Arne SchwabeandBertrand Songis
352de89838
* Implementation of Spektrum Telemetry for the DYI Multimodule. I can only test a subset of sensors and these look okay * Implement conversion from Fahrenheit to Celsius * Minor fixes for Spektrum telemetry * Add some more sensors, show sensor ID instead of instance in the overview
597 lines
17 KiB
C++
597 lines
17 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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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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#include "opentx.h"
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#define PRIM_REQ_POWERUP (0)
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#define PRIM_REQ_VERSION (1)
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#define PRIM_CMD_DOWNLOAD (3)
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#define PRIM_DATA_WORD (4)
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#define PRIM_DATA_EOF (5)
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#define PRIM_ACK_POWERUP (0x80)
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#define PRIM_ACK_VERSION (0x81)
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#define PRIM_REQ_DATA_ADDR (0x82)
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#define PRIM_END_DOWNLOAD (0x83)
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#define PRIM_DATA_CRC_ERR (0x84)
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struct FrSkySportSensor {
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const uint16_t firstId;
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const uint16_t lastId;
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const uint8_t subId;
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const char * name;
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const TelemetryUnit unit;
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const uint8_t prec;
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};
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const FrSkySportSensor sportSensors[] = {
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{ RSSI_ID, RSSI_ID, 0, ZSTR_RSSI, UNIT_DB, 0 },
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{ ADC1_ID, ADC1_ID, 0, ZSTR_A1, UNIT_VOLTS, 1 },
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{ ADC2_ID, ADC2_ID, 0, ZSTR_A2, UNIT_VOLTS, 1 },
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{ A3_FIRST_ID, A3_LAST_ID, 0, ZSTR_A3, UNIT_VOLTS, 2 },
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{ A4_FIRST_ID, A4_LAST_ID, 0, ZSTR_A4, UNIT_VOLTS, 2 },
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{ BATT_ID, BATT_ID, 0, ZSTR_BATT, UNIT_VOLTS, 1 },
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{ T1_FIRST_ID, T1_LAST_ID, 0, ZSTR_TEMP1, UNIT_CELSIUS, 0 },
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{ T2_FIRST_ID, T2_LAST_ID, 0, ZSTR_TEMP2, UNIT_CELSIUS, 0 },
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{ RPM_FIRST_ID, RPM_LAST_ID, 0, ZSTR_RPM, UNIT_RPMS, 0 },
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{ FUEL_FIRST_ID, FUEL_LAST_ID, 0, ZSTR_FUEL, UNIT_PERCENT, 0 },
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{ ALT_FIRST_ID, ALT_LAST_ID, 0, ZSTR_ALT, UNIT_METERS, 2 },
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{ VARIO_FIRST_ID, VARIO_LAST_ID, 0, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 2 },
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{ ACCX_FIRST_ID, ACCX_LAST_ID, 0, ZSTR_ACCX, UNIT_G, 2 },
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{ ACCY_FIRST_ID, ACCY_LAST_ID, 0, ZSTR_ACCY, UNIT_G, 2 },
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{ ACCZ_FIRST_ID, ACCZ_LAST_ID, 0, ZSTR_ACCZ, UNIT_G, 2 },
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{ CURR_FIRST_ID, CURR_LAST_ID, 0, ZSTR_CURR, UNIT_AMPS, 1 },
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{ VFAS_FIRST_ID, VFAS_LAST_ID, 0, ZSTR_VFAS, UNIT_VOLTS, 2 },
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{ AIR_SPEED_FIRST_ID, AIR_SPEED_LAST_ID, 0, ZSTR_ASPD, UNIT_KTS, 1 },
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{ GPS_SPEED_FIRST_ID, GPS_SPEED_LAST_ID, 0, ZSTR_GSPD, UNIT_KTS, 3 },
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{ CELLS_FIRST_ID, CELLS_LAST_ID, 0, ZSTR_CELLS, UNIT_CELLS, 2 },
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{ GPS_ALT_FIRST_ID, GPS_ALT_LAST_ID, 0, ZSTR_GPSALT, UNIT_METERS, 2 },
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{ GPS_TIME_DATE_FIRST_ID, GPS_TIME_DATE_LAST_ID, 0, ZSTR_GPSDATETIME, UNIT_DATETIME, 0 },
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{ GPS_LONG_LATI_FIRST_ID, GPS_LONG_LATI_LAST_ID, 0, ZSTR_GPS, UNIT_GPS_LATITUDE, 0 },
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{ GPS_LONG_LATI_FIRST_ID, GPS_LONG_LATI_LAST_ID, 1, ZSTR_GPS, UNIT_GPS_LONGITUDE, 0 },
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{ FUEL_QTY_FIRST_ID, FUEL_QTY_LAST_ID, 0, ZSTR_FUEL, UNIT_MILLILITERS, 2 },
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{ GPS_COURS_FIRST_ID, GPS_COURS_LAST_ID, 0, ZSTR_HDG, UNIT_DEGREE, 2 },
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{ RBOX_BATT1_FIRST_ID, RBOX_BATT1_LAST_ID, 0, ZSTR_BATT1_VOLTAGE, UNIT_VOLTS, 3 },
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{ RBOX_BATT2_FIRST_ID, RBOX_BATT2_LAST_ID, 0, ZSTR_BATT2_VOLTAGE, UNIT_VOLTS, 3 },
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{ RBOX_BATT1_FIRST_ID, RBOX_BATT1_LAST_ID, 1, ZSTR_BATT1_CURRENT, UNIT_AMPS, 2 },
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{ RBOX_BATT2_FIRST_ID, RBOX_BATT2_LAST_ID, 1, ZSTR_BATT2_CURRENT, UNIT_AMPS, 2 },
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{ RBOX_CNSP_FIRST_ID, RBOX_CNSP_LAST_ID, 0, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 0 },
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{ RBOX_CNSP_FIRST_ID, RBOX_CNSP_LAST_ID, 1, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0 },
