Mirror/opentx
1
0
Fork 0
mirror of https://github.com/opentx/opentx.git synced 2025-07-24 16:55:20 +03:00
Code Issues Wiki Activity

Re #2908: frsky_d.cpp split into ARM and nonARM files, ARM Frsky alarms code removed completely

Browse source
This commit is contained in:
Damjan Adamic 2015-09-20 13:08:41 +02:00
parent 18ffe9f503
commit bfc01f9504
5 changed files with 344 additions and 360 deletions
Download patch file Download diff file Expand all files Collapse all files

11
radio/src/Makefile
View file

@ -1284,13 +1284,18 @@ endif
ifeq ($(EXT), $(filter $(EXT), FRSKY FRSKY_SPORT TELEMETREZ))
CPPDEFS += -DFRSKY
ifeq ($(EXT), FRSKY_SPORT)
CPPSRC += telemetry/frsky.cpp telemetry/frsky_sport.cpp telemetry/frsky_d.cpp
CPPDEFS += -DFRSKY_SPORT
ifeq ($(ARCH), ARM)
CPPSRC += telemetry/frsky.cpp telemetry/frsky_d_arm.cpp
else
CPPSRC += telemetry/frsky.cpp telemetry/frsky_d.cpp
endif
ifeq ($(EXT), FRSKY_SPORT)
CPPSRC += telemetry/frsky_sport.cpp
CPPDEFS += -DFRSKY_SPORT
endif
CPPSRC += gui/$(GUIDIRECTORY)/view_telemetry.cpp
ifeq ($(FRSKY_HUB), YES)

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

@ -47,7 +47,7 @@ uint8_t link_counter = 0;
#define FRSKY_RX_PACKET_SIZE 19
uint8_t frskyRxBuffer[FRSKY_RX_PACKET_SIZE]; // Receive buffer. 9 bytes (full packet), worst case 18 bytes with byte-stuffing (+1)
#if !defined(PCBTARANIS)
#if !defined(CPUARM)
uint8_t frskyTxBuffer[FRSKY_TX_PACKET_SIZE];
#endif
@ -323,7 +323,7 @@ void telemetryWakeup()
}
#endif
#if !defined(PCBTARANIS)
#if !defined(CPUARM)
if (IS_FRSKY_D_PROTOCOL()) {
// Attempt to transmit any waiting Fr-Sky alarm set packets every 50ms (subject to packet buffer availability)
static uint8_t frskyTxDelay = 5;

24
radio/src/telemetry/frsky.h
View file

@ -50,6 +50,18 @@
#define FRSKY_SPORT_AVERAGING 4
#define FRSKY_D_AVERAGING 8
// Enumerate FrSky packet codes
#define LINKPKT 0xfe
#define USRPKT 0xfd
#define A11PKT 0xfc
#define A12PKT 0xfb
#define A21PKT 0xfa
#define A22PKT 0xf9
#define ALRM_REQUEST 0xf8
#define RSSI1PKT 0xf7
#define RSSI2PKT 0xf6
#define RSSI_REQUEST 0xf1
// FrSky PRIM IDs (1 byte)
#define DATA_FRAME 0x10
@ -471,7 +483,7 @@ enum FrSkyDataState {
#endif
};
#if defined(PCBTARANIS)
#if defined(CPUARM)
#define frskySendAlarms()
#else
#define SEND_RSSI_ALARMS 6
@ -486,6 +498,16 @@ enum FrSkyDataState {
}
#endif
#if defined(FRSKY_HUB)
typedef enum {
TS_IDLE = 0, // waiting for 0x5e frame marker
TS_DATA_ID, // waiting for dataID
TS_DATA_LOW, // waiting for data low byte
TS_DATA_HIGH, // waiting for data high byte
TS_XOR = 0x80 // decode stuffed byte
} TS_STATE;
#endif
// FrSky D Protocol
void processHubPacket(uint8_t id, int16_t value);
void frskyDSendNextAlarm(void);

361
radio/src/telemetry/frsky_d.cpp
View file

@ -36,19 +36,7 @@
#include "../opentx.h"
// Enumerate FrSky packet codes
#define LINKPKT 0xfe
#define USRPKT 0xfd
#define A11PKT 0xfc
#define A12PKT 0xfb
#define A21PKT 0xfa
#define A22PKT 0xf9
#define ALRM_REQUEST 0xf8
#define RSSI1PKT 0xf7
#define RSSI2PKT 0xf6
