491 lines
20 KiB
C++
491 lines
20 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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#include "spektrum.h"
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/*
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* Documentation of the Spektrum protocol is available under
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* https://www.spektrumrc.com/ProdInfo/Files/SPM_Telemetry_Developers_Specs.pdf
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*
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* Multi module adds two byte header of 0xAA [RSSI of telemetry packet] [16 byte message]
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*/
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/*
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* The 16 byte message is formated as follows
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* [ic2 address] [secondary id] [14 byte ic2 address (type) specific data]
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* we translate the secondary to the instance of the sensor
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*
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* OpenTX Mapping
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*
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* instance = secondary id (almost always 0)
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* subid = 0 (always 0)
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* id = i2c address <<8 | start byte
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*/
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#define I2C_PSEUDO_TX 0xf0
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#define SPEKTRUM_TELEMETRY_LENGTH 18
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#define DSM_BIND_PACKET_LENGTH 12
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#define I2C_HIGH_CURRENT 0x03
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#define I2C_TEXTGEN 0x0c
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#define I2C_GPS 0x17
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#define I2C_GPS2 0x17
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#define I2C_CELLS 0x3a
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#define I2C_QOS 0x7f
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enum SpektrumDataType : uint8_t {
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int8,
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int16,
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int32,
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uint8,
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uint16,
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uint32,
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uint8bcd,
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uint16bcd,
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uint32bcd,
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custom
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};
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struct SpektrumSensor {
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const uint8_t i2caddress;
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const uint8_t startByte;
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const SpektrumDataType dataType;
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const char *name;
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const TelemetryUnit unit;
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const uint8_t precision;
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};
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const SpektrumSensor spektrumSensors[] = {
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// High voltage internal sensor
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{0x01, 0, int16, STR_SENSOR_A1, UNIT_VOLTS, 1},
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// Temperature internal sensor
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{0x02, 0, int16, STR_SENSOR_TEMP1, UNIT_CELSIUS, 1},
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// High current internal sensor (0x03), 300A/2048 resolution
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{I2C_HIGH_CURRENT, 0, int16, STR_SENSOR_CURR, UNIT_AMPS, 1},
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//Powerbox (also mentioned as 0x7D but that is also transmitter frame data)
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{0x0a, 0, uint16, STR_SENSOR_BATT1_VOLTAGE, UNIT_VOLTS, 2},
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{0x0a, 2, uint16, STR_SENSOR_BATT2_VOLTAGE, UNIT_VOLTS, 2},
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{0x0a, 4, uint16, STR_SENSOR_BATT1_CONSUMPTION, UNIT_MAH, 0},
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{0x0a, 6, uint16, STR_SENSOR_BATT2_CONSUMPTION, UNIT_MAH, 0},
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// Lap Timer
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{0x0b, 0, uint8, STR_SENSOR_LAP_NUMBER, UNIT_RAW, 0},
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{0x0b, 0, uint8, STR_SENSOR_GATE_NUMBER, UNIT_RAW, 0},
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{0x0b, 0, uint32, STR_SENSOR_LAP_TIME, UNIT_SECONDS, 3},
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{0x0b, 0, uint32, STR_SENSOR_GATE_TIME, UNIT_SECONDS, 3},
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// Text Generator
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{I2C_TEXTGEN, 0, uint32, STR_SENSOR_FLIGHT_MODE, UNIT_TEXT, 0},
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// AirSpeed, also has max (+2, int16)
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{0x11, 0, int16, STR_SENSOR_ASPD, UNIT_KMH, 0},
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// Altitude, also has max (+2, int16)
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{0x12, 0, int16, STR_SENSOR_ALT, UNIT_METERS, 1},
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// {0x38, strain}
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// G-Force (+min, max)
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{0x14, 0, int16, STR_SENSOR_ACCX, UNIT_G, 2},
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{0x14, 2, int16, STR_SENSOR_ACCY, UNIT_G, 2},
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{0x14, 4, int16, STR_SENSOR_ACCZ, UNIT_G, 2},
