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040160efc94e7643f7814aa2644ee655f8ec82ca
edgetx-gx12/src/frsky.cpp
T
bsongis 040160efc9 New EEPROM format 205 
Introduction of differential in Mixers
Introduction of Switches as Mixer Source (FULL now removed)
Negative curves in Mixers
Optimizations in Mixer
Extended chars for localization
Swedish translations
Beep length updated
2012-03-04 17:25:35 +00:00

914 lines
29 KiB
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/*
* Authors (alphabetical order)
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Jean-Pierre Parisy
* - Karl Szmutny <shadow@privy.de>
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* open9x 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 "open9x.h"
#include "menus.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
#define START_STOP 0x7e
#define BYTESTUFF 0x7d
#define STUFF_MASK 0x20
uint8_t frskyRxBuffer[FRSKY_RX_PACKET_SIZE]; // Receive buffer. 9 bytes (full packet), worst case 18 bytes with byte-stuffing (+1)
uint8_t frskyTxBuffer[FRSKY_TX_PACKET_SIZE]; // Ditto for transmit buffer
uint8_t frskyTxBufferCount = 0;
uint8_t FrskyRxBufferReady = 0;
int8_t frskyStreaming = -1;
uint8_t frskyUsrStreaming = 0;
FrskyData frskyTelemetry[2];
FrskyRSSI frskyRSSI[2];
struct FrskyAlarm {
uint8_t level; // The alarm's 'urgency' level. 0=disabled, 1=yellow, 2=orange, 3=red
uint8_t greater; // 1 = 'if greater than'. 0 = 'if less than'
uint8_t value; // The threshold above or below which the alarm will sound
};
struct FrskyAlarm frskyAlarms[4];
#if defined(FRSKY_HUB) || defined(WS_HOW_HIGH)
FrskyHubData frskyHubData; // TODO initialization?
uint8_t barsThresholds[BAR_MAX-3];
#endif
void frskyPushValue(uint8_t *&ptr, uint8_t value)
{
// byte stuff the only byte than might need it
if (value == START_STOP) {
*ptr++ = 0x5e;
*ptr++ = BYTESTUFF;
}
else if (value == BYTESTUFF) {
*ptr++ = 0x5d;
*ptr++ = BYTESTUFF;
}
else {
*ptr++ = value;
}
}
#ifdef DISPLAY_USER_DATA
/*
Copies all available bytes (up to max bufsize) from frskyUserData circular
buffer into supplied *buffer. Returns number of bytes copied (or zero)
*/
uint8_t frskyGetUserData(char *buffer, uint8_t bufSize)
{
uint8_t i = 0;
while (!frskyUserData.isEmpty())
{
buffer[i] = frskyUserData.get();
i++;
}
return i;
}
#endif
#ifdef FRSKY_HUB
inline void getGpsPilotPosition()
{
frskyHubData.pilotLatitude = (((uint32_t)frskyHubData.gpsLatitude_bp / 100) * 1000000) + (((frskyHubData.gpsLatitude_bp % 100) * 10000 + frskyHubData.gpsLatitude_ap) * 5) / 3;
frskyHubData.pilotLongitude = (((uint32_t)frskyHubData.gpsLongitude_bp / 100) * 1000000) + (((frskyHubData.gpsLongitude_bp % 100) * 10000 + frskyHubData.gpsLongitude_ap) * 5) / 3;
uint32_t lat = ((uint32_t)frskyHubData.gpsLatitude_bp / 100) * 100+ (((uint32_t)frskyHubData.gpsLatitude_bp % 100) * 5) / 3;
uint32_t angle2 = (lat*lat) / 10000;
uint32_t angle4 = angle2 * angle2;
frskyHubData.distFromEarthAxis = 139*(((uint32_t)10000000-((angle2*(uint32_t)123370)/81)+(angle4/25))/12500);
// printf("frskyHubData.distFromEarthAxis=%d\n", frskyHubData.distFromEarthAxis); fflush(stdout);
}
inline void getGpsDistance()
{
uint32_t lat = (((uint32_t)frskyHubData.gpsLatitude_bp / 100) * 1000000) + (((frskyHubData.gpsLatitude_bp % 100) * 10000 + frskyHubData.gpsLatitude_ap) * 5) / 3;
uint32_t lng = (((uint32_t)frskyHubData.gpsLongitude_bp / 100) * 1000000) + (((frskyHubData.gpsLongitude_bp % 100) * 10000 + frskyHubData.gpsLongitude_ap) * 5) / 3;
// printf("lat=%d (%d), long=%d (%d)\n", lat, abs(lat - frskyHubData.pilotLatitude), lng, abs(lng - frskyHubData.pilotLongitude));
uint32_t angle = (lat > frskyHubData.pilotLatitude) ? lat - frskyHubData.pilotLatitude : frskyHubData.pilotLatitude - lat;
uint32_t dist = EARTH_RADIUS * angle / 1000000;
uint32_t result = dist*dist;
