From 74ddd92cf659ffe69193b11390cd7a2348660c9c Mon Sep 17 00:00:00 2001 From: dgatf Date: Thu, 1 Aug 2024 08:52:44 -0400 Subject: [PATCH] Complete spektrum telemetry --- radio/src/telemetry/spektrum.cpp | 287 ++++++++++++++++++++----------- 1 file changed, 185 insertions(+), 102 deletions(-) diff --git a/radio/src/telemetry/spektrum.cpp b/radio/src/telemetry/spektrum.cpp index 1bd1829d5..f6083069e 100644 --- a/radio/src/telemetry/spektrum.cpp +++ b/radio/src/telemetry/spektrum.cpp @@ -46,13 +46,29 @@ #define SPEKTRUM_TELEMETRY_LENGTH 18 #define DSM_BIND_PACKET_LENGTH 12 +#define I2C_VOLT_INTERNAL 0x01 +#define I2C_TEMP_INTERNAL 0x02 #define I2C_HIGH_CURRENT 0x03 #define I2C_FWD_PGM 0x09 +#define I2C_POWERBOX 0X0a +#define I2C_LAPTIMER 0X0b #define I2C_TEXTGEN 0x0c -#define I2C_GPS 0x17 -#define I2C_GPS2 0x17 -#define I2C_ESC 0x20 +#define IC2_AIRSPEED 0x11 +#define IC2_ALTITUDE 0x12 +#define I2C_GFORCE 0x14 +#define I2C_JETCAT 0x15 +#define I2C_GPS_LOC 0x16 +#define I2C_GPS_STAT 0x17 +#define I2C_DUALENERGY 0x18 +#define I2C_JETCAT2 0x19 +#define I2C_GYRO 0x1a +#define I2C_ATTMAG 0x1b +#define I2C_ESC 0x20 +#define IC2_BATTERY 0x34 #define I2C_CELLS 0x3a +#define I2C_VARIO 0x40 +#define I2C_RTC 0x7c +#define I2C_RPMVOLTTEMP 0x7e // SMART_BAT is using fake I2C adresses compared to official Spektrum address because of subtype used only for this I2C address #define I2C_SMART_BAT_BASE_ADDRESS 0x42 @@ -91,105 +107,115 @@ struct SpektrumSensor { const SpektrumSensor spektrumSensors[] = { // High voltage internal sensor - {0x01, 0, int16, ZSTR_A1, UNIT_VOLTS, 1}, + {I2C_VOLT_INTERNAL, 0, int16, ZSTR_A1, UNIT_VOLTS, 1}, // Temperature internal sensor - {0x02, 0, int16, ZSTR_TEMP1, UNIT_CELSIUS, 1}, + {I2C_TEMP_INTERNAL, 0, int16, ZSTR_TEMP1, UNIT_CELSIUS, 1}, // High current internal sensor (0x03), 300A/2048 resolution {I2C_HIGH_CURRENT, 0, int16, ZSTR_CURR, UNIT_AMPS, 1}, - //Powerbox (also mentioned as 0x7D but that is also transmitter frame data) - {0x0a, 0, uint16, ZSTR_BATT1_VOLTAGE, UNIT_VOLTS, 2}, - {0x0a, 2, uint16, ZSTR_BATT2_VOLTAGE, UNIT_VOLTS, 2}, - {0x0a, 4, uint16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 0}, - {0x0a, 6, uint16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0}, + // Powerbox (also mentioned as 0x7D but that is also transmitter frame data) + {I2C_POWERBOX, 0, uint16, ZSTR_BATT1_VOLTAGE, UNIT_VOLTS, 2}, + {I2C_POWERBOX, 2, uint16, ZSTR_BATT2_VOLTAGE, UNIT_VOLTS, 2}, + {I2C_POWERBOX, 4, uint16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 0}, + {I2C_POWERBOX, 6, uint16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0}, // Lap Timer - {0x0b, 0, uint8, ZSTR_LAP_NUMBER, UNIT_RAW, 0}, - {0x0b, 0, uint8, ZSTR_GATE_NUMBER, UNIT_RAW, 