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// 0x15, JETCAT/TURBINE, BCD Encoded values
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// TODO: Add decoding of status information
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// {0x15, 0, uint8, STR_SENSOR_STATUS, UNIT_BITFIELD, 0},
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{0x15, 1, uint8bcd, STR_SENSOR_THROTTLE, UNIT_PERCENT, 0},
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{0x15, 2, uint16bcd, STR_SENSOR_A1, UNIT_VOLTS, 2},
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{0x15, 4, uint16bcd, STR_SENSOR_A2, UNIT_VOLTS, 2},
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{0x15, 6, uint32bcd, STR_SENSOR_RPM, UNIT_RPMS, 0},
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{0x15, 10, uint16bcd, STR_SENSOR_TEMP1, UNIT_CELSIUS, 0},
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// {0x15, 0, uint8, STR_SENSOR_STATUS, UNIT_BITFIELD, 0},
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// 0x16-0x17 GPS
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// GPS is bcd encoded and also uses flags. Hard to get right without an actual GPS Sensor
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// Time/date is also BCD encoded but so this FrSky's, so treat it as uint32
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{I2C_GPS2, 0, uint16bcd, STR_SENSOR_GSPD, UNIT_KTS, 1},
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{I2C_GPS2, 2, uint32, STR_SENSOR_GPSDATETIME, UNIT_DATETIME, 0},
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//{0x17, 2, uint32, STR_SENSOR_GPSDATETIME, UNIT_DATETIME}, utc in bcd HH:MM:SS.S
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{0x17, 6, uint8bcd, STR_SENSOR_SATELLITES, UNIT_RAW, 0},
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//{0x17, 7, uint8bcd, STR_SENSOR_GPSALT, UNIT_METERS}, altitude high bits
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// 0x19 Jetcat flow rate
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// {0x19, 0, uint16bcd, STR_SENSOR_FUEL_CONSUMPTION, UNIT_MILLILITERS_PER_MINUTE, 1}, missing ml/min
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{0x19, 2, uint32bcd, STR_SENSOR_FUEL, UNIT_MILLILITERS, 1},
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// 0x1a Gyro
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{0x1a, 0, int16, STR_SENSOR_GYROX, UNIT_DEGREE, 1},
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{0x1a, 2, int16, STR_SENSOR_GYROY, UNIT_DEGREE, 1},
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{0x1a, 4, int16, STR_SENSOR_GYROZ, UNIT_DEGREE, 1},
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// 0x1b Attitude & Mag Compass
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// mag Units are tbd so probably no sensor in existance, ignore them for now
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{0x1b, 0, int16, STR_SENSOR_ROLL, UNIT_DEGREE, 1},
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{0x1b, 2, int16, STR_SENSOR_PITCH, UNIT_DEGREE, 1},
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{0x1b, 4, int16, STR_SENSOR_YAW, UNIT_DEGREE, 1},
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// {0x20, esc}, does not exist in the wild?
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// Dual Cell monitor (0x34)
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{0x34, 0, int16, STR_SENSOR_BATT1_CURRENT, UNIT_AMPS, 1},
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{0x34, 2, int16, STR_SENSOR_BATT1_CONSUMPTION, UNIT_MAH, 1},
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{0x34, 4, uint16, STR_SENSOR_BATT1_TEMP, UNIT_CELSIUS, 1},
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{0x34, 6, int16, STR_SENSOR_BATT2_CURRENT, UNIT_AMPS, 1},
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{0x34, 8, int16, STR_SENSOR_BATT2_CONSUMPTION, UNIT_MAH, 1},
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{0x34, 10, uint16, STR_SENSOR_BATT2_TEMP, UNIT_CELSIUS, 1},
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// Tank pressure + custom input bits (ignore for now)
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//{0x38, 0, uint16, STR_SENSOR_STATUS_BITS, UNIT_BITFIELD, 0},
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//{0x38, 0, uint16, STR_SENSOR_PRESSSURE, UNIT_PSI, 1},
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// Cells (0x3a)
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{I2C_CELLS, 0, uint16, STR_SENSOR_CELLS, UNIT_VOLTS, 2},
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{I2C_CELLS, 2, uint16, STR_SENSOR_CELLS, UNIT_VOLTS, 2},
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{I2C_CELLS, 4, uint16, STR_SENSOR_CELLS, UNIT_VOLTS, 2},
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{I2C_CELLS, 6, uint16, STR_SENSOR_CELLS, UNIT_VOLTS, 2},
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{I2C_CELLS, 8, uint16, STR_SENSOR_CELLS, UNIT_VOLTS, 2},
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{I2C_CELLS, 10, uint16, STR_SENSOR_CELLS, UNIT_VOLTS, 2},
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{I2C_CELLS, 12, uint16, STR_SENSOR_TEMP2, UNIT_CELSIUS, 2},
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// Vario-S
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{0x40, 0, int16, STR_SENSOR_ALT, UNIT_METERS, 1},
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{0x40, 2, int16, STR_SENSOR_VSPD, UNIT_METERS_PER_SECOND, 1},
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// 0x50-0x56 custom 3rd party sensors
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//{0x50, 0, int16, STR_SENSOR_}
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// 0x7d are transmitter channels frame data [7], probably only available on the Spektrum
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// telemetry bus on the model itself
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// RPM/Volts/Temperature
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{0x7e, 0, uint16, STR_SENSOR_RPM, UNIT_RPMS, 0},
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{0x7e, 2, uint16, STR_SENSOR_A3, UNIT_VOLTS, 2},
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{0x7e, 4, int16, STR_SENSOR_TEMP2, UNIT_FAHRENHEIT, 0},
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// 0x7f, QoS DATA, also called Flight Log,, with A, B, L, R, F, H?
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// A - Antenna Fades on Receiver A