#define RSSI_REQUEST 0xf1
#if !defined(CPUARM) && (defined(FRSKY_HUB) || defined(WS_HOW_HIGH))
#if (defined(FRSKY_HUB) || defined(WS_HOW_HIGH))
void checkMinMaxAltitude()
{
if (TELEMETRY_RELATIVE_BARO_ALT_BP > frskyData.hub.maxAltitude)
@ -59,14 +47,6 @@ void checkMinMaxAltitude()
#endif
#if defined(FRSKY_HUB)
typedef enum {
TS_IDLE = 0, // waiting for 0x5e frame marker
TS_DATA_ID, // waiting for dataID
TS_DATA_LOW, // waiting for data low byte
TS_DATA_HIGH, // waiting for data high byte
TS_XOR = 0x80 // decode stuffed byte
} TS_STATE;
void parseTelemHubByte(uint8_t byte)
{
static int8_t structPos;
@ -93,11 +73,7 @@ void parseTelemHubByte(uint8_t byte)
state = TS_IDLE;
}
else {
#if defined(CPUARM)
structPos = byte;
#else
structPos = byte * 2;
#endif
state = TS_DATA_LOW;
}
return;
@ -110,10 +86,6 @@ void parseTelemHubByte(uint8_t byte)
state = TS_IDLE;
#if defined(CPUARM)
processHubPacket(structPos, (byte << 8) + lowByte);
#else
#if defined(GPS)
if ((uint8_t)structPos == offsetof(FrskySerialData, gpsLatitude_bp)) {
if (lowByte || byte)
@ -134,11 +106,7 @@ void parseTelemHubByte(uint8_t byte)
if (frskyData.hub.gpsFix <= 0)
return;
}
#endif
#if 0
uint16_t previousValue = *((uint16_t *)(((uint8_t*)&frskyData.hub) + structPos));
#endif
#endif // #if defined(GPS)
((uint8_t*)&frskyData.hub)[structPos] = lowByte;
((uint8_t*)&frskyData.hub)[structPos+1] = byte;
@ -171,7 +139,7 @@ void parseTelemHubByte(uint8_t byte)
if (frskyData.hub.current > frskyData.hub.maxCurrent)
frskyData.hub.maxCurrent = frskyData.hub.current;
break;
case offsetof(FrskySerialData, currentConsumption):
// we receive data from openXsensor. stops the calculation of consumption and power
frskyData.hub.openXsensor = 1;
@ -264,11 +232,10 @@ void parseTelemHubByte(uint8_t byte)
break;
#endif
}
#endif
}
#endif
#endif // #if defined(FRSKY_HUB)
#if defined(WS_HOW_HIGH) && !defined(CPUARM)
#if defined(WS_HOW_HIGH)
void parseTelemWSHowHighByte(uint8_t byte)
{
if (frskyUsrStreaming < (WSHH_TIMEOUT10ms - 10)) {
@ -282,33 +249,8 @@ void parseTelemWSHowHighByte(uint8_t byte)
// baroAltitude_bp unit here is feet!
frskyUsrStreaming = WSHH_TIMEOUT10ms; // reset counter
}
#endif
#endif
#if defined(CPUARM)
void frskyDProcessPacket(uint8_t *packet)
{
// What type of packet?
switch (packet[0])
{
case LINKPKT: // A1/A2/RSSI values
{
setTelemetryValue(TELEM_PROTO_FRSKY_D, D_A1_ID, 0, packet[1], UNIT_VOLTS, 0);
setTelemetryValue(TELEM_PROTO_FRSKY_D, D_A2_ID, 0, packet[2], UNIT_VOLTS, 0);
setTelemetryValue(TELEM_PROTO_FRSKY_D, D_RSSI_ID, 0, packet[3], UNIT_RAW, 0);
frskyData.rssi.set(packet[3]);
frskyStreaming = FRSKY_TIMEOUT10ms; // reset counter only if valid frsky packets are being detected
break;
}
case USRPKT: // User Data packet
uint8_t numBytes = 3 + (packet[1] & 0x07); // sanitize in case of data corruption leading to buffer overflow
for (uint8_t i=3; i<numBytes; i++) {
parseTelemHubByte(packet[i]);
}
break;
}
}
#else
void frskyDProcessPacket(uint8_t *packet)
{
// What type of packet?