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{ RBOX_STATE_FIRST_ID, RBOX_STATE_LAST_ID, 0, ZSTR_CHANS_STATE, UNIT_BITFIELD, 0 },
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{ RBOX_STATE_FIRST_ID, RBOX_STATE_LAST_ID, 1, ZSTR_RB_STATE, UNIT_BITFIELD, 0 },
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{ 0, 0, 0, NULL, UNIT_RAW, 0 } // sentinel
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};
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const FrSkySportSensor * getFrSkySportSensor(uint16_t id, uint8_t subId=0)
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{
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const FrSkySportSensor * result = NULL;
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for (const FrSkySportSensor * sensor = sportSensors; sensor->firstId; sensor++) {
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if (id >= sensor->firstId && id <= sensor->lastId && subId == sensor->subId) {
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result = sensor;
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break;
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}
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}
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return result;
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}
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bool checkSportPacket(uint8_t *packet)
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{
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short crc = 0;
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for (int i=1; i<FRSKY_SPORT_PACKET_SIZE; ++i) {
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crc += packet[i]; // 0-1FE
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crc += crc >> 8; // 0-1FF
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crc &= 0x00ff; // 0-FF
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}
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// TRACE("crc: 0x%02x", crc);
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return (crc == 0x00ff);
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}
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#define SPORT_DATA_U8(packet) (packet[4])
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#define SPORT_DATA_S32(packet) (*((int32_t *)(packet+4)))
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#define SPORT_DATA_U32(packet) (*((uint32_t *)(packet+4)))
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#define HUB_DATA_U16(packet) (*((uint16_t *)(packet+4)))
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enum SportUpdateState {
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SPORT_IDLE,
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SPORT_POWERUP_REQ,
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SPORT_POWERUP_ACK,
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SPORT_VERSION_REQ,
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SPORT_VERSION_ACK,
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SPORT_DATA_TRANSFER,
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SPORT_DATA_REQ,
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SPORT_COMPLETE,
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SPORT_FAIL
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};
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uint8_t sportUpdateState = SPORT_IDLE;
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uint32_t sportUpdateAddr = 0;
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bool intPwr, extPwr;
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uint16_t servosState;
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uint16_t rboxState;
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void processSportUpdatePacket(uint8_t * packet)
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{
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if (packet[0]==0x5E && packet[1]==0x50) {
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switch (packet[2]) {
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case PRIM_ACK_POWERUP :
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if (sportUpdateState == SPORT_POWERUP_REQ) {
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sportUpdateState = SPORT_POWERUP_ACK;
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}
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break;
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case PRIM_ACK_VERSION:
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if (sportUpdateState == SPORT_VERSION_REQ) {
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sportUpdateState = SPORT_VERSION_ACK;
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// SportVersion[0] = packet[3] ;
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// SportVersion[1] = packet[4] ;
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// SportVersion[2] = packet[5] ;
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// SportVersion[3] = packet[6] ;
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// SportVerValid = 1 ;
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}
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break;
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case PRIM_REQ_DATA_ADDR :
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if (sportUpdateState == SPORT_DATA_TRANSFER) {
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sportUpdateAddr = *((uint32_t *)(&packet[3]));
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sportUpdateState = SPORT_DATA_REQ;
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}
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break;
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case PRIM_END_DOWNLOAD :
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sportUpdateState = SPORT_COMPLETE ;
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break;
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case PRIM_DATA_CRC_ERR :