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// B - Antenna Fades on Receiver B
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// L - Antenna Fades on left Receiver
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// R - Antenna Fades on right Receiver
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// F - Frame losses
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{I2C_QOS, 0, uint16, STR_SENSOR_QOS_A, UNIT_RAW, 0},
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{I2C_QOS, 2, uint16, STR_SENSOR_QOS_B, UNIT_RAW, 0},
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{I2C_QOS, 4, uint16, STR_SENSOR_QOS_L, UNIT_RAW, 0},
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{I2C_QOS, 6, uint16, STR_SENSOR_QOS_R, UNIT_RAW, 0},
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{I2C_QOS, 8, uint16, STR_SENSOR_QOS_F, UNIT_RAW, 0},
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{I2C_QOS, 10, uint16, STR_SENSOR_QOS_H, UNIT_RAW, 0},
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{I2C_QOS, 12, uint16, STR_SENSOR_A2, UNIT_VOLTS, 2},
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{I2C_PSEUDO_TX, 0, uint8, STR_SENSOR_TX_RSSI, UNIT_RAW, 0},
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{I2C_PSEUDO_TX, 4, uint32, STR_SENSOR_BIND, UNIT_RAW, 0},
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{0, 0, int16, NULL, UNIT_RAW, 0} //sentinel
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};
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// The bcd int parameter has wrong endian
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static int32_t bcdToInt16(uint16_t bcd)
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{
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return (bcd & 0x0f00) + 10 * (bcd & 0xf000) + 100 * (bcd & 0x000f) + 1000 * (bcd & 0x00f0);
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}
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// The bcd int parameter has wrong endian
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static int32_t bcdToInt8(uint8_t bcd)
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{
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return (bcd & 0xf) + 10 * (bcd & 0xf0);
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}
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static int32_t bcdToInt32(uint32_t bcd)
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{
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return bcdToInt16(bcd >> 16) + 10000 * bcdToInt16(bcd);
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}
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// Spektrum uses Big Endian data types
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static int32_t spektrumGetValue(const uint8_t *packet, int startByte, SpektrumDataType type)
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{
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const uint8_t * data = packet + startByte;
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switch (type) {
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case uint8:
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return *((uint8_t *) (data));
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case int8:
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return *((int8_t *) (data));
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case int16:
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return (int16_t) ((uint16_t) (data[1] + (data[0] << 8)));
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case uint16:
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return ((uint16_t) (data[1] + (data[0] << 8)));
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case int32:
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return ((int32_t) (data[3] + (data[2] << 8) + (data[1] << 16) + (data[0] << 24)));
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case uint32:
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return ((uint32_t) (data[3] + (data[2] << 8) + (data[1] << 16) + (data[0] << 24)));
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case uint16bcd:
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return bcdToInt16(*(uint16_t *)data);
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case uint8bcd:
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return bcdToInt8(*(uint8_t *)data);
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case uint32bcd:
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return bcdToInt32(*(uint32_t *)data);
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default:
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return -1;
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}
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}
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bool isSpektrumValidValue(int32_t value, const SpektrumDataType type)
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{
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switch (type) {
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case uint16:
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return value != 0xffff;
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case int16:
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return value != 0x7fff;
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case int32:
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return value != 0x7fffffff;
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case uint32:
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return ((uint32_t) value) != 0xffffffff;
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default:
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return true;
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}
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}
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void processSpektrumPacket(const uint8_t *packet)
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{
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setTelemetryValue(PROTOCOL_TELEMETRY_SPEKTRUM, (I2C_PSEUDO_TX << 8) + 0, 0, 0, packet[1], UNIT_RAW, 0);
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// highest bit indicates that TM1100 is in use, ignore it
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uint8_t i2cAddress = (packet[2] & 0x7f);
