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Merge branch '2.3' into 3djc/2.3-synced

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3djc
2021-03-14 10:51:46 +01:00
parent 41459f180c b11f751127
commit e3082756c9
76 changed files with 2494 additions and 2015 deletions
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radio/src/telemetry/ghost.cpp
+67 -9
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@@ -43,12 +43,19 @@ enum
GHOST_ID_TOTAL_LATENCY = 0x0007, // Tx-side total latency
GHOST_ID_VTX_FREQ = 0x0008, // Vtx Frequency (in MHz)
GHOST_ID_VTX_POWER = 0x0009, // Vtx Power (in mW)
GHOST_ID_VTX_CHAN = 0x000a, // Vtx Channel
GHOST_ID_VTX_BAND = 0x000b, // Vtx Band
GHOST_ID_VTX_CHAN = 0x000A, // Vtx Channel
GHOST_ID_VTX_BAND = 0x000B, // Vtx Band
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_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()) {
@@ -226,15 +256,40 @@ 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;
}
}
}
@@ -285,6 +340,9 @@ 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);
}