@ -346,79 +288,14 @@ void frskyDProcessPacket(uint8_t *packet)
#endif
}
break;
#endif
#endif // #if defined(FRSKY_HUB) || defined (WS_HOW_HIGH)
}
}
#endif
#if !defined(PCBTARANIS)
// Alarms level sent to the FrSky module
uint8_t frskyAlarmsSendState = 0 ;
#if defined(CPUARM)
void frskyPushValue(uint8_t *&ptr, uint8_t value)
{
// byte stuff the only byte than might need it
if (value == START_STOP) {
*ptr++ = BYTESTUFF;
*ptr++ = 0x5e;
}
else if (value == BYTESTUFF) {
*ptr++ = BYTESTUFF;
*ptr++ = 0x5d;
}
else {
*ptr++ = value;
}
}
void frskyDSendNextAlarm(void)
{
#if defined(PCBSKY9X)
if (telemetryTransmitPending()) {
return; // we only have one buffer. If it's in use, then we can't send yet.
}
#endif
#if 0
uint8_t *ptr = &frskyTxBuffer[0];
*ptr++ = START_STOP; // Start of packet
// Now send a packet
frskyAlarmsSendState -= 1;
uint8_t alarm = 1 - (frskyAlarmsSendState % 2);
if (frskyAlarmsSendState < SEND_MODEL_ALARMS) {
uint8_t channel = 1 - (frskyAlarmsSendState / 2);
*ptr++ = (A22PKT + frskyAlarmsSendState); // fc - fb - fa - f9
frskyPushValue(ptr, g_model.frsky.channels[channel].alarms_value[alarm]);
*ptr++ = ALARM_GREATER(channel, alarm);
*ptr++ = (IS_SOUND_OFF() ? alarm_off : ALARM_LEVEL(channel, alarm));
}
else {
*ptr++ = (RSSI1PKT-alarm); // f7 - f6
frskyPushValue(ptr, getRssiAlarmValue(alarm));
*ptr++ = 0x00;
*ptr++ = (IS_SOUND_OFF() ? alarm_off : ((2+alarm+g_model.frsky.rssiAlarms[alarm].level) % 4));
}
*ptr++ = 0x00;
*ptr++ = 0x00;
*ptr++ = 0x00;
*ptr++ = 0x00;
*ptr++ = 0x00;
*ptr++ = START_STOP; // End of packet
telemetryTransmitBuffer(frskyTxBuffer, ptr - &frskyTxBuffer[0]);
#elif !defined(WIN32)
#warning "FrSky module alarms removed!"
#endif
}
#else
void frskyPushValue(uint8_t *&ptr, uint8_t value)
{
// byte stuff the only byte than might need it
@ -476,227 +353,3 @@ inline void frskyDSendNextAlarm(void)
frskySendPacket(RSSI1PKT-alarm, getRssiAlarmValue(alarm), 0, (2+alarm+g_model.frsky.rssiAlarms[alarm].level) % 4);
}
}
#endif
#endif
// checks if an alarm is raised, not used any more
#if 0
bool isFrskyAlarmRaised(uint8_t idx)
{
for (int i=0; i<2; i++) {
if (ALARM_LEVEL(idx, i) != alarm_off) {
if (ALARM_GREATER(idx, i)) {
if (frskyData.analog[idx].value > g_model.frsky.channels[idx].alarms_value[i])
return true;
}
else {
if (frskyData.analog[idx].value < g_model.frsky.channels[idx].alarms_value[i])
return true;
}
}
}
return false;
}
#endif
#if defined(CPUARM)
struct FrSkyDSensor {
const uint8_t id;
const char * name;
const TelemetryUnit unit;
const uint8_t prec;
};
const FrSkyDSensor frskyDSensors[] = {
{ D_RSSI_ID, ZSTR_RSSI, UNIT_RAW, 0 },
{ D_A1_ID, ZSTR_A1, UNIT_VOLTS, 1 },
{ D_A2_ID, ZSTR_A2, UNIT_VOLTS, 1 },
{ RPM_ID, ZSTR_RPM, UNIT_RPMS, 0 },
{ FUEL_ID, ZSTR_FUEL, UNIT_PERCENT, 0 },
{ TEMP1_ID, ZSTR_TEMP, UNIT_CELSIUS, 0 },
{ TEMP2_ID, ZSTR_TEMP, UNIT_CELSIUS, 0 },
{ CURRENT_ID, ZSTR_CURR, UNIT_AMPS, 1 },
{ ACCEL_X_ID, ZSTR_ACCX, UNIT_G, 3 },
{ ACCEL_Y_ID, ZSTR_ACCY, UNIT_G, 3 },
{ ACCEL_Z_ID, ZSTR_ACCZ, UNIT_G, 3 },
{ VARIO_ID, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 2 },
{ VFAS_ID, ZSTR_VFAS, UNIT_VOLTS, 2 },
{ BARO_ALT_AP_ID, ZSTR_ALT, UNIT_METERS, 1 }, // we map hi precision vario into PREC1!