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sportUpdateState = SPORT_FAIL ;
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break;
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}
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}
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}
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void processSportPacket(uint16_t id, uint8_t subId, uint8_t instance, uint32_t data)
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{
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const FrSkySportSensor * sensor = getFrSkySportSensor(id, subId);
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TelemetryUnit unit = UNIT_RAW;
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uint8_t precision = 0;
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if (sensor) {
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unit = sensor->unit;
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precision = sensor->prec;
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}
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if (unit == UNIT_CELLS) {
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uint8_t cellsCount = (data & 0xF0) >> 4;
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uint8_t cellIndex = (data & 0x0F);
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uint32_t mask = (cellsCount << 24) + (cellIndex << 16);
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setTelemetryValue(TELEM_PROTO_FRSKY_SPORT, id, subId, instance, mask + (((data & 0x000FFF00) >> 8) / 5), unit, precision);
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if (cellIndex+1 < cellsCount) {
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mask += (1 << 16);
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setTelemetryValue(TELEM_PROTO_FRSKY_SPORT, id, subId, instance, mask + (((data & 0xFFF00000) >> 20) / 5), unit, precision);
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}
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}
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else {
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setTelemetryValue(TELEM_PROTO_FRSKY_SPORT, id, subId, instance, data, unit, precision);
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}
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}
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void sportOutputPushByte(uint8_t byte)
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{
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if (byte == 0x7E || byte == 0x7D) {
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telemetryOutputPushByte(0x7D);
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telemetryOutputPushByte(0x20 ^ byte);
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}
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else {
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telemetryOutputPushByte(byte);
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}
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}
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bool isSportOutputBufferAvailable()
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{
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return (outputTelemetryBufferSize == 0 && outputTelemetryBufferTrigger == 0x7E);
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}
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// TODO merge it with S.PORT update function when finished
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void sportOutputPushPacket(SportTelemetryPacket & packet)
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{
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uint16_t crc = 0;
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for (uint8_t i=1; i<sizeof(packet); i++) {
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uint8_t byte = packet.raw[i];
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sportOutputPushByte(byte);
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crc += byte; // 0-1FF
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crc += crc >> 8; // 0-100
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crc &= 0x00ff;
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}
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telemetryOutputPushByte(0xFF-crc);
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telemetryOutputSetTrigger(packet.raw[0]); // physicalId
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}
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void processSportPacket(uint8_t * packet)
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{
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uint8_t physicalId = packet[0] & 0x1F;
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uint8_t primId = packet[1];
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uint16_t id = *((uint16_t *)(packet+2));
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uint32_t data = SPORT_DATA_S32(packet);
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#if defined(CPUSTM32) && !defined(SIMU)
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if (sportUpdateState != SPORT_IDLE) {
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processSportUpdatePacket(packet); // Uses different chksum
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return;
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}
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#endif
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if (!checkSportPacket(packet)) {
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TRACE("processSportPacket(): checksum error ");
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DUMP(packet, FRSKY_SPORT_PACKET_SIZE);
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return;
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}
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if (primId == DATA_FRAME) {