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uint8_t instance = packet[3];
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if (i2cAddress == I2C_TEXTGEN) {
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uint8_t lineNumber = packet[4];
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uint16_t pseudoId = (i2cAddress << 8 | lineNumber);
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for (int i=5; i<SPEKTRUM_TELEMETRY_LENGTH; i++)
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{
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setTelemetryValue(PROTOCOL_TELEMETRY_SPEKTRUM, pseudoId, 0, instance, packet[i], UNIT_TEXT, i-5);
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}
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// Set a sential \0 just for safety since we have the space there
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setTelemetryValue(PROTOCOL_TELEMETRY_SPEKTRUM, pseudoId, 0, instance, '\0', UNIT_TEXT, 13);
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return;
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}
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bool handled = false;
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for (const SpektrumSensor * sensor = spektrumSensors; sensor->i2caddress; sensor++) {
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if (i2cAddress == sensor->i2caddress) {
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handled = true;
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// Extract value, skip header
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int32_t value = spektrumGetValue(packet + 4, sensor->startByte, sensor->dataType);
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if (!isSpektrumValidValue(value, sensor->dataType))
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continue;
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if (i2cAddress == I2C_CELLS && sensor->unit == UNIT_VOLTS) {
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// Map to FrSky style cell values
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int cellIndex = (sensor->startByte / 2) << 16;
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value = value | cellIndex;
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}
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if (sensor->i2caddress == I2C_HIGH_CURRENT && sensor->unit == UNIT_AMPS)
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// Spektrum's documents talks says: Resolution: 300A/2048 = 0.196791 A/tick
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// Note that 300/2048 = 0,1464. DeviationTX also uses the 0.196791 figure
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value = value * 196791 / 100000;
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else if (sensor->i2caddress == I2C_GPS2 && sensor->unit == UNIT_DATETIME) {
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// Frsky time is HH:MM:SS:00 bcd encodes while spektrum uses 0HH:MM:SS.S
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value = (value & 0xfffffff0) << 4;
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}
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// Check if this looks like a LemonRX Transceiver, they use QoS Frame loss A as RSSI indicator(0-100)
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if (i2cAddress == I2C_QOS && sensor->startByte == 0) {
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if (spektrumGetValue(packet + 4, 2, uint16) == 0x8000 &&
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spektrumGetValue(packet + 4, 4, uint16) == 0x8000 &&
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spektrumGetValue(packet + 4, 6, uint16) == 0x8000 &&
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spektrumGetValue(packet + 4, 8, uint16) == 0x8000) {
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telemetryData.rssi.set(value);
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}
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else {
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// Otherwise use the received signal strength of the telemetry packet as indicator
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// Range is 0-31, multiply by 3 to get an almost full reading for 0x1f, the maximum the cyrf chip reports
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telemetryData.rssi.set(packet[1] * 3);
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}
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telemetryStreaming = TELEMETRY_TIMEOUT10ms;
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}
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uint16_t pseudoId = (sensor->i2caddress << 8 | sensor->startByte);
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setTelemetryValue(PROTOCOL_TELEMETRY_SPEKTRUM, pseudoId, 0, instance, value, sensor->unit, sensor->precision);
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}
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}
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if (!handled) {
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// If we see a sensor that is not handled at all, add the raw values of this sensor to show its existance to
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// the user and help debugging/implementing these sensors
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for (int startByte=0; startByte<14; startByte+=2) {
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int32_t value = spektrumGetValue(packet + 4, startByte, uint16);
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uint16_t pseudoId = i2cAddress << 8 | startByte;
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setTelemetryValue(PROTOCOL_TELEMETRY_SPEKTRUM, pseudoId, 0, instance, value, UNIT_RAW, 0);
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}
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}
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}
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// Parse the DSM2 bind response, Fields are as per http://www.rcgroups.com/forums/showpost.php?p=35692146&postcount=5191
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// "I" here means the multi module
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/*
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0-3 4 bytes -> Cyrf ID of the TX xor 0xFF but you don't care as I've checked it already...
