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Complete spektrum telemetry
This commit is contained in:
dgatf
parent
70867aaeb5
commit
74ddd92cf6
1 changed files with 185 additions and 102 deletions
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@ -46,13 +46,29 @@
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#define SPEKTRUM_TELEMETRY_LENGTH 18
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#define DSM_BIND_PACKET_LENGTH 12
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#define I2C_VOLT_INTERNAL 0x01
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#define I2C_TEMP_INTERNAL 0x02
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#define I2C_HIGH_CURRENT 0x03
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#define I2C_FWD_PGM 0x09
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#define I2C_POWERBOX 0X0a
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#define I2C_LAPTIMER 0X0b
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#define I2C_TEXTGEN 0x0c
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#define I2C_GPS 0x17
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#define I2C_GPS2 0x17
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#define IC2_AIRSPEED 0x11
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#define IC2_ALTITUDE 0x12
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#define I2C_GFORCE 0x14
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#define I2C_JETCAT 0x15
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#define I2C_GPS_LOC 0x16
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#define I2C_GPS_STAT 0x17
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#define I2C_DUALENERGY 0x18
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#define I2C_JETCAT2 0x19
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#define I2C_GYRO 0x1a
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#define I2C_ATTMAG 0x1b
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#define I2C_ESC 0x20
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#define IC2_BATTERY 0x34
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#define I2C_CELLS 0x3a
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#define I2C_VARIO 0x40
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#define I2C_RTC 0x7c
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#define I2C_RPMVOLTTEMP 0x7e
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// SMART_BAT is using fake I2C adresses compared to official Spektrum address because of subtype used only for this I2C address
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#define I2C_SMART_BAT_BASE_ADDRESS 0x42
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@ -91,105 +107,115 @@ struct SpektrumSensor {
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const SpektrumSensor spektrumSensors[] = {
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// High voltage internal sensor
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{0x01, 0, int16, ZSTR_A1, UNIT_VOLTS, 1},
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{I2C_VOLT_INTERNAL, 0, int16, ZSTR_A1, UNIT_VOLTS, 1},
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// Temperature internal sensor
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{0x02, 0, int16, ZSTR_TEMP1, UNIT_CELSIUS, 1},
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{I2C_TEMP_INTERNAL, 0, int16, ZSTR_TEMP1, UNIT_CELSIUS, 1},
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// High current internal sensor (0x03), 300A/2048 resolution
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{I2C_HIGH_CURRENT, 0, int16, ZSTR_CURR, UNIT_AMPS, 1},
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// Powerbox (also mentioned as 0x7D but that is also transmitter frame data)
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{0x0a, 0, uint16, ZSTR_BATT1_VOLTAGE, UNIT_VOLTS, 2},
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{0x0a, 2, uint16, ZSTR_BATT2_VOLTAGE, UNIT_VOLTS, 2},
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{0x0a, 4, uint16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 0},
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{0x0a, 6, uint16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0},
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{I2C_POWERBOX, 0, uint16, ZSTR_BATT1_VOLTAGE, UNIT_VOLTS, 2},
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{I2C_POWERBOX, 2, uint16, ZSTR_BATT2_VOLTAGE, UNIT_VOLTS, 2},
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{I2C_POWERBOX, 4, uint16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 0},
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{I2C_POWERBOX, 6, uint16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0},
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// Lap Timer
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{0x0b, 0, uint8, ZSTR_LAP_NUMBER, UNIT_RAW, 0},
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{0x0b, 0, uint8, ZSTR_GATE_NUMBER, UNIT_RAW, 0},