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uint8_t instance = physicalId + 1;
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if (id == RSSI_ID) {
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telemetryStreaming = TELEMETRY_TIMEOUT10ms; // reset counter only if valid packets are being detected
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data = SPORT_DATA_U8(packet);
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if (data == 0)
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telemetryData.rssi.reset();
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else
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telemetryData.rssi.set(data);
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}
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#if defined(PCBTARANIS) && defined(REVPLUS)
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else if (id == XJT_VERSION_ID) {
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telemetryData.xjtVersion = HUB_DATA_U16(packet);
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if (!IS_VALID_XJT_VERSION()) {
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telemetryData.swr.set(0x00);
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}
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}
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else if (id == SWR_ID) {
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if (IS_VALID_XJT_VERSION())
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telemetryData.swr.set(SPORT_DATA_U8(packet));
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else
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telemetryData.swr.set(0x00);
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}
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#else
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else if (id == XJT_VERSION_ID) {
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telemetryData.xjtVersion = HUB_DATA_U16(packet);
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}
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else if (id == SWR_ID) {
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telemetryData.swr.set(SPORT_DATA_U8(packet));
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}
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#endif
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if (TELEMETRY_STREAMING()/* because when Rx is OFF it happens that some old A1/A2 values are sent from the XJT module*/) {
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if ((id >> 8) == 0) {
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// The old FrSky IDs
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processHubPacket(id, HUB_DATA_U16(packet));
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}
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else if (!IS_HIDDEN_TELEMETRY_VALUE(id)) {
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if (id == ADC1_ID || id == ADC2_ID || id == BATT_ID || id == SWR_ID) {
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data = SPORT_DATA_U8(packet);
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}
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if (id >= GPS_LONG_LATI_FIRST_ID && id <= GPS_LONG_LATI_LAST_ID) {
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int32_t value = (data & 0x3fffffff);
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if (data & (1 << 30))
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value = -value;
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value = (value * 5) / 3; // min/10000 => deg/1000000
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if (data & (1 << 31))
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processSportPacket(id, 0, instance, value); // latitude
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else
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processSportPacket(id, 1, instance, value); // longitude
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}
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else if (id >= RBOX_BATT1_FIRST_ID && id <= RBOX_BATT2_LAST_ID) {
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processSportPacket(id, 0, instance, data & 0xffff);
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processSportPacket(id, 1, instance, data >> 16);
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}
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else if (id >= RBOX_CNSP_FIRST_ID && id <= RBOX_CNSP_LAST_ID) {
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processSportPacket(id, 0, instance, data & 0xffff);
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processSportPacket(id, 1, instance, data >> 16);
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}
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else if (id >= RBOX_STATE_FIRST_ID && id <= RBOX_STATE_LAST_ID) {
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uint16_t newServosState = data & 0xffff;
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if (newServosState != 0 && servosState == 0) {
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audioEvent(AU_SERVO_KO);
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}
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uint16_t newRboxState = data >> 16;
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if ((newRboxState & 0x07) && (rboxState & 0x07) == 0) {
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audioEvent(AU_RX_OVERLOAD);
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}
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servosState = newServosState;
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rboxState = newRboxState;
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processSportPacket(id, 0, instance, servosState);
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processSportPacket(id, 1, instance, rboxState);
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}