{ VOLTS_AP_ID, ZSTR_VFAS, UNIT_VOLTS, 2 },
{ GPS_SPEED_BP_ID, ZSTR_GSPD, UNIT_KTS, 0 },
{ GPS_COURS_BP_ID, ZSTR_HDG, UNIT_DEGREE, 0 },
{ VOLTS_ID, ZSTR_CELLS, UNIT_CELLS, 2 },
{ GPS_ALT_BP_ID, ZSTR_GPSALT, UNIT_METERS, 0 },
{ GPS_HOUR_MIN_ID, ZSTR_GPSDATETIME, UNIT_DATETIME, 0 },
{ GPS_LAT_AP_ID, ZSTR_GPS, UNIT_GPS, 0 },
{ 0, NULL, UNIT_RAW, 0 } // sentinel
};
const FrSkyDSensor * getFrSkyDSensor(uint8_t id)
{
const FrSkyDSensor * result = NULL;
for (const FrSkyDSensor * sensor = frskyDSensors; sensor->id; sensor++) {
if (id == sensor->id) {
result = sensor;
break;
}
}
return result;
}
void processHubPacket(uint8_t id, int16_t value)
{
static uint8_t lastId = 0;
static uint16_t lastValue = 0;
TelemetryUnit unit = UNIT_RAW;
uint8_t precision = 0;
int32_t data = value;
if (id > FRSKY_LAST_ID || id == GPS_SPEED_AP_ID || id == GPS_ALT_AP_ID || id == GPS_COURS_AP_ID) {
return;
}
if (id == GPS_LAT_BP_ID || id == GPS_LONG_BP_ID || id == BARO_ALT_BP_ID || id == VOLTS_BP_ID) {
lastId = id;
lastValue = value;
return;
}
if (id == GPS_LAT_AP_ID) {
if (lastId == GPS_LAT_BP_ID) {
data += lastValue << 16;
unit = UNIT_GPS_LATITUDE;
}
else {
return;
}
}
else if (id == GPS_LONG_AP_ID) {
if (lastId == GPS_LONG_BP_ID) {
data += lastValue << 16;
id = GPS_LAT_AP_ID;
unit = UNIT_GPS_LONGITUDE;
}
else {
return;
}
}
else if (id == GPS_LAT_NS_ID) {
id = GPS_LAT_AP_ID;
unit = UNIT_GPS_LATITUDE_NS;
}
else if (id == GPS_LONG_EW_ID) {
id = GPS_LAT_AP_ID;
unit = UNIT_GPS_LONGITUDE_EW;
}
else if (id == BARO_ALT_AP_ID) {
if (lastId == BARO_ALT_BP_ID) {
if (data > 9 || frskyData.varioHighPrecision) {
frskyData.varioHighPrecision = true;
data /= 10; // map hi precision vario into low precision. Altitude is stored in 0.1m anyways
}
data = (int16_t)lastValue * 10 + (((int16_t)lastValue < 0) ? -data : data);
unit = UNIT_METERS;
precision = 1;
}
else {
return;
}
}
else if (id == VOLTS_AP_ID) {
if (lastId == VOLTS_BP_ID) {
data = ((lastValue * 100 + value * 10) * 210) / 110;
unit = UNIT_VOLTS;
precision = 2;
}
else {
return;
}
}
else if (id == VOLTS_ID) {
unit = UNIT_CELLS;
uint32_t cellData = (uint32_t)data;
data = ((cellData & 0x00F0) << 12) + (((((cellData & 0xFF00) >> 8) + ((cellData & 0x000F) << 8))) / 5);
}
else if (id == GPS_DAY_MONTH_ID) {
id = GPS_HOUR_MIN_ID;
unit = UNIT_DATETIME_DAY_MONTH;
}
else if (id == GPS_HOUR_MIN_ID) {
unit = UNIT_DATETIME_HOUR_MIN;
}
else if (id == GPS_SEC_ID) {
id = GPS_HOUR_MIN_ID;
unit = UNIT_DATETIME_SEC;
}
else if (id == GPS_YEAR_ID) {
id = GPS_HOUR_MIN_ID;
unit = UNIT_DATETIME_YEAR;
}
else {
const FrSkyDSensor * sensor = getFrSkyDSensor(id);
if (sensor) {
unit = sensor->unit;