0}, - {0x0b, 0, uint32, ZSTR_LAP_TIME, UNIT_SECONDS, 3}, - {0x0b, 0, uint32, ZSTR_GATE_TIME, UNIT_SECONDS, 3}, + {I2C_LAPTIMER, 0, uint8, ZSTR_LAP_NUMBER, UNIT_RAW, 0}, + {I2C_LAPTIMER, 0, uint8, ZSTR_GATE_NUMBER, UNIT_RAW, 0}, + {I2C_LAPTIMER, 0, uint32, ZSTR_LAP_TIME, UNIT_SECONDS, 3}, + {I2C_LAPTIMER, 0, uint32, ZSTR_GATE_TIME, UNIT_SECONDS, 3}, // Text Generator {I2C_TEXTGEN, 0, uint32, ZSTR_FLIGHT_MODE, UNIT_TEXT, 0}, // AirSpeed, also has max (+2, int16) - {0x11, 0, int16, ZSTR_ASPD, UNIT_KMH, 0}, + {IC2_AIRSPEED, 0, int16, ZSTR_ASPD, UNIT_KMH, 0}, // Altitude, also has max (+2, int16) - {0x12, 0, int16, ZSTR_ALT, UNIT_METERS, 1}, + {IC2_ALTITUDE, 0, int16, ZSTR_ALT, UNIT_METERS, 1}, // {0x38, strain} // G-Force (+min, max) - {0x14, 0, int16, ZSTR_ACCX, UNIT_G, 2}, - {0x14, 2, int16, ZSTR_ACCY, UNIT_G, 2}, - {0x14, 4, int16, ZSTR_ACCZ, UNIT_G, 2}, + {I2C_GFORCE, 0, int16, ZSTR_ACCX, UNIT_G, 2}, + {I2C_GFORCE, 2, int16, ZSTR_ACCY, UNIT_G, 2}, + {I2C_GFORCE, 4, int16, ZSTR_ACCZ, UNIT_G, 2}, - // 0x15, JETCAT/TURBINE, BCD Encoded values + // JETCAT/TURBINE, BCD Encoded values // TODO: Add decoding of status information - // {0x15, 0, uint8, ZSTR_STATUS, UNIT_BITFIELD, 0}, - {0x15, 1, uint8bcd, ZSTR_THROTTLE, UNIT_PERCENT, 0}, - {0x15, 2, uint16bcd, ZSTR_A1, UNIT_VOLTS, 2}, - {0x15, 4, uint16bcd, ZSTR_A2, UNIT_VOLTS, 2}, - {0x15, 6, uint32bcd, ZSTR_RPM, UNIT_RPMS, 0}, - {0x15, 10, uint16bcd, ZSTR_TEMP1, UNIT_CELSIUS, 0}, - // {0x15, 0, uint8, ZSTR_STATUS, UNIT_BITFIELD, 0}, + // {I2C_JETCAT, 0, uint8, ZSTR_STATUS, UNIT_BITFIELD, 0}, + {I2C_JETCAT, 1, uint8bcd, ZSTR_THROTTLE, UNIT_PERCENT, 0}, + {I2C_JETCAT, 2, uint16bcd, ZSTR_A1, UNIT_VOLTS, 2}, + {I2C_JETCAT, 4, uint16bcd, ZSTR_A2, UNIT_VOLTS, 2}, + {I2C_JETCAT, 6, uint32bcd, ZSTR_RPM, UNIT_RPMS, 0}, + {I2C_JETCAT, 10, uint16bcd, ZSTR_TEMP1, UNIT_CELSIUS, 0}, + // {I2C_JETCAT, 0, uint8, ZSTR_STATUS, UNIT_BITFIELD, 0}, - // 0x16-0x17 GPS + // GPS // GPS is bcd encoded and also uses flags. Hard to get right without an actual GPS Sensor // Time/date is also BCD encoded but so this FrSky's, so treat it as uint32 - {I2C_GPS2, 0, uint16bcd, ZSTR_GSPD, UNIT_KTS, 1}, - {I2C_GPS2, 2, uint32, ZSTR_GPSDATETIME, UNIT_DATETIME, 0}, + {I2C_GPS_LOC, 0, uint16bcd, ZSTR_GPSALT, UNIT_METERS, 1}, // altitude low bits bcd 3.1 + {I2C_GPS_LOC, 2, uint32le, ZSTR_GPS, UNIT_GPS, 0}, // lat bcd DDMM.MMMM + {I2C_GPS_LOC, 6, uint32le, ZSTR_GPS, UNIT_GPS, 0}, // lon bcd DDMM.MMMM + {I2C_GPS_LOC, 10, uint16bcd, ZSTR_HDG, UNIT_DEGREE, 1}, // bcd 3.1 + {I2C_GPS_LOC, 13, uint8, ZSTR_GPS, UNIT_BITFIELD, 0}, // gps flags + {I2C_GPS_STAT, 0, uint16bcd, ZSTR_GSPD, UNIT_KTS, 1}, // bcd 3.1 + {I2C_GPS_STAT, 2, uint32le, ZSTR_GPSDATETIME, UNIT_DATETIME, 