angle = (lng > frskyHubData.pilotLongitude) ? lng - frskyHubData.pilotLongitude : frskyHubData.pilotLongitude - lng;
dist = frskyHubData.distFromEarthAxis * angle / 1000000;
result += dist*dist;
dist = frskyHubData.baroAltitude_bp + frskyHubData.baroAltitudeOffset;
result += dist*dist;
frskyHubData.gpsDistance = isqrt32(result);
}
inline int8_t parseTelemHubIndex(uint8_t index)
{
if (index > 0x39) {
if (index > 0x3b)
return -1; // invalid index
index -= 17;
}
return index*2;
}
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;
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);
}
if (byte == 0x5d) {
state = (TS_STATE)(state | TS_XOR);
return;
}
if (state == TS_DATA_ID) {
structPos = parseTelemHubIndex(byte);
state = TS_DATA_LOW;
if (structPos < 0)
state = TS_IDLE;
return;
}
if (state == TS_DATA_LOW) {
lowByte = byte;
state = TS_DATA_HIGH;
return;
}
if ((uint8_t)structPos == offsetof(FrskyHubData, gpsLatitude_bp)) {
if (lowByte || byte)
frskyHubData.gpsFix = 1;
else if (frskyHubData.gpsFix > 0 && frskyHubData.gpsLatitude_bp > 1)
frskyHubData.gpsFix = 0;
}
if ((uint8_t)structPos == offsetof(FrskyHubData, gpsLongitude_bp)) {
if (lowByte || byte)
frskyHubData.gpsFix = 1;
else if (frskyHubData.gpsFix > 0 && frskyHubData.gpsLongitude_bp > 1)
frskyHubData.gpsFix = 0;
}
if ((uint8_t)structPos == offsetof(FrskyHubData, gpsAltitude_bp) ||
((uint8_t)structPos >= offsetof(FrskyHubData, gpsAltitude_ap) && (uint8_t)structPos <= offsetof(FrskyHubData, gpsLatitudeNS) && (uint8_t)structPos != offsetof(FrskyHubData, baroAltitude_bp) && (uint8_t)structPos != offsetof(FrskyHubData, baroAltitude_ap))) {
// If we don't have a fix, we may discard the value
if (frskyHubData.gpsFix <= 0) {
state = TS_IDLE;
return;
}
}
((uint8_t*)&frskyHubData)[structPos] = lowByte;
((uint8_t*)&frskyHubData)[structPos+1] = byte;
if ((uint8_t)structPos == offsetof(FrskyHubData, baroAltitude_bp) && !frskyHubData.baroAltitudeOffset) {
// First received altitude => Altitude offset
frskyHubData.baroAltitudeOffset = -frskyHubData.baroAltitude_bp;
}
if ((uint8_t)structPos == offsetof(FrskyHubData, gpsAltitude_ap)) {
if (!frskyHubData.pilotLatitude && !frskyHubData.pilotLongitude) {
// First received GPS position => Pilot GPS position
getGpsPilotPosition();
}
else if (frskyHubData.gpsDistNeeded || g_menuStack[0] != menuProcFrsky) {
getGpsDistance();
}
}
if ((uint8_t)structPos == offsetof(FrskyHubData, gpsSpeed_bp)) {
// Speed => Max speed
if (frskyHubData.maxGpsSpeed < frskyHubData.gpsSpeed_bp)
frskyHubData.maxGpsSpeed = frskyHubData.gpsSpeed_bp;
}
if ((uint8_t)structPos == offsetof(FrskyHubData, volts)) {
// Voltage => Cell number + Cell voltage
uint8_t battnumber = ((frskyHubData.volts & 0x00F0) >> 4);
if (battnumber < 12) {
if (frskyHubData.cellsCount < battnumber+1) {
frskyHubData.cellsCount = battnumber+1;
}
uint8_t cellVolts = (uint8_t)(((((frskyHubData.volts & 0xFF00) >> 8) + ((frskyHubData.volts & 0x000F) << 8)))/10);
frskyHubData.cellVolts[battnumber] = cellVolts;
if (!frskyHubData.minCellVolts || cellVolts < frskyHubData.minCellVolts)
frskyHubData.minCellVolts = cellVolts;
}
}
state = TS_IDLE;
}
#endif
#ifdef WS_HOW_HIGH
void parseTelemWSHowHighByte(uint8_t byte)
{
if (frskyUsrStreaming < (FRSKY_TIMEOUT10ms*3 - 10)) // At least 100mS passed since last data received
((uint8_t*)&frskyHubData)[offsetof(FrskyHubData, baroAltitude_bp)] = byte;
else
((uint8_t*)&frskyHubData)[offsetof(FrskyHubData, baroAltitude_bp)+1] = byte;
frskyUsrStreaming = FRSKY_TIMEOUT10ms*3; // reset counter
}
#endif
/*
Called from somewhere in the main loop or a low priority interrupt
routine perhaps. This function processes FrSky telemetry data packets
assembled by he USART0_RX_vect) ISR function (below) and stores
extracted data in global variables for use by other parts of the program.