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{0x0b, 0, uint32, ZSTR_LAP_TIME, UNIT_SECONDS, 3},
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{0x0b, 0, uint32, ZSTR_GATE_TIME, UNIT_SECONDS, 3},
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{I2C_LAPTIMER, 0, uint8, ZSTR_LAP_NUMBER, UNIT_RAW, 0},
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{I2C_LAPTIMER, 0, uint8, ZSTR_GATE_NUMBER, UNIT_RAW, 0},
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{I2C_LAPTIMER, 0, uint32, ZSTR_LAP_TIME, UNIT_SECONDS, 3},
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{I2C_LAPTIMER, 0, uint32, ZSTR_GATE_TIME, UNIT_SECONDS, 3},
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// Text Generator
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{I2C_TEXTGEN, 0, uint32, ZSTR_FLIGHT_MODE, UNIT_TEXT, 0},
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// AirSpeed, also has max (+2, int16)
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{0x11, 0, int16, ZSTR_ASPD, UNIT_KMH, 0},
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{IC2_AIRSPEED, 0, int16, ZSTR_ASPD, UNIT_KMH, 0},
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// Altitude, also has max (+2, int16)
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{0x12, 0, int16, ZSTR_ALT, UNIT_METERS, 1},
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{IC2_ALTITUDE, 0, int16, ZSTR_ALT, UNIT_METERS, 1},
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// {0x38, strain}
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// G-Force (+min, max)
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{0x14, 0, int16, ZSTR_ACCX, UNIT_G, 2},
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{0x14, 2, int16, ZSTR_ACCY, UNIT_G, 2},
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{0x14, 4, int16, ZSTR_ACCZ, UNIT_G, 2},
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{I2C_GFORCE, 0, int16, ZSTR_ACCX, UNIT_G, 2},
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{I2C_GFORCE, 2, int16, ZSTR_ACCY, UNIT_G, 2},
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{I2C_GFORCE, 4, int16, ZSTR_ACCZ, UNIT_G, 2},
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// 0x15, JETCAT/TURBINE, BCD Encoded values
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// JETCAT/TURBINE, BCD Encoded values
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// TODO: Add decoding of status information
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// {0x15, 0, uint8, ZSTR_STATUS, UNIT_BITFIELD, 0},
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{0x15, 1, uint8bcd, ZSTR_THROTTLE, UNIT_PERCENT, 0},
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{0x15, 2, uint16bcd, ZSTR_A1, UNIT_VOLTS, 2},
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{0x15, 4, uint16bcd, ZSTR_A2, UNIT_VOLTS, 2},
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{0x15, 6, uint32bcd, ZSTR_RPM, UNIT_RPMS, 0},
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{0x15, 10, uint16bcd, ZSTR_TEMP1, UNIT_CELSIUS, 0},
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// {0x15, 0, uint8, ZSTR_STATUS, UNIT_BITFIELD, 0},
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// {I2C_JETCAT, 0, uint8, ZSTR_STATUS, UNIT_BITFIELD, 0},
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{I2C_JETCAT, 1, uint8bcd, ZSTR_THROTTLE, UNIT_PERCENT, 0},
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{I2C_JETCAT, 2, uint16bcd, ZSTR_A1, UNIT_VOLTS, 2},
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{I2C_JETCAT, 4, uint16bcd, ZSTR_A2, UNIT_VOLTS, 2},
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{I2C_JETCAT, 6, uint32bcd, ZSTR_RPM, UNIT_RPMS, 0},
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{I2C_JETCAT, 10, uint16bcd, ZSTR_TEMP1, UNIT_CELSIUS, 0},
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// {I2C_JETCAT, 0, uint8, ZSTR_STATUS, UNIT_BITFIELD, 0},
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// 0x16-0x17 GPS
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// GPS
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// GPS is bcd encoded and also uses flags. Hard to get right without an actual GPS Sensor
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// Time/date is also BCD encoded but so this FrSky's, so treat it as uint32
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{I2C_GPS2, 0, uint16bcd, ZSTR_GSPD, UNIT_KTS, 1},
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{I2C_GPS2, 2, uint32, ZSTR_GPSDATETIME, UNIT_DATETIME, 0},
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{I2C_GPS_LOC, 0, uint16bcd, ZSTR_GPSALT, UNIT_METERS, 1}, // altitude low bits bcd 3.1
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{I2C_GPS_LOC, 2, uint32le, ZSTR_GPS, UNIT_GPS, 0}, // lat bcd DDMM.MMMM
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{I2C_GPS_LOC, 6, uint32le, ZSTR_GPS, UNIT_GPS, 0}, // lon bcd DDMM.MMMM
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{I2C_GPS_LOC, 10, uint16bcd, ZSTR_HDG, UNIT_DEGREE, 1}, // bcd 3.1