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else if (id >= DIY_FIRST_ID && id <= DIY_LAST_ID) {
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#if defined(LUA)
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if (luaInputTelemetryFifo) {
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SportTelemetryPacket luaPacket;
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luaPacket.physicalId = physicalId;
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luaPacket.primId = primId;
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luaPacket.dataId = id;
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luaPacket.value = data;
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for (uint8_t i=0; i<sizeof(luaPacket); i++) {
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luaInputTelemetryFifo->push(luaPacket.raw[i]);
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}
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}
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#endif
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}
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else {
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processSportPacket(id, 0, instance, data);
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}
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}
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}
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}
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#if defined(LUA)
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else if (primId == 0x32) {
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if (luaInputTelemetryFifo) {
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SportTelemetryPacket luaPacket;
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luaPacket.physicalId = physicalId;
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luaPacket.primId = primId;
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luaPacket.dataId = id;
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luaPacket.value = data;
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for (uint8_t i=0; i<sizeof(luaPacket); i++) {
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luaInputTelemetryFifo->push(luaPacket.raw[i]);
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}
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}
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}
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#endif
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}
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void frskySportSetDefault(int index, uint16_t id, uint8_t subId, uint8_t instance)
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{
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TelemetrySensor & telemetrySensor = g_model.telemetrySensors[index];
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telemetrySensor.id = id;
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telemetrySensor.subId = subId;
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telemetrySensor.instance = instance;
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const FrSkySportSensor * sensor = getFrSkySportSensor(id, subId);
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if (sensor) {
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TelemetryUnit unit = sensor->unit;
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uint8_t prec = min<uint8_t>(2, sensor->prec);
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telemetrySensor.init(sensor->name, unit, prec);
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if (id == RSSI_ID) {
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telemetrySensor.logs = true;
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}
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else if (id >= ADC1_ID && id <= BATT_ID) {
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telemetrySensor.custom.ratio = 132;
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telemetrySensor.filter = 1;
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}
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else if (id >= CURR_FIRST_ID && id <= CURR_LAST_ID) {
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telemetrySensor.onlyPositive = 1;
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}
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else if (id >= ALT_FIRST_ID && id <= ALT_LAST_ID) {
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telemetrySensor.autoOffset = 1;
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}
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if (unit == UNIT_RPMS) {
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telemetrySensor.custom.ratio = 1;
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telemetrySensor.custom.offset = 1;
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}
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else if (unit == UNIT_METERS) {
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if (IS_IMPERIAL_ENABLE()) {
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telemetrySensor.unit = UNIT_FEET;
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}
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}
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else if (unit == UNIT_GPS_LATITUDE || unit == UNIT_GPS_LONGITUDE) {
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telemetrySensor.unit = UNIT_GPS;
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}
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}
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else {
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telemetrySensor.init(id);
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}
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storageDirty(EE_MODEL);
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}
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#if defined(CPUSTM32)