0}, // bcd 0HH:MM:SS.S + {I2C_GPS_STAT, 6, uint8bcd, ZSTR_SATELLITES, UNIT_RAW, 0}, // bcd 2.0 + {I2C_GPS_STAT, 7, uint8bcd, ZSTR_GPS, UNIT_BITFIELD, 0}, // altitude high bits bcd 2.0 + // Dual energy + {I2C_DUALENERGY, 0, int16, ZSTR_BATT1_CURRENT, UNIT_AMPS, 2}, + {I2C_DUALENERGY, 2, int16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 1}, + {I2C_DUALENERGY, 4, uint16, ZSTR_BATT1_VOLTAGE, UNIT_VOLTS, 2}, + {I2C_DUALENERGY, 6, int16, ZSTR_BATT2_CURRENT, UNIT_AMPS, 1}, + {I2C_DUALENERGY, 8, int16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0}, + {I2C_DUALENERGY, 10, uint16, ZSTR_BATT2_VOLTAGE, UNIT_VOLTS, 2}, + + // Jetcat flow rate + // {I2C_JETCAT2, 0, uint16bcd, ZSTR_FUEL_CONSUMPTION, UNIT_MILLILITERS_PER_MINUTE, 1}, missing ml/min + {I2C_JETCAT2, 2, uint32bcd, ZSTR_FUEL, UNIT_MILLILITERS, 1}, - //{0x17, 2, uint32, ZSTR_GPSDATETIME, UNIT_DATETIME}, utc in bcd HH:MM:SS.S - {0x17, 6, uint8bcd, ZSTR_SATELLITES, UNIT_RAW, 0}, - //{0x17, 7, uint8bcd, ZSTR_GPSALT, UNIT_METERS}, altitude high bits + // Gyro + {I2C_GYRO, 0, int16, ZSTR_GYROX, UNIT_DEGREE, 1}, + {I2C_GYRO, 2, int16, ZSTR_GYROY, UNIT_DEGREE, 1}, + {I2C_GYRO, 4, int16, ZSTR_GYROZ, UNIT_DEGREE, 1}, - // 0x19 Jetcat flow rate - // {0x19, 0, uint16bcd, ZSTR_FUEL_CONSUMPTION, UNIT_MILLILITERS_PER_MINUTE, 1}, missing ml/min - {0x19, 2, uint32bcd, ZSTR_FUEL, UNIT_MILLILITERS, 1}, - - // 0x1a Gyro - {0x1a, 0, int16, ZSTR_GYROX, UNIT_DEGREE, 1}, - {0x1a, 2, int16, ZSTR_GYROY, UNIT_DEGREE, 1}, - {0x1a, 4, int16, ZSTR_GYROZ, UNIT_DEGREE, 1}, - - // 0x1b Attitude & Mag Compass + // Attitude & Mag Compass // mag Units are tbd so probably no sensor in existance, ignore them for now - {0x1b, 0, int16, ZSTR_ROLL, UNIT_DEGREE, 1}, - {0x1b, 2, int16, ZSTR_PITCH, UNIT_DEGREE, 1}, - {0x1b, 4, int16, ZSTR_YAW, UNIT_DEGREE, 1}, + {I2C_ATTMAG, 0, int16, ZSTR_ROLL, UNIT_DEGREE, 1}, + {I2C_ATTMAG, 2, int16, ZSTR_PITCH, UNIT_DEGREE, 1}, + {I2C_ATTMAG, 4, int16, ZSTR_YAW, UNIT_DEGREE, 1}, - // {0x20, esc}, Smart ESC telemetry + // Smart ESC telemetry {I2C_ESC, 0, uint16, ZSTR_ESC_RPM, UNIT_RPMS, 0}, {I2C_ESC, 2, uint16, ZSTR_ESC_VIN, UNIT_VOLTS, 2}, {I2C_ESC, 4, uint16, ZSTR_ESC_TFET, UNIT_CELSIUS, 1}, - {I2C_ESC, 6, uint16, ZSTR_ESC_CUR, UNIT_MAH, 1}, + {I2C_ESC, 6, uint16, ZSTR_ESC_CUR, UNIT_AMPS, 2}, {I2C_ESC, 8, uint16, ZSTR_ESC_TBEC, UNIT_CELSIUS, 1}, {I2C_ESC, 10, uint8, ZSTR_ESC_BCUR, UNIT_AMPS, 1}, - {I2C_ESC, 11, uint8, ZSTR_ESC_VBEC, UNIT_VOLTS, 2}, + {I2C_ESC, 11, uint8, ZSTR_ESC_VBEC, UNIT_VOLTS, 1}, {I2C_ESC, 12, uint8, ZSTR_ESC_THR, UNIT_PERCENT, 1}, {I2C_ESC, 13, uint8, ZSTR_ESC_POUT, UNIT_PERCENT, 1}, - // Dual Cell monitor (0x34) - {0x34, 0, int16, ZSTR_BATT1_CURRENT, UNIT_AMPS, 