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{I2C_GPS_LOC, 13, uint8, ZSTR_GPS, UNIT_BITFIELD, 0}, // gps flags
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{I2C_GPS_STAT, 0, uint16bcd, ZSTR_GSPD, UNIT_KTS, 1}, // bcd 3.1
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{I2C_GPS_STAT, 2, uint32le, ZSTR_GPSDATETIME, UNIT_DATETIME, 0}, // bcd 0HH:MM:SS.S
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{I2C_GPS_STAT, 6, uint8bcd, ZSTR_SATELLITES, UNIT_RAW, 0}, // bcd 2.0
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{I2C_GPS_STAT, 7, uint8bcd, ZSTR_GPS, UNIT_BITFIELD, 0}, // altitude high bits bcd 2.0
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// Dual energy
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{I2C_DUALENERGY, 0, int16, ZSTR_BATT1_CURRENT, UNIT_AMPS, 2},
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{I2C_DUALENERGY, 2, int16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 1},
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{I2C_DUALENERGY, 4, uint16, ZSTR_BATT1_VOLTAGE, UNIT_VOLTS, 2},
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{I2C_DUALENERGY, 6, int16, ZSTR_BATT2_CURRENT, UNIT_AMPS, 1},
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{I2C_DUALENERGY, 8, int16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0},
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{I2C_DUALENERGY, 10, uint16, ZSTR_BATT2_VOLTAGE, UNIT_VOLTS, 2},
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//{0x17, 2, uint32, ZSTR_GPSDATETIME, UNIT_DATETIME}, utc in bcd HH:MM:SS.S
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{0x17, 6, uint8bcd, ZSTR_SATELLITES, UNIT_RAW, 0},
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//{0x17, 7, uint8bcd, ZSTR_GPSALT, UNIT_METERS}, altitude high bits
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// Jetcat flow rate
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// {I2C_JETCAT2, 0, uint16bcd, ZSTR_FUEL_CONSUMPTION, UNIT_MILLILITERS_PER_MINUTE, 1}, missing ml/min
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{I2C_JETCAT2, 2, uint32bcd, ZSTR_FUEL, UNIT_MILLILITERS, 1},
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// 0x19 Jetcat flow rate
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// {0x19, 0, uint16bcd, ZSTR_FUEL_CONSUMPTION, UNIT_MILLILITERS_PER_MINUTE, 1}, missing ml/min
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{0x19, 2, uint32bcd, ZSTR_FUEL, UNIT_MILLILITERS, 1},
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// Gyro
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{I2C_GYRO, 0, int16, ZSTR_GYROX, UNIT_DEGREE, 1},
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{I2C_GYRO, 2, int16, ZSTR_GYROY, UNIT_DEGREE, 1},
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{I2C_GYRO, 4, int16, ZSTR_GYROZ, UNIT_DEGREE, 1},
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// 0x1a Gyro
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{0x1a, 0, int16, ZSTR_GYROX, UNIT_DEGREE, 1},
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{0x1a, 2, int16, ZSTR_GYROY, UNIT_DEGREE, 1},
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{0x1a, 4, int16, ZSTR_GYROZ, UNIT_DEGREE, 1},
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// 0x1b Attitude & Mag Compass
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// Attitude & Mag Compass
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// mag Units are tbd so probably no sensor in existance, ignore them for now
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{0x1b, 0, int16, ZSTR_ROLL, UNIT_DEGREE, 1},
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{0x1b, 2, int16, ZSTR_PITCH, UNIT_DEGREE, 1},
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{0x1b, 4, int16, ZSTR_YAW, UNIT_DEGREE, 1},
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{I2C_ATTMAG, 0, int16, ZSTR_ROLL, UNIT_DEGREE, 1},
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{I2C_ATTMAG, 2, int16, ZSTR_PITCH, UNIT_DEGREE, 1},
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{I2C_ATTMAG, 4, int16, ZSTR_YAW, UNIT_DEGREE, 1},
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// {0x20, esc}, Smart ESC telemetry
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// Smart ESC telemetry
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{I2C_ESC, 0, uint16, ZSTR_ESC_RPM, UNIT_RPMS, 0},
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{I2C_ESC, 2, uint16, ZSTR_ESC_VIN, UNIT_VOLTS, 2},
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{I2C_ESC, 4, uint16, ZSTR_ESC_TFET, UNIT_CELSIUS, 1},
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{I2C_ESC, 6, uint16, ZSTR_ESC_CUR, UNIT_MAH, 1},
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{I2C_ESC, 6, uint16, ZSTR_ESC_CUR, UNIT_AMPS, 2},
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{I2C_ESC, 8, uint16, ZSTR_ESC_TBEC, UNIT_CELSIUS, 1},
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{I2C_ESC, 10, uint8, ZSTR_ESC_BCUR, UNIT_AMPS, 1},
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{I2C_ESC, 11, uint8, ZSTR_ESC_VBEC, UNIT_VOLTS, 2},