precision = sensor->prec;
}
}
if (id == RPM_ID) {
data = data * 60;
}
else if (id == VFAS_ID) {
if (data >= VFAS_D_HIPREC_OFFSET) {
// incoming value has a resolution of 0.01V and added offset of VFAS_D_HIPREC_OFFSET
data -= VFAS_D_HIPREC_OFFSET;
}
else {
// incoming value has a resolution of 0.1V
data *= 10;
}
}
setTelemetryValue(TELEM_PROTO_FRSKY_D, id, 0, data, unit, precision);
}
void frskyDSetDefault(int index, uint16_t id)
{
TelemetrySensor & telemetrySensor = g_model.telemetrySensors[index];
telemetrySensor.id = id;
telemetrySensor.instance = 0;
const FrSkyDSensor * sensor = getFrSkyDSensor(id);
if (sensor) {
TelemetryUnit unit = sensor->unit;
uint8_t prec = min<uint8_t>(2, sensor->prec);
telemetrySensor.init(sensor->name, unit, prec);
if (id == D_RSSI_ID) {
telemetrySensor.filter = 1;
telemetrySensor.logs = true;
}
else if (id >= D_A1_ID && id <= D_A2_ID) {
telemetrySensor.custom.ratio = 132;
telemetrySensor.filter = 1;
}
else if (id == CURRENT_ID) {
telemetrySensor.onlyPositive = 1;
}
else if (id == BARO_ALT_AP_ID) {
telemetrySensor.autoOffset = 1;
}
if (unit == UNIT_RPMS) {
telemetrySensor.custom.ratio = 1;
telemetrySensor.custom.offset = 1;
}
else if (unit == UNIT_METERS) {
if (IS_IMPERIAL_ENABLE()) {
telemetrySensor.unit = UNIT_FEET;
}
}
}
else {
telemetrySensor.init(id);
}
eeDirty(EE_MODEL);
}
#endif

304
radio/src/telemetry/frsky_d_arm.cpp Normal file
View file

@ -0,0 +1,304 @@
/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Andreas Weitl
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Gabriel Birkus
* - Jean-Pierre Parisy
* - Karl Szmutny
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* opentx is based on code named
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
* and the original (and ongoing) project by
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
*
* 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"
#if defined(FRSKY_HUB)
void parseTelemHubByte(uint8_t byte)
{
static int8_t structPos;
static uint8_t lowByte;
static TS_STATE state = TS_IDLE;
if (byte == 0x5e) {
state = TS_DATA_ID;
return;
}
if (state == TS_IDLE) {
return;
}
if (state & TS_XOR) {
byte = byte ^ 0x60;
state = (TS_STATE)(state - TS_XOR);
}
else if (byte == 0x5d) {
state = (TS_STATE)(state | TS_XOR);
return;
}
if (state == TS_DATA_ID) {
if (byte > 0x3f) {
state = TS_IDLE;
}
else {
structPos = byte;
state = TS_DATA_LOW;
}
return;
}
if (state == TS_DATA_LOW) {
lowByte = byte;
state = TS_DATA_HIGH;
return;
}
state = TS_IDLE;
processHubPacket(structPos, (byte << 8) + lowByte);
}
#endif // #if defined(FRSKY_HUB)
void frskyDProcessPacket(uint8_t *packet)
{
// What type of packet?
