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Code Issues Wiki Activity

Add FlySky Telemetry (#3997)

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Add FlySky Telemetry
This commit is contained in:
Arne Schwabe 2016-11-13 13:09:33 -05:00 • committed by Bertrand Songis
parent bfb5e9b8a6
commit 6b57f7afa7
15 changed files with 252 additions and 12 deletions
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6
radio/src/gui/128x64/model_setup.cpp
View file

@ -829,6 +829,12 @@ void menuModelSetup(event_t event)
lcdDrawText(MODEL_SETUP_2ND_COLUMN+xOffsetBind, y, STR_MODULE_BIND, l_posHorz==1 ? attr : 0);
lcdDrawText(MODEL_SETUP_2ND_COLUMN+MODEL_SETUP_RANGE_OFS+xOffsetBind, y, STR_MODULE_RANGE, l_posHorz==2 ? attr : 0);
uint8_t newFlag = 0;
#if defined(MULTIMODULE)
if (spektrumBindFinished) {
spektrumBindFinished = false;
s_editMode=0;
}
#endif
if (attr && l_posHorz>0 && s_editMode>0) {
if (l_posHorz == 1)
newFlag = MODULE_BIND;

6
radio/src/gui/480x272/model_setup.cpp
View file

@ -849,6 +849,12 @@ bool menuModelSetup(event_t event)
drawButton(MODEL_SETUP_2ND_COLUMN+xOffsetBind, y, STR_MODULE_BIND, (moduleFlag[moduleIdx] == MODULE_BIND ? BUTTON_ON : BUTTON_OFF) | (l_posHorz==1 ? attr : 0));
drawButton(MODEL_SETUP_2ND_COLUMN+MODEL_SETUP_RANGE_OFS+xOffsetBind, y, STR_MODULE_RANGE, (moduleFlag[moduleIdx] == MODULE_RANGECHECK ? BUTTON_ON : BUTTON_OFF) | (l_posHorz==2 ? attr : 0));
uint8_t newFlag = 0;
#if defined(MULTIMODULE)
if (spektrumBindFinished) {
spektrumBindFinished = false;
s_editMode=0;
}
#endif
if (attr && l_posHorz>0 && s_editMode>0) {
if (l_posHorz == 1)
newFlag = MODULE_BIND;

4
radio/src/gui/gui_common_arm.cpp
View file

@ -533,12 +533,12 @@ bool isTelemetryProtocolAvailable(int protocol)
}
#if !defined(MULTIMODULE)
if (protocol== PROTOCOL_SPEKTRUM) {
if (protocol == PROTOCOL_SPEKTRUM || protocol == PROTOCOL_FLYSKY_IBUS) {
return false;
}
#endif
#if defined(PBHORUS)
#if defined(PCBHORUS)
if (protocol == PROTOCOL_FRSKY_D_SECONDARY) {
return false;
}

3
radio/src/myeeprom.h
View file

@ -617,7 +617,8 @@ enum TelemetryType
PROTOCOL_FRSKY_D_SECONDARY,
PROTOCOL_PULSES_CROSSFIRE,
PROTOCOL_SPEKTRUM,
PROTOCOL_TELEMETRY_LAST=PROTOCOL_SPEKTRUM
PROTOCOL_FLYSKY_IBUS,
PROTOCOL_TELEMETRY_LAST=PROTOCOL_FLYSKY_IBUS
};
enum DisplayTrims

7
radio/src/pulses/multi_arm.cpp
View file

@ -164,7 +164,12 @@ void setupPulsesMultimodule(uint8_t port)
}
}
// For custom protocol send unmofied type byte
// Set the highest bit of option byte in AFHDS2A protocol to instruct MULTI to passthrough telemetry bytes instead
// of sending Frsky D telemetry
if (g_model.moduleData[port].getMultiProtocol(false) == MM_RF_PROTO_FS_AFHDS2A)
optionValue = optionValue | 0x80;
// For custom protocol send unmodified type byte
if (g_model.moduleData[port].getMultiProtocol(true) == MM_RF_CUSTOM_SELECTED)
type = g_model.moduleData[port].getMultiProtocol(false);

