else if (byte >= 'a' && byte <='f') byte = byte - 'a' + 10;
else if (byte >= 'A' && byte <='F') byte = byte - 'A' + 10;
else return false;
*address = (*address << 4) | (byte & 0xF);
}
return true;
}
void resetTempSensorConfig(void)
{
memset(tempSensorConfigMutable(0), 0, sizeof(tempSensorConfig_t) * MAX_TEMP_SENSORS);

18
src/main/sensors/temperature.h
View file

@ -24,8 +24,6 @@
typedef enum {
TEMP_SENSOR_NONE = 0,
TEMP_SENSOR_MPU,
TEMP_SENSOR_BARO,
TEMP_SENSOR_LM75,
TEMP_SENSOR_DS18B20
} tempSensorType_e;
@ -41,17 +39,17 @@ typedef struct {
PG_DECLARE_ARRAY(tempSensorConfig_t, MAX_TEMP_SENSORS, tempSensorConfig);
// Temperature is returned in degC*10
bool getMPUTemperature(int16_t *temperature);
bool getIMUTemperature(int16_t *temperature);
bool getBaroTemperature(int16_t *temperature);
bool getSensorTemperature(uint8_t sensorIndex, int16_t *temperature);
void temperatureUpdate(void);
void tempSensorAddressToString(uint64_t address, char *hex_address);
bool tempSensorStringToAddress(const char *hex_address, uint64_t *address);
//uint64_t tempSensorStringToAddress(const char *hex_address);
void resetTempSensorConfig(void);
#ifdef USE_TEMPERATURE_SENSOR
void temperatureInit(void);
bool getSensorTemperature(uint8_t sensorIndex, int16_t *temperature);
void tempSensorAddressToString(uint64_t address, char *hex_address);
bool tempSensorStringToAddress(const char *hex_address, uint64_t *address);
#endif
void resetTempSensorConfig(void);

17
src/main/telemetry/ibus_shared.c
View file

@ -141,19 +141,10 @@ static uint8_t dispatchMeasurementRequest(ibusAddress_t address) {
}
#endif
if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_TEMPERATURE) { //BARO_TEMP\GYRO_TEMP
/*if (sensors(SENSOR_BARO)) return sendIbusMeasurement2(address, (uint16_t) ((DEGREES_TO_CENTIDEGREES(getCurrentTemperature()) + 50) / 10 + IBUS_TEMPERATURE_OFFSET)); //int32_t*/
if (sensors(SENSOR_BARO)) {
int16_t baroTemperature;
getBaroTemperature(&baroTemperature);
return sendIbusMeasurement2(address, (uint16_t) ((baroTemperature + 50) / 10 + IBUS_TEMPERATURE_OFFSET)); //int32_t // XXX
} else {
/*
* There is no temperature data
* assuming ((DEGREES_TO_CENTIDEGREES(getCurrentTemperature()) + 50) / 10
* 0 degrees (no sensor) equals 50 / 10 = 5
*/
return sendIbusMeasurement2(address, (uint16_t) (5 + IBUS_TEMPERATURE_OFFSET)); //int16_t
}
int16_t temperature;
const bool temp_valid = sensors(SENSOR_BARO) ? getBaroTemperature(&temperature) : getIMUTemperature(&temperature);
if (!temp_valid || (temperature < -400)) temperature = -400; // Minimum reported temperature is -40°C
return sendIbusMeasurement2(address, (uint16_t)((temperature + 50) / 10 + IBUS_TEMPERATURE_OFFSET));
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_RPM) {
return sendIbusMeasurement2(address, (uint16_t) (rcCommand[THROTTLE]));
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_EXTERNAL_VOLTAGE) { //VBAT