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bool sportWaitState(SportUpdateState state, int timeout)
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{
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#if defined(SIMU)
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SIMU_SLEEP_NORET(1);
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return true;
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#else
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for (int i=timeout/2; i>=0; i--) {
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uint8_t byte ;
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while (telemetryGetByte(&byte)) {
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processFrskyTelemetryData(byte);
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}
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if (sportUpdateState == state) {
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return true;
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}
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else if (sportUpdateState == SPORT_FAIL) {
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return false;
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}
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CoTickDelay(1);
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}
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return false;
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#endif
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}
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void blankPacket(uint8_t * packet)
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{
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memset(packet+2, 0, 6);
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}
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// TODO merge this function
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void writePacket(uint8_t * packet)
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{
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uint8_t * ptr = outputTelemetryBuffer;
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*ptr++ = 0x7E;
|
|
*ptr++ = 0xFF;
|
|
packet[7] = crc16(packet, 7);
|
|
for (int i=0; i<8; i++) {
|
|
if (packet[i] == 0x7E || packet[i] == 0x7D) {
|
|
*ptr++ = 0x7D;
|
|
*ptr++ = 0x20 ^ packet[i];
|
|
}
|
|
else {
|
|
*ptr++ = packet[i];
|
|
}
|
|
}
|
|
sportSendBuffer(outputTelemetryBuffer, ptr-outputTelemetryBuffer);
|
|
}
|
|
|
|
bool sportUpdatePowerOn(ModuleIndex module)
|
|
{
|
|
uint8_t packet[8];
|
|
|
|
sportUpdateState = SPORT_POWERUP_REQ;
|
|
|
|
#if defined(PCBTARANIS) || defined(PCBHORUS)
|
|
intPwr = IS_INTERNAL_MODULE_ON();
|
|
extPwr = IS_EXTERNAL_MODULE_ON();
|
|
INTERNAL_MODULE_OFF();
|
|
EXTERNAL_MODULE_OFF();
|
|
#endif
|
|
|
|
sportWaitState(SPORT_IDLE, 500);
|
|
|
|
telemetryPortInit(FRSKY_SPORT_BAUDRATE, TELEMETRY_SERIAL_8N1);
|
|
|
|
#if defined(PCBTARANIS) || defined(PCBHORUS)
|
|
if (module == INTERNAL_MODULE)
|
|
INTERNAL_MODULE_ON();
|
|
else
|
|
EXTERNAL_MODULE_ON();
|
|
#endif
|
|
|
|
sportWaitState(SPORT_IDLE, 50);
|
|
|
|
for (int i=0; i<10; i++) {
|
|
// max 10 attempts
|
|
blankPacket(packet);
|
|
packet[0] = 0x50 ;
|
|
packet[1] = PRIM_REQ_POWERUP;
|
|
writePacket(packet);
|
|
if (sportWaitState(SPORT_POWERUP_ACK, 100))
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool sportUpdateReqVersion()
|
|
{
|
|
uint8_t packet[8];
|
|
sportWaitState(SPORT_IDLE, 20);
|
|
sportUpdateState = SPORT_VERSION_REQ;
|
|
for (int i=0; i<10; i++) {
|
|
// max 10 attempts
|
|
blankPacket(packet) ;
|
|
packet[0] = 0x50 ;
|
|
packet[1] = PRIM_REQ_VERSION ;
|
|
writePacket(packet);
|
|
if (sportWaitState(SPORT_VERSION_ACK, 200))
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool sportUpdateUploadFile(const char *filename)
|
|
{
|
|
FIL file;
|
|
uint32_t buffer[1024/4];
|
|
UINT count;
|
|
uint8_t packet[8];
|
|
|
|
if (f_open(&file, filename, FA_READ) != FR_OK) {
|
|
return false;
|
|
}
|
|
|
|
sportWaitState(SPORT_IDLE, 200);
|
|
sportUpdateState = SPORT_DATA_TRANSFER;
|
|
blankPacket(packet) ;
|
|
packet[0] = 0x50 ;
|
|
packet[1] = PRIM_CMD_DOWNLOAD ;
|
|
// Stop here for testing
|
|
writePacket(packet);
|
|
|
|
while(1) {
|
|
if (f_read(&file, buffer, 1024, &count) != FR_OK) {
|
|
f_close(&file);
|
|
return false;
|
|
}
|
|
|
|
count >>= 2;
|
|
|
|
for (UINT i=0; i<count; i++) {
|
|
if (!sportWaitState(SPORT_DATA_REQ, 2000)) {
|
|
return false;
|
|
}
|
|
packet[0] = 0x50 ;
|
|
packet[1] = PRIM_DATA_WORD ;
|
|
packet[6] = sportUpdateAddr & 0x000000FF;
|
|
uint32_t offset = ( sportUpdateAddr & 1023 ) >> 2; // 32 bit word offset into buffer
|
|
uint32_t *data = (uint32_t *)(&packet[2]);
|
|
*data = buffer[offset];
|
|
sportUpdateState = SPORT_DATA_TRANSFER,
|
|
writePacket(packet);
|
|
if (i==0) {
|
|
updateProgressBar(file.fptr, file.fsize);
|
|
}
|
|
}
|
|
|
|
if (count < 256) {
|
|
f_close(&file);
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool sportUpdateEnd()
|
|
{
|
|
uint8_t packet[8];
|
|
if (!sportWaitState(SPORT_DATA_REQ, 2000))
|
|
return false;
|
|
blankPacket(packet);
|
|
packet[0] = 0x50 ;
|
|
packet[1] = PRIM_DATA_EOF;
|
|
writePacket(packet);
|
|
return sportWaitState(SPORT_COMPLETE, 2000);
|
|
}
|
|
|
|
void sportFirmwareUpdate(ModuleIndex module, const char * filename)
|
|
{
|
|
bool result = sportUpdatePowerOn(module);
|
|
if (result)
|
|
result = sportUpdateReqVersion();
|
|
if (result)
|
|
result = sportUpdateUploadFile(filename);
|
|
if (result)
|
|
result = sportUpdateEnd();
|
|
|
|
if (result == false) {
|
|
POPUP_WARNING("Firmware Update Error");
|
|
}
|
|
|
|
#if defined(PCBTARANIS) || defined(PCBHORUS)
|
|
INTERNAL_MODULE_OFF();
|
|
EXTERNAL_MODULE_OFF();
|
|
#endif
|
|
|
|
sportWaitState(SPORT_IDLE, 1000);
|
|
|
|
#if defined(PCBTARANIS) || defined(PCBHORUS)
|
|
if (intPwr)
|
|
INTERNAL_MODULE_ON();
|
|
if (extPwr)
|
|
EXTERNAL_MODULE_ON();
|
|
#endif
|
|
sportUpdateState = SPORT_IDLE;
|
|
}
|
|
|
|
#endif
|