2
radio/src/targets/common/arm/CMakeLists.txt
View file

@ -70,7 +70,7 @@ if(HAPTIC)
endif()
if(MULTIMODULE)
add_definitions(-DMULTIMODULE)
set(SRC ${SRC} pulses/multi_arm.cpp telemetry/spektrum.cpp)
set(SRC ${SRC} pulses/multi_arm.cpp telemetry/spektrum.cpp telemetry/flysky_ibus.cpp)
endif()
add_definitions(-DCPUARM -DVIRTUAL_INPUTS)
add_definitions(-DTELEMETRY_FRSKY -DTELEMETRY_FRSKY_SPORT -DFRSKY_HUB -DGPS -DPXX -DDSM2)

179
radio/src/telemetry/flysky_ibus.cpp Normal file
View file

@ -0,0 +1,179 @@
/*
* Copyright (C) OpenTX
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "opentx.h"
/*
* Telemetry format from goebish/Deviation/flysky_afhds2a_a7105.c
*
* format from RX:
* AA | TXID | RXID | sensor id | sensor # | value 16 bit big endian | sensor id ......
* max 7 sensors per packet
*
* TXID + RXID are already skipped in MULTI module to save memory+transmission time, format from Multi is:
* AA | TX_RSSI | sensor ...
*
* OpenTX Mapping
*
* instance = sensor id
*
* Additional sensors from https://github.com/cleanflight/cleanflight/blob/master/src/main/telemetry/ibus.c
*
*/
#define FLYSKY_TELEMETRY_LENGTH (2+7*4)
#define TX_RSSI_ID 300 // Pseudo id outside 1 byte range of FlySky sensors
#define FS_ID_RSSI 0x7c
struct FlySkySensor {
const uint16_t id;
const char *name;
const TelemetryUnit unit;
const uint8_t precision;
};
const FlySkySensor flySkySensors[] = {
// RX Voltage (remapped, really 0x0)
{0x100, ZSTR_A1, UNIT_VOLTS, 2},
// Temperature
{0x01, ZSTR_TEMP1, UNIT_CELSIUS, 1},
// RPM
{0x02, ZSTR_RPM, UNIT_RAW, 0},
// External voltage
{0x03, ZSTR_A3, UNIT_VOLTS, 1},
// RX Noise
{0xfb, ZSTR_RX_SNR, UNIT_DB, 0},
// RX RSSI
{FS_ID_RSSI, ZSTR_RSSI, UNIT_DB, 0},
// RX error rate
{0xfe, ZSTR_RX_QUALITY, UNIT_RAW, 1},
// 0xff is an used sensor slot)
// Pseud sensor for TRSSI
{TX_RSSI_ID, ZSTR_TX_RSSI, UNIT_RAW, 0},
// sentinel
{0x00, NULL, UNIT_RAW, 0},
};
static void processFlySkySensor(const uint8_t *packet)
{
uint16_t id = packet[0];
const uint8_t instance = packet[1];
const int32_t value = (packet[3] << 8) + packet[2];
if (id == 0xff) {
// No sensor
return;
}
if (id == 0) {
// Some part of OpenTX does not like sensor with id and instance 0, remap to 0x100
id = 0x100;
}
if (id == FS_ID_RSSI) {
telemetryData.rssi.set(value);
}
for (const FlySkySensor * sensor = flySkySensors; sensor->id; sensor++) {
// Extract value, skip header
if (sensor->id == id) {
setTelemetryValue(TELEM_PROTO_FLYSKY_IBUS, id, 0, instance, value, sensor->unit, sensor->precision);
return;
}
}
setTelemetryValue(TELEM_PROTO_FLYSKY_IBUS, id, 0, instance, value, UNIT_RAW, 0);
}
static void processFlySkyPacket(const uint8_t *packet)
{
// Set TX RSSI Value, reverse MULTIs scaling
setTelemetryValue(TELEM_PROTO_FLYSKY_IBUS, TX_RSSI_ID, 0, 0, packet[1], UNIT_RAW, 0);
for (int sensor = 0; sensor < 7; sensor++) {
int index = 2 + (4 * sensor);
processFlySkySensor(packet+index);
}
telemetryStreaming = TELEMETRY_TIMEOUT10ms;
}
void processFlySkyTelemetryData(uint8_t data)
{
if (telemetryRxBufferCount == 0 && data != 0xAA) {
TRACE("[IBUS] invalid start byte 0x%02X", data);
return;
}
if (telemetryRxBufferCount < TELEMETRY_RX_PACKET_SIZE) {
telemetryRxBuffer[telemetryRxBufferCount++] = data;
}
else {
TRACE("[IBUS] array size %d error", telemetryRxBufferCount);
telemetryRxBufferCount = 0;
}
if (telemetryRxBufferCount >= FLYSKY_TELEMETRY_LENGTH) {
// debug print the content of the packets
#if 0
debugPrintf("[IBUS] Packet 0x%02X rssi 0x%02X: ",
telemetryRxBuffer[0], telemetryRxBuffer[1]);
for (int i=0; i<7; i++) {
debugPrintf("[%02X %02X %02X%02X] ", telemetryRxBuffer[i*4+2], telemetryRxBuffer[i*4 + 3],
telemetryRxBuffer[i*4 + 4], telemetryRxBuffer[i*4 + 5]);
}
debugPrintf("\r\n");
#endif
processFlySkyPacket(telemetryRxBuffer);
telemetryRxBufferCount = 0;
}
}
const FlySkySensor *getFlySkySensor(uint16_t id)
{
for (const FlySkySensor * sensor = flySkySensors; sensor->id; sensor++) {
if (id == sensor->id)
return sensor;
}
return nullptr;
}
void flySkySetDefault(int index, uint16_t id, uint8_t subId, uint8_t instance)
{
TelemetrySensor &telemetrySensor = g_model.telemetrySensors[index];
telemetrySensor.id = id;
telemetrySensor.subId = subId;
telemetrySensor.instance = instance;
const FlySkySensor *sensor = getFlySkySensor(id);
if (sensor) {
TelemetryUnit unit = sensor->unit;
uint8_t prec = min<uint8_t>(2, sensor->precision);
telemetrySensor.init(sensor->name, unit, prec);
if (unit == UNIT_RPMS) {
telemetrySensor.custom.ratio = 1;
telemetrySensor.custom.offset = 1;
}
}
else {
telemetrySensor.init(id);
}
storageDirty(EE_MODEL);
}

27
radio/src/telemetry/flysky_ibus.h Normal file
View file

@ -0,0 +1,27 @@
/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#ifndef _FLYSKY_IBUS_H
#define _FLYSKY_IBUS_H
void processFlySkyTelemetryData(uint8_t data);
void flySkySetDefault(int index, uint16_t id, uint8_t subId, uint8_t instance);
#endif

3
radio/src/telemetry/frsky.h
View file

@ -432,7 +432,8 @@ enum TelemetryProtocol
TELEM_PROTO_FRSKY_SPORT,
TELEM_PROTO_CROSSFIRE,
TELEM_PROTO_SPEKTRUM,
TELEM_PROTO_LUA
TELEM_PROTO_LUA,
TELEM_PROTO_FLYSKY_IBUS,
};
enum TelemAnas {

4
radio/src/telemetry/spektrum.cpp
View file

@ -403,7 +403,10 @@ void processSpektrumTelemetryData(uint8_t data)
}
if (telemetryRxBufferCount >= SPEKTRUM_TELEMETRY_LENGTH) {
// Debug print content of Telemetry to console
#if 0
debugPrintf("[SPK] Packet 0x%02X rssi 0x%02X: ic2 0x%02x, %02x: ",
telemetryRxBuffer[0], telemetryRxBuffer[1], telemetryRxBuffer[2], telemetryRxBuffer[3]);
for (int i=4; i<SPEKTRUM_TELEMETRY_LENGTH; i+=4) {
@ -411,6 +414,7 @@ void processSpektrumTelemetryData(uint8_t data)
telemetryRxBuffer[i + 2], telemetryRxBuffer[i + 3]);
}
debugPrintf("\r\n");
#endif
processSpektrumPacket(telemetryRxBuffer);
telemetryRxBufferCount = 0;
}