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{I2C_ESC, 11, uint8, ZSTR_ESC_VBEC, UNIT_VOLTS, 1},
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{I2C_ESC, 12, uint8, ZSTR_ESC_THR, UNIT_PERCENT, 1},
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{I2C_ESC, 13, uint8, ZSTR_ESC_POUT, UNIT_PERCENT, 1},
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// Dual Cell monitor (0x34)
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{0x34, 0, int16, ZSTR_BATT1_CURRENT, UNIT_AMPS, 1},
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{0x34, 2, int16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 1},
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{0x34, 4, uint16, ZSTR_BATT1_TEMP, UNIT_CELSIUS, 1},
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{0x34, 6, int16, ZSTR_BATT2_CURRENT, UNIT_AMPS, 1},
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{0x34, 8, int16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 1},
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{0x34, 10, uint16, ZSTR_BATT2_TEMP, UNIT_CELSIUS, 1},
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// Dual Batteries
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{IC2_BATTERY, 0, int16, ZSTR_BATT1_CURRENT, UNIT_AMPS, 1},
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{IC2_BATTERY, 2, int16, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 0},
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{IC2_BATTERY, 4, uint16, ZSTR_BATT1_TEMP, UNIT_CELSIUS, 1},
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{IC2_BATTERY, 6, int16, ZSTR_BATT2_CURRENT, UNIT_AMPS, 1},
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{IC2_BATTERY, 8, int16, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0},
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{IC2_BATTERY, 10, uint16, ZSTR_BATT2_TEMP, UNIT_CELSIUS, 1},
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// Tank pressure + custom input bits (ignore for now)
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//{0x38, 0, uint16, ZSTR_STATUS_BITS, UNIT_BITFIELD, 0},
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//{0x38, 0, uint16, ZSTR_PRESSSURE, UNIT_PSI, 1},
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// Cells (0x3a)
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// Cells
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{I2C_CELLS, 0, uint16, ZSTR_CELLS, UNIT_VOLTS, 2},
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{I2C_CELLS, 2, uint16, ZSTR_CELLS, UNIT_VOLTS, 2},
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{I2C_CELLS, 4, uint16, ZSTR_CELLS, UNIT_VOLTS, 2},
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@ -199,8 +225,13 @@ const SpektrumSensor spektrumSensors[] = {
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{I2C_CELLS, 12, uint16, ZSTR_TEMP2, UNIT_CELSIUS, 2},
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// Vario-S
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{0x40, 0, int16, ZSTR_ALT, UNIT_METERS, 1},
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{0x40, 2, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 1},
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{I2C_VARIO, 0, int16, ZSTR_ALT, UNIT_METERS, 1},
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{I2C_VARIO, 2, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 1},
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{I2C_VARIO, 4, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 1},
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{I2C_VARIO, 6, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 0},
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{I2C_VARIO, 8, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 0},
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{I2C_VARIO, 10, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 0},
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{I2C_VARIO, 12, int16, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 0},
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// Smartbat
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//{I2C_SMART_BAT_REALTIME, 1, int8, ZSTR_SMART_BAT_BTMP, UNIT_CELSIUS, 0}, // disabled because sensor is a duplicate of cells sensors ones
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@ -256,9 +287,9 @@ const SpektrumSensor spektrumSensors[] = {
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// telemetry bus on the model itself
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// RPM/Volts/Temperature
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{0x7e, 0, uint16, ZSTR_RPM, UNIT_RPMS, 0},
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{0x7e, 2, uint16, ZSTR_A3, UNIT_VOLTS, 2},
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{0x7e, 4, int16, ZSTR_TEMP2, UNIT_FAHRENHEIT, 0},
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{I2C_RPMVOLTTEMP, 0, uint16, ZSTR_RPM, UNIT_RPMS, 0},
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{I2C_RPMVOLTTEMP, 2, uint16, ZSTR_A3, UNIT_VOLTS, 2},