switch (packet[0])
{
case LINKPKT: // A1/A2/RSSI values
{
setTelemetryValue(TELEM_PROTO_FRSKY_D, D_A1_ID, 0, packet[1], UNIT_VOLTS, 0);
setTelemetryValue(TELEM_PROTO_FRSKY_D, D_A2_ID, 0, packet[2], UNIT_VOLTS, 0);
setTelemetryValue(TELEM_PROTO_FRSKY_D, D_RSSI_ID, 0, packet[3], UNIT_RAW, 0);
frskyData.rssi.set(packet[3]);
frskyStreaming = FRSKY_TIMEOUT10ms; // reset counter only if valid frsky packets are being detected
break;
}
case USRPKT: // User Data packet
uint8_t numBytes = 3 + (packet[1] & 0x07); // sanitize in case of data corruption leading to buffer overflow
for (uint8_t i=3; i<numBytes; i++) {
parseTelemHubByte(packet[i]);
}
break;
}
}
struct FrSkyDSensor {
const uint8_t id;
const char * name;
const TelemetryUnit unit;
const uint8_t prec;
};
const FrSkyDSensor frskyDSensors[] = {
{ D_RSSI_ID, ZSTR_RSSI, UNIT_RAW, 0 },
{ D_A1_ID, ZSTR_A1, UNIT_VOLTS, 1 },
{ D_A2_ID, ZSTR_A2, UNIT_VOLTS, 1 },
{ RPM_ID, ZSTR_RPM, UNIT_RPMS, 0 },
{ FUEL_ID, ZSTR_FUEL, UNIT_PERCENT, 0 },
{ TEMP1_ID, ZSTR_TEMP, UNIT_CELSIUS, 0 },
{ TEMP2_ID, ZSTR_TEMP, UNIT_CELSIUS, 0 },
{ CURRENT_ID, ZSTR_CURR, UNIT_AMPS, 1 },
{ ACCEL_X_ID, ZSTR_ACCX, UNIT_G, 3 },
{ ACCEL_Y_ID, ZSTR_ACCY, UNIT_G, 3 },
{ ACCEL_Z_ID, ZSTR_ACCZ, UNIT_G, 3 },
{ VARIO_ID, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 2 },
{ VFAS_ID, ZSTR_VFAS, UNIT_VOLTS, 2 },
{ BARO_ALT_AP_ID, ZSTR_ALT, UNIT_METERS, 1 }, // we map hi precision vario into PREC1!
{ VOLTS_AP_ID, ZSTR_VFAS, UNIT_VOLTS, 2 },
{ GPS_SPEED_BP_ID, ZSTR_GSPD, UNIT_KTS, 0 },
{ GPS_COURS_BP_ID, ZSTR_HDG, UNIT_DEGREE, 0 },
{ VOLTS_ID, ZSTR_CELLS, UNIT_CELLS, 2 },
{ GPS_ALT_BP_ID, ZSTR_GPSALT, UNIT_METERS, 0 },
{ GPS_HOUR_MIN_ID, ZSTR_GPSDATETIME, UNIT_DATETIME, 0 },
{ GPS_LAT_AP_ID, ZSTR_GPS, UNIT_GPS, 0 },
{ 0, NULL, UNIT_RAW, 0 } // sentinel
};
const FrSkyDSensor * getFrSkyDSensor(uint8_t id)
{
const FrSkyDSensor * result = NULL;
for (const FrSkyDSensor * sensor = frskyDSensors; sensor->id; sensor++) {
if (id == sensor->id) {
result = sensor;
break;
}
}
return result;
}
void processHubPacket(uint8_t id, int16_t value)
{
static uint8_t lastId = 0;
static uint16_t lastValue = 0;
TelemetryUnit unit = UNIT_RAW;
uint8_t precision = 0;
int32_t data = value;
if (id > FRSKY_LAST_ID || id == GPS_SPEED_AP_ID || id == GPS_ALT_AP_ID || id == GPS_COURS_AP_ID) {
return;
}
if (id == GPS_LAT_BP_ID || id == GPS_LONG_BP_ID || id == BARO_ALT_BP_ID || id == VOLTS_BP_ID) {
lastId = id;
lastValue = value;
return;
}
if (id == GPS_LAT_AP_ID) {
if (lastId == GPS_LAT_BP_ID) {
data += lastValue << 16;
unit = UNIT_GPS_LATITUDE;
}
else {
return;
}
}
else if (id == GPS_LONG_AP_ID) {
if (lastId == GPS_LONG_BP_ID) {
data += lastValue << 16;
id = GPS_LAT_AP_ID;