1}, - {0x34, 2, int16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 1}, - {0x34, 4, uint16, ZSTR_BATT1_TEMP, UNIT_CELSIUS, 1}, - {0x34, 6, int16, ZSTR_BATT2_CURRENT, UNIT_AMPS, 1}, - {0x34, 8, int16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 1}, - {0x34, 10, uint16, ZSTR_BATT2_TEMP, UNIT_CELSIUS, 1}, + // Dual Batteries + {IC2_BATTERY, 0, int16, ZSTR_BATT1_CURRENT, UNIT_AMPS, 1}, + {IC2_BATTERY, 2, int16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 0}, + {IC2_BATTERY, 4, uint16, ZSTR_BATT1_TEMP, UNIT_CELSIUS, 1}, + {IC2_BATTERY, 6, int16, ZSTR_BATT2_CURRENT, UNIT_AMPS, 1}, + {IC2_BATTERY, 8, int16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0}, + {IC2_BATTERY, 10, uint16, ZSTR_BATT2_TEMP, UNIT_CELSIUS, 1}, // Tank pressure + custom input bits (ignore for now) //{0x38, 0, uint16, ZSTR_STATUS_BITS, UNIT_BITFIELD, 0}, //{0x38, 0, uint16, ZSTR_PRESSSURE, UNIT_PSI, 1}, - // Cells (0x3a) + // Cells {I2C_CELLS, 0, uint16, ZSTR_CELLS, UNIT_VOLTS, 2}, {I2C_CELLS, 2, uint16, ZSTR_CELLS, UNIT_VOLTS, 2}, {I2C_CELLS, 4, uint16, ZSTR_CELLS, UNIT_VOLTS, 2}, @@ -199,15 +225,20 @@ const SpektrumSensor spektrumSensors[] = { {I2C_CELLS, 12, uint16, ZSTR_TEMP2, UNIT_CELSIUS, 2}, // Vario-S - {0x40, 0, int16, ZSTR_ALT, UNIT_METERS, 1}, - {0x40, 2, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 1}, + {I2C_VARIO, 0, int16, ZSTR_ALT, UNIT_METERS, 1}, + {I2C_VARIO, 2, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 1}, + {I2C_VARIO, 4, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 1}, + {I2C_VARIO, 6, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 0}, + {I2C_VARIO, 8, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 0}, + {I2C_VARIO, 10, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 0}, + {I2C_VARIO, 12, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 0}, // Smartbat //{I2C_SMART_BAT_REALTIME, 1, int8, ZSTR_SMART_BAT_BTMP, UNIT_CELSIUS, 0}, // disabled because sensor is a duplicate of cells sensors ones - {I2C_SMART_BAT_REALTIME, 2, uint32le, ZSTR_SMART_BAT_BCUR, UNIT_MAH, 0}, - {I2C_SMART_BAT_REALTIME, 6, uint16le, ZSTR_SMART_BAT_BCAP, UNIT_MAH, 0}, - {I2C_SMART_BAT_REALTIME, 8, uint16le, ZSTR_SMART_BAT_MIN_CEL, UNIT_VOLTS, 2}, - {I2C_SMART_BAT_REALTIME, 10, uint16le, ZSTR_SMART_BAT_MAX_CEL, UNIT_VOLTS, 2}, + {I2C_SMART_BAT_REALTIME, 2, uint32le, ZSTR_SMART_BAT_BCUR, UNIT_MAH, 0}, + {I2C_SMART_BAT_REALTIME, 6, uint16le, ZSTR_SMART_BAT_BCAP, UNIT_MAH, 0}, + {I2C_SMART_BAT_REALTIME, 8, uint16le, ZSTR_SMART_BAT_MIN_CEL, UNIT_VOLTS, 2}, + {I2C_SMART_BAT_REALTIME, 10, uint16le, ZSTR_SMART_BAT_MAX_CEL, UNIT_VOLTS, 2}, //{I2C_SMART_BAT_REALTIME, 12, uint16le, "RFU[2]", UNIT_RAW, 0}, // disabled to save sensors