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4 1 byte -> RX version but you don't care...
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5 1 byte -> number of channels, example 0x06=6 channels
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6 1 byte -> max DSM type allowed:
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0x01 => 22ms 1024 DSM2 1 packet => number of channels is <8 and no telemetry
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0x02 => 22ms 1024 DSM2 2 packets => either a number of channel >7 or telemetry enable RX
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0x12 => 11ms 2048 DSM2 2 packets => can be any number of channels with/without telemetry -> this mode might be supported following Mike's trials, note the channels should be duplicated between the packets which is not the case today
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0xa2 => 22ms 2048 DSMX 1 packet => number of channels is <8 and no telemetry
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0xb2 => 11ms 2048 DSMX => can be any number of channels with/without telemetry -> this mode is only half supported since the channels should be duplicated between the packets which is not the case but might be supported following Mike's trials
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7 0x00: not sure of the use of this byte since I've always seen it at 0...
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8-9 2 bytes CRC but you don't care as I've checked it already...
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Examples: DSM #Chan RXver
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Inductrix 0xa2 07 1
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LemonRX+Sat+tele 0xb2 07 1
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*/
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void processDSMBindPacket(uint8_t module, const uint8_t *packet)
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{
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uint32_t debugval;
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if (g_model.moduleData[module].type == MODULE_TYPE_MULTIMODULE && g_model.moduleData[module].getMultiProtocol() == MODULE_SUBTYPE_MULTI_DSM2
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&& g_model.moduleData[module].multi.autoBindMode) {
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int channels = packet[5];
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// Only sets channel etc when in DSM multi mode
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g_model.moduleData[module].channelsCount = channels - 8;
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// bool use11ms = (packet[8] & 0x10) ;
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if (packet[6] >= 0xb2)
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g_model.moduleData[module].subType = MM_RF_DSM2_SUBTYPE_DSMX_11;
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else if (packet[6] >= 0xa2)
|
|
g_model.moduleData[module].subType = MM_RF_DSM2_SUBTYPE_DSMX_22;
|
|
else if (packet[6] >= 0x12)
|
|
g_model.moduleData[module].subType = MM_RF_DSM2_SUBTYPE_DSM2_11;
|
|
else
|
|