Packets can be any of the following:
- A1/A2/RSSI telemetry data
- Alarm level/mode/threshold settings for Ch1A, Ch1B, Ch2A, Ch2B
- User Data packets
*/
void processFrskyPacket(uint8_t *packet)
{
// What type of packet?
switch (packet[0])
{
case A22PKT:
case A21PKT:
case A12PKT:
case A11PKT:
{
struct FrskyAlarm *alarmptr ;
alarmptr = &frskyAlarms[(packet[0]-A22PKT)] ;
alarmptr->value = packet[1];
alarmptr->greater = packet[2] & 0x01;
alarmptr->level = packet[3] & 0x03;
}
break;
case LINKPKT: // A1/A2/RSSI values
frskyTelemetry[0].set(packet[1]);
frskyTelemetry[1].set(packet[2]);
frskyRSSI[0].set(packet[3]);
frskyRSSI[1].set(packet[4] / 2);
frskyStreaming = FRSKY_TIMEOUT10ms; // reset counter only if valid frsky packets are being detected
break;
#if defined(FRSKY_HUB) || defined (WS_HOW_HIGH)
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++) {
#if defined(FRSKY_HUB)
if (g_model.frsky.usrProto == 1) // FrSky Hub
parseTelemHubByte(packet[i]);
#endif
#if defined(WS_HOW_HIGH)
if (g_model.frsky.usrProto == 2) // WS How High
parseTelemWSHowHighByte(packet[i]);
#endif
}
break;
#endif
}
FrskyRxBufferReady = 0;
}
// Receive buffer state machine state defs
#define frskyDataIdle 0
#define frskyDataStart 1
#define frskyDataInFrame 2
#define frskyDataXOR 3
/*
Receive serial (RS-232) characters, detecting and storing each Fr-Sky
0x7e-framed packet as it arrives. When a complete packet has been
received, process its data into storage variables. NOTE: This is an
interrupt routine and should not get too lengthy. I originally had
the buffer being checked in the perMain function (because per10ms
isn't quite often enough for data streaming at 9600baud) but alas
that scheme lost packets also. So each packet is parsed as it arrives,
directly at the ISR function (through a call to frskyProcessPacket).
If this proves a problem in the future, then I'll just have to implement
a second buffer to receive data while one buffer is being processed (slowly).
*/
#ifndef SIMU
NOINLINE void processSerialData(uint8_t stat, uint8_t data)
{
static uint8_t numPktBytes = 0;
static uint8_t dataState = frskyDataIdle;
if (stat & ((1 << FE0) | (1 << DOR0) | (1 << UPE0)))
{ // discard buffer and start fresh on any comms error
FrskyRxBufferReady = 0;
numPktBytes = 0;
}
else
{
if (FrskyRxBufferReady == 0) // can't get more data if the buffer hasn't been cleared
{
switch (dataState)
{
case frskyDataStart:
if (data == START_STOP) break; // Remain in userDataStart if possible 0x7e,0x7e doublet found.