4
radio/src/telemetry/telemetry.cpp
View file

@ -75,6 +75,10 @@ void processTelemetryData(uint8_t data)
processSpektrumTelemetryData(data);
return;
}
else if (telemetryProtocol == PROTOCOL_FLYSKY_IBUS) {
processFlySkyTelemetryData(data);
return;
}
#endif
processFrskyTelemetryData(data);
}

8
radio/src/telemetry/telemetry.h
View file

@ -43,6 +43,7 @@
#endif
#if defined(MULTIMODULE)
#include "spektrum.h"
#include "flysky_ibus.h"
#endif
extern uint8_t telemetryStreaming; // >0 (true) == data is streaming in. 0 = no data detected for some time
@ -69,10 +70,11 @@ enum TelemetrySerialMode {
TELEMETRY_SERIAL_8E2
};
#if defined(CROSSFIRE)
#if defined(CROSSFIRE) || defined(MULTIMODULE)
#define TELEMETRY_RX_PACKET_SIZE 128
// multi module Spektrum telemetry is 18 bytes, FlySky is 37 bytes
#else
#define TELEMETRY_RX_PACKET_SIZE 19 // 9 bytes (full packet), worst case 18 bytes with byte-stuffing (+1), multimodule Spektrum telemetry is 18 bytes
#define TELEMETRY_RX_PACKET_SIZE 19 // 9 bytes (full packet), worst case 18 bytes with byte-stuffing (+1)
#endif
extern uint8_t telemetryRxBuffer[TELEMETRY_RX_PACKET_SIZE];
@ -149,6 +151,8 @@ inline uint8_t modelTelemetryProtocol()
if (g_model.moduleData[INTERNAL_MODULE].rfProtocol == RF_PROTO_OFF && g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_MULTIMODULE) {
if (g_model.moduleData[EXTERNAL_MODULE].getMultiProtocol(false) == MM_RF_PROTO_DSM2)
return PROTOCOL_SPEKTRUM;
else if (g_model.moduleData[EXTERNAL_MODULE].getMultiProtocol(false) == MM_RF_PROTO_FS_AFHDS2A)
return PROTOCOL_FLYSKY_IBUS;
else if ((g_model.moduleData[EXTERNAL_MODULE].getMultiProtocol(false) == MM_RF_PROTO_FRSKY) &&
(g_model.moduleData[EXTERNAL_MODULE].subType == MM_RF_FRSKY_SUBTYPE_D16 || g_model.moduleData[EXTERNAL_MODULE].subType == MM_RF_FRSKY_SUBTYPE_D16_8CH))
return PROTOCOL_FRSKY_SPORT;

3
radio/src/telemetry/telemetry_sensors.cpp
View file

@ -458,6 +458,9 @@ int setTelemetryValue(TelemetryProtocol protocol, uint16_t id, uint8_t subId, ui
case TELEM_PROTO_SPEKTRUM:
spektrumSetDefault(index, id, subId, instance);
break;
case TELEM_PROTO_FLYSKY_IBUS:
flySkySetDefault(index,id, subId, instance);
break;
#endif
#if defined(LUA)
case TELEM_PROTO_LUA:

2
radio/src/translations/en.h.txt
View file

@ -115,7 +115,7 @@
#define TR_MULTI_CUSTOM "Custom"
#define LEN_SUBTYPE_FLYSKY "\007"
#define LEN_SUBTYPE_FLYSKY "\004"
#define TR_SUBTYPE_FLYSKY "Std\0""V9x9""V6x6""V912"
#define LEN_SUBTYPE_AFHDS2A "\010"