slots {I2C_SMART_BAT_CELLS_1_6, 1, int8, ZSTR_SMART_BAT_BTMP, UNIT_CELSIUS, 0}, @@ -256,9 +287,9 @@ const SpektrumSensor spektrumSensors[] = { // telemetry bus on the model itself // RPM/Volts/Temperature - {0x7e, 0, uint16, ZSTR_RPM, UNIT_RPMS, 0}, - {0x7e, 2, uint16, ZSTR_A3, UNIT_VOLTS, 2}, - {0x7e, 4, int16, ZSTR_TEMP2, UNIT_FAHRENHEIT, 0}, + {I2C_RPMVOLTTEMP, 0, uint16, ZSTR_RPM, UNIT_RPMS, 0}, + {I2C_RPMVOLTTEMP, 2, uint16, ZSTR_A3, UNIT_VOLTS, 2}, + {I2C_RPMVOLTTEMP, 4, int16, ZSTR_TEMP2, UNIT_FAHRENHEIT, 0}, // 0x7f, QoS DATA, also called Flight Log,, with A, B, L, R, F, H? // A - Antenna Fades on Receiver A @@ -279,21 +310,19 @@ const SpektrumSensor spektrumSensors[] = { {0, 0, int16, NULL, UNIT_RAW, 0} //sentinel }; -// The bcd int parameter has wrong endian -static int32_t bcdToInt16(uint16_t bcd) -{ - return (bcd & 0x0f00) + 10 * (bcd & 0xf000) + 100 * (bcd & 0x000f) + 1000 * (bcd & 0x00f0); -} - -// The bcd int parameter has wrong endian static int32_t bcdToInt8(uint8_t bcd) { - return (bcd & 0xf) + 10 * (bcd & 0xf0); + return 10 * ((bcd & 0xf0) >> 4) + (bcd & 0xf); +} + +static int32_t bcdToInt16(uint16_t bcd) +{ + return 100 * bcdToInt8(bcd >> 8) + bcdToInt8(bcd); } static int32_t bcdToInt32(uint32_t bcd) { - return bcdToInt16(bcd >> 16) + 10000 * bcdToInt16(bcd); + return 10000 * bcdToInt16(bcd >> 16) + bcdToInt16(bcd); } // Spektrum uses Big Endian data types @@ -408,29 +437,13 @@ void processSpektrumPacket(const uint8_t *packet) } } - // RPM, 10RPM (0-655340 RPM) - if (i2cAddress == I2C_ESC && sensor->unit == UNIT_RPMS) { - value = value / 10; - } - - // Current, 10mA (0-655.34A) - if (i2cAddress == I2C_ESC && sensor->startByte == 6) { - value = value / 10; - } - - // BEC Current, 100mA (0-25.4A) - if (i2cAddress == I2C_ESC && sensor->startByte == 10) { - value = value / 10; - } - - // Throttle 0.5% (0-127%) - if (i2cAddress == I2C_ESC && sensor->startByte == 12) { - value = value / 2; - } - - // Power 0.5% (0-127%) - if (i2cAddress == I2C_ESC && sensor->startByte == 13) { - value = value / 2; + if (i2cAddress == I2C_ESC) { + // RPM, 10RPM (0-655340 RPM) + if (sensor->startByte == 0) + value = value * 10; + // BEC Voltage 50mV (0-12.70A). Throttle 0.5% (0-127%). Power 0.5% (0-127%) + else if (sensor->startByte == 11 || sensor->startByte == 12 || sensor->startByte == 13) + value = value / 2; } if (i2cAddress == I2C_CELLS && sensor->unit == UNIT_VOLTS) { @@ -443,10 +456,6 @@ void processSpektrumPacket(const uint8_t *packet) // Spektrum's documents talks says: Resolution: 300A/2048 = 0.196791 A/tick // Note that 300/2048 = 0,1464. DeviationTX also uses the 0.196791 figure value = value * 196791 / 100000; - else if (sensor->i2caddress == I2C_GPS2 && sensor->unit == UNIT_DATETIME) { - // Frsky time is HH:MM:SS:00 bcd encodes while spektrum uses 0HH:MM:SS.S - value = (value & 0xfffffff0) << 4; - } // Check if this looks like a LemonRX Transceiver, they use QoS Frame loss A as RSSI indicator(0-100) if (i2cAddress == I2C_QOS && sensor->startByte == 0) { @@ -464,6 +473,80 @@ void processSpektrumPacket(const uint8_t *packet) telemetryStreaming = TELEMETRY_TIMEOUT10ms; } + // GPS loc + static bool is_north, is_east, is_lon_bigger_than_100, is_alt_neg; + static uint32_t altitude_high; + static int32_t latitude, longitude; + if (i2cAddress == I2C_GPS_LOC) { + if (sensor->startByte == 0) { + value += altitude_high; + if (is_alt_neg) + value *= -1; + } + else if (sensor->startByte == 2) { + uint32_t deg, min; + deg = bcdToInt8(value >> 24); + min = bcdToInt32(value & 0x00ffffff); + latitude = deg * 600000L + min; + if (!is_north) + latitude *= -1; + latitude = (latitude * 5) / 3; // min/10000 => deg/1000000 + setTelemetryValue(PROTOCOL_TELEMETRY_SPEKTRUM, 0x1602, 0, 0, latitude, UNIT_GPS_LATITUDE, 0); + continue; + } + else if (sensor->startByte == 6) { + uint32_t deg, min; + deg = bcdToInt8(value >> 24); + min = bcdToInt32(value & 0x00ffffff); + if (is_lon_bigger_than_100) + deg += 100; + longitude = deg * 600000L + min; + if (!is_east) + longitude *= -1; + longitude = (longitude * 5) / 3; // min/10000 => deg/1000000 + setTelemetryValue(PROTOCOL_TELEMETRY_SPEKTRUM, 0x1602, 0, 0, longitude, UNIT_GPS_LONGITUDE, 0); + continue; + } + else if (sensor->startByte == 13) { + is_north = value & 0x01; + is_east = value & 0x02; + is_lon_bigger_than_100 = value & 0x04; + is_alt_neg = value & 0x80; + continue; + } + } + + //GPS stat + if (i2cAddress == I2C_GPS_STAT) { + if (sensor->startByte == 2) { + // Frsky time is HH:MM:SS:00 while spektrum is bcd 0HH:MM:SS.S + uint8_t hour = bcdToInt8(value >> 20); + uint8_t minute = bcdToInt8(value >> 12); + uint8_t second = bcdToInt8(value >> 4); + value = ((uint32_t)hour << 24) | ((uint32_t)minute << 16) | ((uint32_t)second << 8); + } + else if (sensor->startByte == 7) { + altitude_high = value * 10000; + continue; + } + } + + // Vario + if (sensor->i2caddress == I2C_VARIO) { + if (sensor->startByte == 2) + value = value * 4; + else if (sensor->startByte == 4) + value = value * 2; + else if (sensor->startByte == 6) + value = value; + else if (sensor->startByte == 8) + value = value * 2 / 3; + else if (sensor->startByte == 10) + value = value / 2; + else if (sensor->startByte == 12) + value = value / 3; + } + uint16_t pseudoId = (sensor->i2caddress << 8 | sensor->startByte); setTelemetryValue(PROTOCOL_TELEMETRY_SPEKTRUM, pseudoId, 0, instance, value, sensor->unit, sensor->precision); }