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
dataState = frskyDataInFrame;
break;
case frskyDataInFrame:
if (data == BYTESTUFF)
{
dataState = frskyDataXOR; // XOR next byte
break;
}
if (data == START_STOP) // end of frame detected
{
processFrskyPacket(frskyRxBuffer); // FrskyRxBufferReady = 1;
dataState = frskyDataIdle;
break;
}
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
break;
case frskyDataXOR:
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data ^ STUFF_MASK;
dataState = frskyDataInFrame;
break;
case frskyDataIdle:
if (data == START_STOP)
{
numPktBytes = 0;
dataState = frskyDataStart;
}
break;
} // switch
} // if (FrskyRxBufferReady == 0)
}
}
ISR(USART0_RX_vect)
{
uint8_t stat;
uint8_t data;
UCSR0B &= ~(1 << RXCIE0); // disable Interrupt
sei() ;
stat = UCSR0A; // USART control and Status Register 0 A
/*
bit 7 6 5 4 3 2 1 0
RxC0 TxC0 UDRE0 FE0 DOR0 UPE0 U2X0 MPCM0
RxC0: Receive complete
TXC0: Transmit Complete
UDRE0: USART Data Register Empty
FE0: Frame Error
DOR0: Data OverRun
UPE0: USART Parity Error
U2X0: Double Tx Speed
PCM0: MultiProcessor Comms Mode
*/
// rh = UCSR0B; //USART control and Status Register 0 B
/*
bit 7 6 5 4 3 2 1 0
RXCIE0 TxCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80
RxCIE0: Receive Complete int enable
TXCIE0: Transmit Complete int enable
UDRIE0: USART Data Register Empty int enable
RXEN0: Rx Enable
TXEN0: Tx Enable
UCSZ02: Character Size bit 2
RXB80: Rx data bit 8
TXB80: Tx data bit 8
*/
data = UDR0; // USART data register 0
processSerialData(stat, data);
cli() ;
UCSR0B |= (1 << RXCIE0); // enable Interrupt
}
#endif
/******************************************/
void frskyTransmitBuffer()
{
UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt
}
uint8_t FrskyAlarmSendState = 0 ;
void FRSKY10mspoll(void)
{
if (frskyTxBufferCount)
return; // we only have one buffer. If it's in use, then we can't send yet.
uint8_t *ptr = &frskyTxBuffer[0];
*ptr++ = START_STOP; // End of packet
*ptr++ = 0x00;
*ptr++ = 0x00;
*ptr++ = 0x00;
*ptr++ = 0x00;
*ptr++ = 0x00;
// Now send a packet
FrskyAlarmSendState -= 1;
uint8_t alarm = 1 - (FrskyAlarmSendState % 2);
if (FrskyAlarmSendState < 4) {
uint8_t channel = 1 - (FrskyAlarmSendState / 2);
*ptr++ = (g_eeGeneral.beeperMode != -2/*TODO constant*/ ? ALARM_LEVEL(channel, alarm) : alarm_off);
*ptr++ = ALARM_GREATER(channel, alarm);
frskyPushValue(ptr, g_model.frsky.channels[channel].alarms_value[alarm]);
*ptr++ = (A22PKT + FrskyAlarmSendState); // fc - fb - fa - f9
}
else {
*ptr++ = (g_eeGeneral.beeperMode != -2/*TODO constant*/ ? ((2+alarm+g_model.frsky.rssiAlarms[alarm].level) % 4) : alarm_off);
*ptr++ = 0x00 ;
frskyPushValue(ptr, 50+g_model.frsky.rssiAlarms[alarm].value);
*ptr++ = (RSSI1PKT-alarm); // f7 - f6
}
*ptr++ = START_STOP; // Start of packet
frskyTxBufferCount = ptr - &frskyTxBuffer[0];
frskyTransmitBuffer();
}
bool FRSKY_alarmRaised(uint8_t idx)
{
for (int i=0; i<2; i++) {
if (ALARM_LEVEL(idx, i) != alarm_off) {
if (ALARM_GREATER(idx, i)) {
if (frskyTelemetry[idx].value > g_model.frsky.channels[idx].alarms_value[i])
return true;
}
else {
if (frskyTelemetry[idx].value < g_model.frsky.channels[idx].alarms_value[i])
return true;
}
}
}
return false;
}
inline void FRSKY_EnableTXD(void)
{
frskyTxBufferCount = 0;
UCSR0B |= (1 << TXEN0); // enable TX
}
inline void FRSKY_EnableRXD(void)
{
UCSR0B |= (1 << RXEN0); // enable RX
UCSR0B |= (1 << RXCIE0); // enable Interrupt
}
void FRSKY_Init(void)
{
// clear frsky variables
memset(frskyAlarms, 0, sizeof(frskyAlarms));
resetTelemetry();
DDRE &= ~(1 << DDE0); // set RXD0 pin as input
PORTE &= ~(1 << PORTE0); // disable pullup on RXD0 pin
#undef BAUD
#define BAUD 9600
#ifndef SIMU
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
UCSR0A &= ~(1 << U2X0); // disable double speed operation.
