piotr/edgetx-gx12
1
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Add GHST GPS Telemetry Sensors (#8352)

Browse Source 
* Add GHST GPS Telemetry Sensors
This commit is contained in:
Tony Cake
2021-03-10 16:16:55 +01:00
committed by GitHub
parent 5c9a87765d
commit 1180fcbe5f
2 changed files with 64 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
radio/src/telemetry/ghost.cpp
+62 -4
View File
@@ -49,6 +49,13 @@ enum
GHOST_ID_PACK_VOLTS = 0x000c, // Battery Pack Voltage
GHOST_ID_PACK_AMPS = 0x000d, // Battery Pack Current
GHOST_ID_PACK_MAH = 0x000e, // Battery Pack mAh consumed
GHOST_ID_GPS_LAT = 0x000f, // GPS Latitude
GHOST_ID_GPS_LONG = 0x0010, // GPS Longitude
GHOST_ID_GPS_ALT = 0x0011, // GPS Altitude
GHOST_ID_GPS_HDG = 0x0012, // GPS Heading
GHOST_ID_GPS_GSPD = 0x0013, // GPS Ground Speed
GHOST_ID_GPS_SATS = 0x0014 // GPS Satellite Count
};
const GhostSensor ghostSensors[] = {
@@ -70,6 +77,13 @@ const GhostSensor ghostSensors[] = {
{GHOST_ID_PACK_AMPS, ZSTR_CURR, UNIT_AMPS, 2},
{GHOST_ID_PACK_MAH, ZSTR_CAPACITY, UNIT_MAH, 0},
{GHOST_ID_GPS_LAT, ZSTR_GPS, UNIT_GPS_LATITUDE, 0},
{GHOST_ID_GPS_LONG, ZSTR_GPS, UNIT_GPS_LONGITUDE, 0},
{GHOST_ID_GPS_GSPD, ZSTR_GSPD, UNIT_KMH, 1},
{GHOST_ID_GPS_HDG, ZSTR_HDG, UNIT_DEGREE, 3},
{GHOST_ID_GPS_ALT, ZSTR_ALT, UNIT_METERS, 0},
{GHOST_ID_GPS_SATS, ZSTR_SATELLITES, UNIT_RAW, 0},
{0x00, NULL, UNIT_RAW, 0},
};
@@ -88,7 +102,11 @@ void processGhostTelemetryValue(uint8_t index, int32_t value)
return;
const GhostSensor * sensor = getGhostSensor(index);
setTelemetryValue(PROTOCOL_TELEMETRY_GHOST, sensor->id, 0, 0, value, sensor->unit, sensor->precision);
uint16_t id = sensor->id;
if (id == GHOST_ID_GPS_LONG) {
id = GHOST_ID_GPS_LAT;
}
setTelemetryValue(PROTOCOL_TELEMETRY_GHOST, id, 0, 0, value, sensor->unit, sensor->precision);
}
void processGhostTelemetryValueString(const GhostSensor * sensor, const char * str)
@@ -105,16 +123,19 @@ bool checkGhostTelemetryFrameCRC()
return (crc == telemetryRxBuffer[len + 1]);
}
// hifirst
uint16_t getTelemetryValue_u16(uint8_t index)
{
return (telemetryRxBuffer[index] << 8) | telemetryRxBuffer[index + 1];
}
// lofirst
uint16_t getTelemetryValue_u16le(uint8_t index)
{
return (telemetryRxBuffer[index + 1] << 8) | telemetryRxBuffer[index];
}
// hifirst
uint32_t getTelemetryValue_s32(uint8_t index)
{
uint32_t val = 0;
@@ -123,6 +144,15 @@ uint32_t getTelemetryValue_s32(uint8_t index)
return val;
}
// lofirst
uint32_t getTelemetryValue_s32le(uint8_t index)
{
uint32_t val = 0;
for (int i = 0; i < 4; ++i)
val <<= 8, val |= telemetryRxBuffer[index + 3 - i];
return val;
}
void processGhostTelemetryFrame()
{
if (!checkGhostTelemetryFrameCRC()) {
@@ -213,15 +243,40 @@ void processGhostTelemetryFrame()
case GHST_DL_PACK_STAT: {
#if defined(BLUETOOTH)
if (g_eeGeneral.bluetoothMode == BLUETOOTH_TELEMETRY && bluetooth.state == BLUETOOTH_STATE_CONNECTED) {
bluetooth.write(telemetryRxBuffer, telemetryRxBufferCount);
}
bluetooth.write(telemetryRxBuffer, telemetryRxBufferCount);
}
#endif
processGhostTelemetryValue(GHOST_ID_PACK_VOLTS, getTelemetryValue_u16le(3));
processGhostTelemetryValue(GHOST_ID_PACK_AMPS, getTelemetryValue_u16le(5));
processGhostTelemetryValue(GHOST_ID_PACK_MAH, getTelemetryValue_u16le(7) * 10);
break;
}
case GHST_DL_GPS_PRIMARY: {
#if defined(BLUETOOTH)
if (g_eeGeneral.bluetoothMode == BLUETOOTH_TELEMETRY && bluetooth.state == BLUETOOTH_STATE_CONNECTED) {
bluetooth.write(telemetryRxBuffer, telemetryRxBufferCount);
}
#endif
processGhostTelemetryValue(GHOST_ID_GPS_LAT, getTelemetryValue_s32le(3) / 10);
processGhostTelemetryValue(GHOST_ID_GPS_LONG, getTelemetryValue_s32le(7) / 10);
processGhostTelemetryValue(GHOST_ID_GPS_ALT, (int16_t) getTelemetryValue_u16le(11));
break;
}
case GHST_DL_GPS_SECONDARY: {
#if defined(BLUETOOTH)
if (g_eeGeneral.bluetoothMode == BLUETOOTH_TELEMETRY && bluetooth.state == BLUETOOTH_STATE_CONNECTED) {
bluetooth.write(telemetryRxBuffer, telemetryRxBufferCount);
}
#endif
processGhostTelemetryValue(GHOST_ID_GPS_HDG, getTelemetryValue_u16le(5) / 10);
// ground speed is passed via GHST as cm/s, converted to km/h for OpenTx
processGhostTelemetryValue(GHOST_ID_GPS_GSPD, (getTelemetryValue_u16le(3) * 36 + 50) / 100);
processGhostTelemetryValue(GHOST_ID_GPS_SATS, telemetryRxBuffer[7]);
break;
}
}
}
@@ -272,6 +327,9 @@ void ghostSetDefault(int index, uint8_t id, uint8_t subId)
const GhostSensor * sensor = getGhostSensor(id);
if (sensor) {
TelemetryUnit unit = sensor->unit;
if (unit == UNIT_GPS_LATITUDE || unit == UNIT_GPS_LONGITUDE) {
unit = UNIT_GPS;
}
uint8_t prec = min<uint8_t>(2, sensor->precision);
telemetrySensor.init(sensor->name, unit, prec);
}
radio/src/telemetry/ghost.h
+2
View File
@@ -44,6 +44,8 @@
#define GHST_DL_VTX_STAT 0x22
#define GHST_DL_PACK_STAT 0x23
#define GHST_DL_MENU_DESC 0x24
#define GHST_DL_GPS_PRIMARY 0x25
#define GHST_DL_GPS_SECONDARY 0x26
#define GHST_RC_CTR_VAL_12BIT 0x7C0 // 0x3e0 << 1
#define GHST_RC_CTR_VAL_8BIT 0x7C