g_model.moduleData[module].subType = MM_RF_DSM2_SUBTYPE_DSM2_22;
|
|
|
|
storageDirty(EE_MODEL);
|
|
}
|
|
|
|
debugval = packet[7] << 24 | packet[6] << 16 | packet[5] << 8 | packet[4];
|
|
|
|
/* log the bind packet as telemetry for quick debugging */
|
|
setTelemetryValue(PROTOCOL_TELEMETRY_SPEKTRUM, (I2C_PSEUDO_TX << 8) + 4, 0, 0, debugval, UNIT_RAW, 0);
|
|
|
|
/* Finally stop binding as the rx just told us that it is bound */
|
|
if (g_model.moduleData[module].type == MODULE_TYPE_MULTIMODULE && g_model.moduleData[module].getMultiProtocol() == MODULE_SUBTYPE_MULTI_DSM2 && moduleState[module].mode == MODULE_MODE_BIND) {
|
|
setMultiBindStatus(module, MULTI_BIND_FINISHED);
|
|
}
|
|
}
|
|
|
|
void processSpektrumTelemetryData(uint8_t module, uint8_t data, uint8_t* rxBuffer, uint8_t& rxBufferCount)
|
|
{
|
|
if (rxBufferCount == 0 && data != 0xAA) {
|
|
TRACE("[SPK] invalid start byte 0x%02X", data);
|
|
return;
|
|
}
|
|
|
|
if (rxBufferCount < TELEMETRY_RX_PACKET_SIZE) {
|
|
rxBuffer[rxBufferCount++] = data;
|
|
}
|
|
else {
|
|
TRACE("[SPK] array size %d error", rxBufferCount);
|
|
rxBufferCount = 0;
|
|
}
|
|
|
|
if (rxBuffer[1] == 0x80 && rxBufferCount >= DSM_BIND_PACKET_LENGTH) {
|
|
processDSMBindPacket(module, rxBuffer+2);
|
|
rxBufferCount = 0;
|
|
return;
|
|
}
|
|
|
|
if (rxBufferCount >= SPEKTRUM_TELEMETRY_LENGTH) {
|
|
// Debug print content of Telemetry to console
|
|
#if 0
|
|
debugPrintf("[SPK] Packet 0x%02X rssi 0x%02X: ic2 0x%02x, %02x: ",
|
|
rxBuffer[0], rxBuffer[1], rxBuffer[2], rxBuffer[3]);
|
|
for (int i=4; i<SPEKTRUM_TELEMETRY_LENGTH; i+=4) {
|
|
debugPrintf("%02X%02X %02X%02X ", rxBuffer[i], rxBuffer[i + 1],
|
|
rxBuffer[i + 2], rxBuffer[i + 3]);
|
|
}
|
|
debugPrintf(CRLF);
|
|
#endif
|
|
processSpektrumPacket(rxBuffer);
|
|
rxBufferCount = 0;
|
|
}
|
|
}
|
|
|
|
const SpektrumSensor *getSpektrumSensor(uint16_t pseudoId)
|
|
{
|
|
uint8_t startByte = (uint8_t) (pseudoId & 0xff);
|
|
uint8_t i2cadd = (uint8_t) (pseudoId >> 8);
|
|
for (const SpektrumSensor * sensor = spektrumSensors; sensor->i2caddress; sensor++) {
|
|
if (i2cadd == sensor->i2caddress && startByte == sensor->startByte) {
|
|
return sensor;
|
|
}
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
void spektrumSetDefault(int index, uint16_t id, uint8_t subId, uint8_t instance)
|
|
{
|
|
TelemetrySensor &telemetrySensor = g_model.telemetrySensors[index];
|
|
telemetrySensor.id = id;
|
|
telemetrySensor.subId = subId;
|
|
telemetrySensor.instance = instance;
|
|
|
|
const SpektrumSensor *sensor = getSpektrumSensor(id);
|
|
if (sensor) {
|
|
TelemetryUnit unit = sensor->unit;
|
|
uint8_t prec = min<uint8_t>(2, sensor->precision);
|
|
telemetrySensor.init(sensor->name, unit, prec);
|
|
|
|
if (unit == UNIT_RPMS) {
|
|
telemetrySensor.custom.ratio = 1;
|
|
telemetrySensor.custom.offset = 1;
|
|
}
|
|
else if (unit == UNIT_FAHRENHEIT) {
|
|
if (!IS_IMPERIAL_ENABLE()) {
|
|
telemetrySensor.unit = UNIT_CELSIUS;
|
|
}
|
|
|
|
}
|
|
else if (unit == UNIT_METERS) {
|
|
if (IS_IMPERIAL_ENABLE()) {
|
|
telemetrySensor.unit = UNIT_FEET;
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
telemetrySensor.init(id);
|
|
}
|
|
|
|
storageDirty(EE_MODEL);
|
|
}
|