// set 8N1
UCSR0B = 0 | (0 << RXCIE0) | (0 << TXCIE0) | (0 << UDRIE0) | (0 << RXEN0) | (0 << TXEN0) | (0 << UCSZ02);
UCSR0C = 0 | (1 << UCSZ01) | (1 << UCSZ00);
while (UCSR0A & (1 << RXC0)) UDR0; // flush receive buffer
#endif
// These should be running right from power up on a FrSky enabled '9X.
FRSKY_EnableTXD(); // enable FrSky-Telemetry reception
FRSKY_EnableRXD(); // enable FrSky-Telemetry reception
}
#if 0
// Send packet requesting all alarm settings be sent back to us
void frskyAlarmsRefresh()
{
if (frskyTxBufferCount) return; // we only have one buffer. If it's in use, then we can't send. Sorry.
{
uint8_t *ptr ;
ptr = &frskyTxBuffer[0] ;
*ptr++ = START_STOP; // Start of packet
*ptr++ = ALRM_REQUEST;
*ptr++ = 0x00 ;
*ptr++ = 0x00 ;
*ptr++ = 0x00 ;
*ptr++ = 0x00 ;
*ptr++ = 0x00 ;
*ptr++ = 0x00 ;
*ptr++ = 0x00 ;
*ptr++ = 0x00 ;
*ptr++ = START_STOP; // End of packet
}
frskyTxBufferCount = 11;
frskyTransmitBuffer();
}
#endif
// TODO change names
// Optimize?
void FrskyRSSI::set(uint8_t value)
{
this->value = (((uint16_t)this->value * 7) + value + 4) / 8;
if (!min || min > value)
min = value;
}
void FrskyData::set(uint8_t value)
{
this->value = value;
if (!max || max < value)
max = value;
if (!min || min > value)
min = value;
}
void resetTelemetry()
{
memset(frskyTelemetry, 0, sizeof(frskyTelemetry));
memset(frskyRSSI, 0, sizeof(frskyRSSI));
#ifdef SIMU
frskyHubData.gpsLatitude_bp = 4401;
frskyHubData.gpsLatitude_ap = 7710;
frskyHubData.gpsLongitude_bp = 1006;
frskyHubData.gpsLongitude_ap = 8872;
#endif
#if defined(FRSKY_HUB) || defined(WS_HOW_HIGH)
frskyHubData.baroAltitudeOffset = -frskyHubData.baroAltitude_bp;
#endif
#if defined(FRSKY_HUB)
frskyHubData.maxGpsSpeed = 0;
frskyHubData.cellsCount = 0;
frskyHubData.minCellVolts = 0;
frskyHubData.pilotLatitude = 0;
frskyHubData.pilotLongitude = 0;
frskyHubData.gpsLatitude_bp = 2;
frskyHubData.gpsLongitude_bp = 2;
frskyHubData.gpsFix = -1;
frskyHubData.gpsDistNeeded = 0;
frskyHubData.gpsDistance = 0;
#endif
#ifdef SIMU
frskyTelemetry[0].set(120);
frskyRSSI[0].set(75);
frskyHubData.fuelLevel = 75;
frskyHubData.gpsLatitude_bp = 4401;
frskyHubData.gpsLatitude_ap = 7455;
frskyHubData.gpsLongitude_bp = 1006;
frskyHubData.gpsLongitude_ap = 9533;
frskyHubData.gpsFix = 1;
frskyHubData.cellsCount = 6;
#endif
}
#if defined(FRSKY)
void displayRssiLine()
{
if (frskyStreaming > 0) {
lcd_hline(0, 54, 128, 0); // separator
lcd_putsLeft(7*FH+1, STR_TX); lcd_outdezNAtt(4*FW, 7*FH+1, frskyRSSI[1].value, LEADING0, 2);
lcd_rect(25, 57, 38, 7);
lcd_filled_rect(26, 58, 9*frskyRSSI[1].value/25, 5);
lcd_puts(105, 7*FH+1, STR_RX); lcd_outdezNAtt(105+4*FW-1, 7*FH+1, frskyRSSI[0].value, LEADING0, 2);
lcd_rect(65, 57, 38, 7);
uint8_t v = 9*frskyRSSI[0].value/25;
lcd_filled_rect(66+36-v, 58, v, 5);
}
else {
lcd_puts(7*FW, 7*FH+1, STR_NODATA);
lcd_filled_rect(0, DISPLAY_H-8, DISPLAY_W, 8);
}
}
#endif
#if defined(FRSKY_HUB) || defined(WS_HOW_HIGH)
void displayAltitudeLine(uint8_t x, uint8_t y, uint8_t flags)
{
lcd_putsn(x, y, STR_ALTnDST, 4);
int16_t value = frskyHubData.baroAltitude_bp + frskyHubData.baroAltitudeOffset;
putsTelemetryValue(lcd_lastPos, y, value, UNIT_METERS, flags|LEFT);
}
#endif
enum FrskyViews {
e_frsky_bars,
e_frsky_a1a2,
#ifdef WS_HOW_HIGH
e_frsky_ws_how_high,
#endif
#ifdef FRSKY_HUB
e_frsky_hub = e_frsky_a1a2+1,
e_frsky_gps
#endif
};
#if defined(FRSKY_HUB) && defined(WS_HOW_HIGH)
#define FRSKY_VIEW_MAX (g_model.frsky.usrProto == 0 ? 1 : ((g_model.frsky.usrProto == 1 && frskyHubData.gpsFix >= 0) ? 3 : 2))
#elif defined(FRSKY_HUB)
#define FRSKY_VIEW_MAX (g_model.frsky.usrProto == 0 ? 1 : (frskyHubData.gpsFix >= 0 ? 3 : 2))
#elif defined(WS_HOW_HIGH)
#define FRSKY_VIEW_MAX (g_model.frsky.usrProto == 0 ? 1 : 2)
#endif
void menuProcFrsky(uint8_t event)
{
static uint8_t s_frsky_view = e_frsky_bars;
switch (event) {
case EVT_KEY_BREAK(KEY_UP):
if (s_frsky_view-- == 0)
s_frsky_view = FRSKY_VIEW_MAX;
break;
case EVT_KEY_BREAK(KEY_DOWN):
if (s_frsky_view++ == FRSKY_VIEW_MAX)
s_frsky_view = 0;
break;
case EVT_KEY_FIRST(KEY_EXIT):
chainMenu(menuMainView);
break;
case EVT_KEY_FIRST(KEY_MENU):
resetTelemetry();
break;
}
// The top black bar
putsModelName(0, 0, g_model.name, g_eeGeneral.currModel, 0);
uint8_t att = (g_vbat100mV < g_eeGeneral.vBatWarn ? BLINK : 0);
putsVBat(14*FW,0,att);
if (g_model.timers[0].mode) {
att = (s_timerState[0]==TMR_BEEPING ? BLINK : 0);
putsTime(17*FW, 0, s_timerVal[0], att, att);
}
lcd_filled_rect(0, 0, DISPLAY_W, 8);
if (frskyStreaming >= 0) {
if (s_frsky_view == e_frsky_bars) {
// The bars
uint8_t bars_height = 5;
for (int8_t i=3; i>=0; i--) {
if (g_model.frsky.bars[i].source && (51-g_model.frsky.bars[i].barMax) > g_model.frsky.bars[i].barMin) {
lcd_putsiAtt(0, bars_height+bars_height+1+i*(bars_height+6), STR_VTELEMBARS, g_model.frsky.bars[i].source, 0);
lcd_rect(25, bars_height+6+i*(bars_height+6), 101, bars_height+2);
int16_t value = getValue(CHOUT_BASE+NUM_CHNOUT+MAX_TIMERS+g_model.frsky.bars[i].source-1);
uint8_t threshold = 0, thresholdX = 0;
if (g_model.frsky.bars[i].source <= 2)
threshold = g_model.frsky.channels[g_model.frsky.bars[i].source-1].alarms_value[0];
else
threshold = barsThresholds[g_model.frsky.bars[i].source-3];
if (threshold) {
thresholdX = (uint8_t)(int16_t)((int16_t)100 * (threshold - g_model.frsky.bars[i].barMin * 4) / ((51 - g_model.frsky.bars[i].barMax) * 5 - g_model.frsky.bars[i].barMin * 4));
if (thresholdX > 100)
thresholdX = 0;
}
uint8_t width = (uint8_t)limit((int16_t)0, (int16_t)((int16_t)100 * (value - g_model.frsky.bars[i].barMin * 5) / ((51 - g_model.frsky.bars[i].barMax) * 4 - g_model.frsky.bars[i].barMin * 4)), (int16_t)100);
lcd_filled_rect(26, bars_height+6+1+i*(bars_height+6), width, bars_height, (threshold > value) ? DOTTED : SOLID);
for (uint8_t j=50; j<125; j+=25)
if (j>26+thresholdX) lcd_vline(j, bars_height+6+1+i*(bars_height+6), bars_height);
if (thresholdX) {
lcd_vlineStip(26+thresholdX, bars_height+4+i*(bars_height+6), bars_height+3, DOTTED);
lcd_hline(25+thresholdX, bars_height+4+i*(bars_height+6), 3);
}
}
else {
bars_height += 2;
}
}
displayRssiLine();
}
else if (s_frsky_view == e_frsky_a1a2) {
// Big A1 / A2 with min and max
uint8_t x0, blink;
if (g_model.frsky.channels[0].ratio || g_model.frsky.channels[1].ratio) {
x0 = 0;
for (uint8_t i=0; i<2; i++) {
if (g_model.frsky.channels[i].ratio) {
blink = (FRSKY_alarmRaised(i) ? INVERS : 0);
putsStrIdx(x0, 2*FH, STR_A, i+1, TWO_DOTS);
x0 += 3*FW;
putsTelemetryChannel(x0, 2*FH, i, frskyTelemetry[i].value, blink|DBLSIZE|LEFT);
putsTelemetryChannel(x0+FW, 3*FH, i, frskyTelemetry[i].min, 0);
putsTelemetryChannel(x0+3*FW, 3*FH, i, frskyTelemetry[i].max, LEFT);
x0 = 11*FW-2;
}
}
}
#ifdef FRSKY_HUB
// Cells voltage
{
uint8_t x, y;
x = 3*FW;
y = 5*FH-3;
for (uint8_t k=0; k<frskyHubData.cellsCount && k<6; k++) {
uint8_t attr = (barsThresholds[6/*TODO constant*/] && frskyHubData.cellVolts[k] < barsThresholds[6/*TODO constant*/]) ? BLINK|PREC2|LEFT : PREC2|LEFT;
if (k == 3) {
x = 3*FW;
y = 6*FH-3;
}
putsStrIdx(x-3*FW, y, STR_V, k+1, TWO_DOTS);
lcd_outdezNAtt(x, y, frskyHubData.cellVolts[k] * 2, attr, 4);
x += 7*FW;
}
}
#endif
displayRssiLine();
}
#ifdef WS_HOW_HIGH
else if (g_model.frsky.usrProto == PROTO_WS_HOW_HIGH && s_frsky_view == e_frsky_ws_how_high) {
displayAltitudeLine(0, 4*FH, DBLSIZE);
displayRssiLine();
}
#endif
#ifdef FRSKY_HUB
else if (s_frsky_view == e_frsky_hub) {
// Temperature 1
lcd_putsLeft( 4*FH, STR_TEMP1nTEMP2);
putsTelemetryValue(4*FW, 4*FH, frskyHubData.temperature1, UNIT_DEGREES, DBLSIZE|LEFT);
// Temperature 2
putsTelemetryValue(15*FW, 4*FH, frskyHubData.temperature2, UNIT_DEGREES, DBLSIZE|LEFT);
// RPM
lcd_putsLeft(2*FH, STR_RPMnFUEL);
lcd_outdezNAtt(4*FW, 1*FH, frskyHubData.rpm/(2+g_model.frsky.blades), DBLSIZE|LEFT);
// Fuel
putsTelemetryValue(15*FW, 2*FH, frskyHubData.fuelLevel, UNIT_PERCENT, DBLSIZE|LEFT);
// Altitude (barometric)
displayAltitudeLine(0, 6*FH, DBLSIZE);
// Accelerometer
#define ACC_LINE (7*FH+1)
lcd_putsLeft(ACC_LINE, STR_ACCEL);
// lcd_puts(4*FW, 7*FH, PSTR("x:"));
lcd_outdezNAtt(4*FW, ACC_LINE, (int32_t)frskyHubData.accelX/10, LEFT|PREC2);
// lcd_putc(lcd_lastPos, 7*FH, 'g');
// lcd_puts(11*FW, 7*FH, PSTR("y:"));
lcd_outdezNAtt(10*FW, ACC_LINE, (int32_t)frskyHubData.accelY/10, LEFT|PREC2);
// lcd_putc(lcd_lastPos, 7*FH, 'g');
// lcd_puts(18*FW, 7*FH, PSTR("z:"));
lcd_outdezNAtt(16*FW, ACC_LINE, (int32_t)frskyHubData.accelZ/10, LEFT|PREC2);
// lcd_putc(lcd_lastPos, 7*FH, 'g');
lcd_filled_rect(0, ACC_LINE-1, DISPLAY_W, 8);
}
else if (s_frsky_view == e_frsky_gps) {
#define DATE_LINE (7*FH+1)
//lcd_putsLeft( DATE_LINE, PSTR("D/T:"));
// Date
lcd_outdezNAtt(3*FW, DATE_LINE, frskyHubData.year+2000, LEFT, 4);
lcd_putc(7*FW-4, DATE_LINE, '-');
lcd_outdezNAtt(8*FW-4, DATE_LINE, frskyHubData.month, LEFT|LEADING0, 2);
lcd_putc(10*FW-6, DATE_LINE, '-');
lcd_outdezNAtt(11*FW-6, DATE_LINE, frskyHubData.day, LEFT|LEADING0, 2);
// Time
lcd_outdezNAtt(12*FW+5, DATE_LINE, frskyHubData.hour, LEFT|LEADING0, 2);
lcd_putc(14*FW+2, DATE_LINE, ':');
lcd_outdezNAtt(15*FW+2, DATE_LINE, frskyHubData.min, LEFT|LEADING0, 2);
lcd_putc(17*FW-1, DATE_LINE, ':');
lcd_outdezNAtt(18*FW-1, DATE_LINE, frskyHubData.sec, LEFT|LEADING0, 2);
lcd_filled_rect(0, DATE_LINE-1, DISPLAY_W, 8);
// Latitude
#define LAT_LINE (2*FH-4)
lcd_putsLeft( LAT_LINE, PSTR("Lat:"));
lcd_outdezAtt(lcd_lastPos, LAT_LINE, frskyHubData.gpsLatitude_bp / 100, LEFT); // ddd before '.'
lcd_putc(lcd_lastPos, LAT_LINE, '@');
uint8_t mn = frskyHubData.gpsLatitude_bp % 100;
lcd_outdezNAtt(lcd_lastPos+FW, LAT_LINE, mn, LEFT|LEADING0, 2); // mm before '.'
lcd_plot(lcd_lastPos, LAT_LINE+FH-2, 0); // small decimal point
lcd_outdezNAtt(lcd_lastPos+2, LAT_LINE, frskyHubData.gpsLatitude_ap, LEFT|UNSIGN|LEADING0, 4); // after '.'
lcd_putc(lcd_lastPos+1, LAT_LINE, frskyHubData.gpsLatitudeNS ? frskyHubData.gpsLatitudeNS : '-');
// Longitude
#define LONG_LINE (3*FH-3)
lcd_putsLeft(LONG_LINE, PSTR("Lon:"));
lcd_outdezAtt(lcd_lastPos, LONG_LINE, frskyHubData.gpsLongitude_bp / 100, LEFT); // ddd before '.'
lcd_putc(lcd_lastPos, LONG_LINE, '@');
mn = frskyHubData.gpsLongitude_bp % 100;
lcd_outdezNAtt(lcd_lastPos+FW, LONG_LINE, mn, LEFT|LEADING0, 2); // mm before '.'
lcd_plot(lcd_lastPos, LONG_LINE+FH-2, 0); // small decimal point
lcd_outdezNAtt(lcd_lastPos+2, LONG_LINE, frskyHubData.gpsLongitude_ap, LEFT|UNSIGN|LEADING0, 4); // after '.'
lcd_putc(lcd_lastPos+1, LONG_LINE, frskyHubData.gpsLongitudeEW ? frskyHubData.gpsLongitudeEW : '-');
#if 0
// Course / Heading
lcd_puts(5, 5*FH, STR_HDG);
lcd_outdezNAtt(lcd_lastPos, 5*FH, frskyHubData.gpsCourse_bp, LEFT|LEADING0, 3); // before '.'
lcd_plot(lcd_lastPos, 6*FH-2, 0); // small decimal point
lcd_outdezAtt(lcd_lastPos+2, 5*FH, frskyHubData.gpsCourse_ap, LEFT); // after '.'
lcd_putc(lcd_lastPos, 5*FH, '@');
#endif
// Speed
#define SPEED_LINE (6*FH)
lcd_putsLeft(SPEED_LINE, STR_SPDnMAX);
putsTelemetryValue(4*FW, SPEED_LINE, frskyHubData.gpsSpeed_bp, UNIT_KTS, LEFT|DBLSIZE); // before '.'
putsTelemetryValue(16*FW, SPEED_LINE, frskyHubData.maxGpsSpeed, UNIT_KTS, LEFT); // before '.'
// GPS altitude and distance
#define ALTITUDE_LINE (4*FH-1)
lcd_putsLeft(ALTITUDE_LINE, STR_ALTnDST);
putsTelemetryValue(4*FW, ALTITUDE_LINE, frskyHubData.gpsAltitude_bp, UNIT_METERS, LEFT); // before '.'
putsTelemetryValue(16*FW, ALTITUDE_LINE, frskyHubData.gpsDistance, UNIT_METERS, LEFT); // before '.'
}
#endif
}
else {
lcd_putsAtt(22, 40, STR_NODATA, DBLSIZE);
}
}
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