unit = UNIT_GPS_LONGITUDE;
}
else {
return;
}
}
else if (id == GPS_LAT_NS_ID) {
id = GPS_LAT_AP_ID;
unit = UNIT_GPS_LATITUDE_NS;
}
else if (id == GPS_LONG_EW_ID) {
id = GPS_LAT_AP_ID;
unit = UNIT_GPS_LONGITUDE_EW;
}
else if (id == BARO_ALT_AP_ID) {
if (lastId == BARO_ALT_BP_ID) {
if (data > 9 || frskyData.varioHighPrecision) {
frskyData.varioHighPrecision = true;
data /= 10; // map hi precision vario into low precision. Altitude is stored in 0.1m anyways
}
data = (int16_t)lastValue * 10 + (((int16_t)lastValue < 0) ? -data : data);
unit = UNIT_METERS;
precision = 1;
}
else {
return;
}
}
else if (id == VOLTS_AP_ID) {
if (lastId == VOLTS_BP_ID) {
data = ((lastValue * 100 + value * 10) * 210) / 110;
unit = UNIT_VOLTS;
precision = 2;
}
else {
return;
}
}
else if (id == VOLTS_ID) {
unit = UNIT_CELLS;
uint32_t cellData = (uint32_t)data;
data = ((cellData & 0x00F0) << 12) + (((((cellData & 0xFF00) >> 8) + ((cellData & 0x000F) << 8))) / 5);
}
else if (id == GPS_DAY_MONTH_ID) {
id = GPS_HOUR_MIN_ID;
unit = UNIT_DATETIME_DAY_MONTH;
}
else if (id == GPS_HOUR_MIN_ID) {
unit = UNIT_DATETIME_HOUR_MIN;
}
else if (id == GPS_SEC_ID) {
id = GPS_HOUR_MIN_ID;
unit = UNIT_DATETIME_SEC;
}
else if (id == GPS_YEAR_ID) {
id = GPS_HOUR_MIN_ID;
unit = UNIT_DATETIME_YEAR;
}
else {
const FrSkyDSensor * sensor = getFrSkyDSensor(id);
if (sensor) {
unit = sensor->unit;
precision = sensor->prec;
}
}
if (id == RPM_ID) {
data = data * 60;
}
else if (id == VFAS_ID) {
if (data >= VFAS_D_HIPREC_OFFSET) {
// incoming value has a resolution of 0.01V and added offset of VFAS_D_HIPREC_OFFSET
data -= VFAS_D_HIPREC_OFFSET;
}
else {
// incoming value has a resolution of 0.1V
data *= 10;
}
}
setTelemetryValue(TELEM_PROTO_FRSKY_D, id, 0, data, unit, precision);
}
void frskyDSetDefault(int index, uint16_t id)
{
TelemetrySensor & telemetrySensor = g_model.telemetrySensors[index];
telemetrySensor.id = id;
telemetrySensor.instance = 0;
const FrSkyDSensor * sensor = getFrSkyDSensor(id);
if (sensor) {
TelemetryUnit unit = sensor->unit;
uint8_t prec = min<uint8_t>(2, sensor->prec);
telemetrySensor.init(sensor->name, unit, prec);
if (id == D_RSSI_ID) {
telemetrySensor.filter = 1;
telemetrySensor.logs = true;
}
else if (id >= D_A1_ID && id <= D_A2_ID) {
telemetrySensor.custom.ratio = 132;
telemetrySensor.filter = 1;
}
else if (id == CURRENT_ID) {
telemetrySensor.onlyPositive = 1;
}
else if (id == BARO_ALT_AP_ID) {
telemetrySensor.autoOffset = 1;
}
if (unit == UNIT_RPMS) {
telemetrySensor.custom.ratio = 1;
telemetrySensor.custom.offset = 1;
}
else if (unit == UNIT_METERS) {
if (IS_IMPERIAL_ENABLE()) {
telemetrySensor.unit = UNIT_FEET;
}
}
}
else {
telemetrySensor.init(id);
}
eeDirty(EE_MODEL);
}