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{I2C_RPMVOLTTEMP, 4, int16, ZSTR_TEMP2, UNIT_FAHRENHEIT, 0},
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// 0x7f, QoS DATA, also called Flight Log,, with A, B, L, R, F, H?
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// A - Antenna Fades on Receiver A
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@ -279,21 +310,19 @@ const SpektrumSensor spektrumSensors[] = {
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{0, 0, int16, NULL, UNIT_RAW, 0} //sentinel
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};
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// The bcd int parameter has wrong endian
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static int32_t bcdToInt16(uint16_t bcd)
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{
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return (bcd & 0x0f00) + 10 * (bcd & 0xf000) + 100 * (bcd & 0x000f) + 1000 * (bcd & 0x00f0);
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}
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// The bcd int parameter has wrong endian
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static int32_t bcdToInt8(uint8_t bcd)
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{
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return (bcd & 0xf) + 10 * (bcd & 0xf0);
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return 10 * ((bcd & 0xf0) >> 4) + (bcd & 0xf);
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}
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static int32_t bcdToInt16(uint16_t bcd)
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{
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return 100 * bcdToInt8(bcd >> 8) + bcdToInt8(bcd);
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}
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static int32_t bcdToInt32(uint32_t bcd)
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{
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return bcdToInt16(bcd >> 16) + 10000 * bcdToInt16(bcd);
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return 10000 * bcdToInt16(bcd >> 16) + bcdToInt16(bcd);
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}
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// Spektrum uses Big Endian data types
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@ -408,28 +437,12 @@ void processSpektrumPacket(const uint8_t *packet)
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}
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}
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if (i2cAddress == I2C_ESC) {
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// RPM, 10RPM (0-655340 RPM)
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if (i2cAddress == I2C_ESC && sensor->unit == UNIT_RPMS) {
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value = value / 10;
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}
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// Current, 10mA (0-655.34A)
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if (i2cAddress == I2C_ESC && sensor->startByte == 6) {
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value = value / 10;
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}
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// BEC Current, 100mA (0-25.4A)
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if (i2cAddress == I2C_ESC && sensor->startByte == 10) {
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value = value / 10;
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}
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// Throttle 0.5% (0-127%)
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if (i2cAddress == I2C_ESC && sensor->startByte == 12) {
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value = value / 2;
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}
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// Power 0.5% (0-127%)
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if (i2cAddress == I2C_ESC && sensor->startByte == 13) {
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if (sensor->startByte == 0)
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value = value * 10;
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// BEC Voltage 50mV (0-12.70A). Throttle 0.5% (0-127%). Power 0.5% (0-127%)
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else if (sensor->startByte == 11 || sensor->startByte == 12 || sensor->startByte == 13)
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value = value / 2;
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}
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@ -443,10 +456,6 @@ void processSpektrumPacket(const uint8_t *packet)
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// Spektrum's documents talks says: Resolution: 300A/2048 = 0.196791 A/tick
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// 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);
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue