162 lines
4.6 KiB
C++
162 lines
4.6 KiB
C++
/*
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* Authors (alphabetical order)
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Jean-Pierre Parisy
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* - Karl Szmutny <shadow@privy.de>
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* - Michael Blandford
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* - Michal Hlavinka
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* open9x is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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#ifndef FRSKY_H
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#define FRSKY_H
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#define FRSKY_RX_PACKET_SIZE 19
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#define FRSKY_TX_PACKET_SIZE 12
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#include <inttypes.h>
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// .20 seconds
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#define FRSKY_TIMEOUT10ms 20
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enum AlarmLevel {
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alarm_off = 0,
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alarm_yellow = 1,
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alarm_orange = 2,
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alarm_red = 3
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};
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#define ALARM_GREATER(channel, alarm) ((g_model.frsky.channels[channel].alarms_greater >> alarm) & 1)
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#define ALARM_LEVEL(channel, alarm) ((g_model.frsky.channels[channel].alarms_level >> (2*alarm)) & 3)
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// TODO change names
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class FrskyRSSI {
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public:
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uint8_t value;
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uint8_t min;
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void set(uint8_t value);
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};
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class FrskyData: public FrskyRSSI {
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public:
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uint8_t max;
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void set(uint8_t value);
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};
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#define EARTH_RADIUSKM ((uint32_t)6371)
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#define EARTH_RADIUS ((uint32_t)111194)
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#if defined(FRSKY_HUB)
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struct FrskyHubData {
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int16_t baroAltitudeOffset; // spare reused
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int16_t gpsAltitude_bp; // before punct
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int16_t temperature1; // -20 .. 250 deg. celcius
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uint16_t rpm; // 0..60,000 revs. per minute
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uint16_t fuelLevel; // 0, 25, 50, 75, 100 percent
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int16_t temperature2; // -20 .. 250 deg. celcius
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uint16_t volts; // 1/500V increments (0..4.2V)
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uint32_t distFromEarthAxis; // 2 spares reused
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int16_t gpsAltitude_ap; // after punct
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uint8_t cellVolts[12]; // 6 spares reused
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uint16_t baroAltitude; // 0..9,999 meters
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uint16_t gpsSpeed_bp; // before punct
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uint16_t gpsLongitude_bp; // before punct
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uint16_t gpsLatitude_bp; // before punct
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uint16_t gpsCourse_bp; // before punct (0..359.99 deg. -- seemingly 2-decimal precision)
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uint8_t day;
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uint8_t month;
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uint16_t year;
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uint8_t hour;
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uint8_t min;
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uint16_t sec;
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uint16_t gpsSpeed_ap;
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uint16_t gpsLongitude_ap;
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uint16_t gpsLatitude_ap;
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uint16_t gpsCourse_ap;
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uint32_t pilotLatitude; // 2 spares reused
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uint32_t pilotLongitude; // 2 spares reused
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uint16_t baroAltitude_bp; // spare reused
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uint16_t gpsLongitudeEW; // East/West
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uint16_t gpsLatitudeNS; // North/South
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int16_t accelX; // 1/256th gram (-8g ~ +8g)
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int16_t accelY; // 1/256th gram (-8g ~ +8g)
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int16_t accelZ; // 1/256th gram (-8g ~ +8g)
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uint8_t cellsCount; // 1/2 spare reused
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uint8_t minCellVolts; // 1/2 spare reused
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uint16_t current;
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// 17 spares
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uint16_t volts_bp;
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uint16_t volts_ap;
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// end of FrSky Hub data
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uint16_t maxGpsSpeed;
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};
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#elif defined(WS_HOW_HIGH)
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struct FrskyHubData {
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uint16_t baroAltitude; // 0..9,999 meters
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int16_t baroAltitudeOffset;
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};
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#endif
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#if defined(FRSKY_HUB) || defined(WS_HOW_HIGH)
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extern FrskyHubData frskyHubData;
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extern uint8_t barsThresholds[BAR_MAX-3];
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#endif
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// Global Fr-Sky telemetry data variables
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extern uint8_t frskyStreaming; // >0 (true) == data is streaming in. 0 = nodata detected for some time
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extern uint8_t frskyUsrStreaming;
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#define SEND_MODEL_ALARMS 6
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extern uint8_t FrskyAlarmSendState;
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extern FrskyData frskyTelemetry[2];
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extern FrskyRSSI frskyRSSI[2];
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extern uint8_t frskyTxBuffer[FRSKY_TX_PACKET_SIZE];
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extern uint8_t frskyTxBufferCount;
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void FRSKY_Init(void);
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void FRSKY10mspoll(void);
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inline void FRSKY_setModelAlarms(void)
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{
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FrskyAlarmSendState = SEND_MODEL_ALARMS;
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}
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bool FRSKY_alarmRaised(uint8_t idx);
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void resetTelemetry();
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#ifdef FRSKY_HUB
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void getGpsPilotPosition();
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uint32_t getGpsDistanceX2();
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uint16_t getGpsDistance();
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#endif
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#endif
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