393 lines
16 KiB
C++
393 lines
16 KiB
C++
/*
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* Copyright (C) OpenTX
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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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/*
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* TXID + RXID are already skipped in MULTI module to save memory+transmission time, format from Multi is:
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* AA or AC | TX_RSSI | sensor ...
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*/
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#define FLYSKY_TELEMETRY_LENGTH (2+7*4) // Should it be 2+7*6???
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#define ALT_PRECISION 15
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#define R_DIV_G_MUL_10_Q15 (uint64_t)9591506
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#define INV_LOG2_E_Q1DOT31 (uint64_t)0x58b90bfc // Inverse log base 2 of e
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#define PRESSURE_MASK 0x7FFFF
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struct FlySkySensor
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{
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const uint16_t id;
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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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// telemetry sensors ID
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enum
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{
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AFHDS2A_ID_VOLTAGE = 0x00, // Internal Voltage
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AFHDS2A_ID_TEMPERATURE = 0x01, // Temperature
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AFHDS2A_ID_MOT = 0x02, // RPM
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AFHDS2A_ID_EXTV = 0x03, // External Voltage
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AFHDS2A_ID_CELL_VOLTAGE = 0x04, // Avg Cell voltage
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AFHDS2A_ID_BAT_CURR = 0x05, // battery current A * 100
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AFHDS2A_ID_FUEL = 0x06, // remaining battery percentage / mah drawn otherwise or fuel level no unit!
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AFHDS2A_ID_RPM = 0x07, // throttle value / battery capacity
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AFHDS2A_ID_CMP_HEAD = 0x08, // Heading 0..360 deg, 0=north 2bytes
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AFHDS2A_ID_CLIMB_RATE = 0x09, // 2 bytes m/s *100 signed
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AFHDS2A_ID_COG = 0x0A, // 2 bytes Course over ground(NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. unknown max uint
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AFHDS2A_ID_GPS_STATUS = 0x0B, // 2 bytes
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AFHDS2A_ID_ACC_X = 0x0C, // 2 bytes m/s *100 signed
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AFHDS2A_ID_ACC_Y = 0x0D, // 2 bytes m/s *100 signed
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AFHDS2A_ID_ACC_Z = 0x0E, // 2 bytes m/s *100 signed
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AFHDS2A_ID_ROLL = 0x0F, // 2 bytes deg *100 signed
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AFHDS2A_ID_PITCH = 0x10, // 2 bytes deg *100 signed
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AFHDS2A_ID_YAW = 0x11, // 2 bytes deg *100 signed
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AFHDS2A_ID_VERTICAL_SPEED = 0x12, // 2 bytes m/s *100 signed
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AFHDS2A_ID_GROUND_SPEED = 0x13, // 2 bytes m/s *100 different unit than build-in sensor
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AFHDS2A_ID_GPS_DIST = 0x14, // 2 bytes distance from home m unsigned
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AFHDS2A_ID_ARMED = 0x15, // 2 bytes
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AFHDS2A_ID_FLIGHT_MODE = 0x16, // 2 bytes
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AFHDS2A_ID_PRES = 0x41, // Pressure
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AFHDS2A_ID_ODO1 = 0x7C, // Odometer1
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AFHDS2A_ID_ODO2 = 0x7D, // Odometer2
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AFHDS2A_ID_SPE = 0x7E, // Speed 2 bytes km/h
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AFHDS2A_ID_TX_V = 0x7F, // TX Voltage
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AFHDS2A_ID_GPS_LAT = 0x80, // 4bytes signed WGS84 in degrees * 1E7
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AFHDS2A_ID_GPS_LON = 0x81, // 4bytes signed WGS84 in degrees * 1E7
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AFHDS2A_ID_GPS_ALT = 0x82, // 4bytes signed!!! GPS alt m*100
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AFHDS2A_ID_ALT = 0x83, // 4bytes signed!!! Alt m*100
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AFHDS2A_ID_S84 = 0x84,
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AFHDS2A_ID_S85 = 0x85,
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AFHDS2A_ID_S86 = 0x86,
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AFHDS2A_ID_S87 = 0x87,
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AFHDS2A_ID_S88 = 0x88,
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AFHDS2A_ID_S89 = 0x89,
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AFHDS2A_ID_S8a = 0x8A,
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AFHDS2A_ID_ALT_FLYSKY = 0xF9, // Altitude 2 bytes signed in m - used in FlySky native TX
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AFHDS2A_ID_RX_SNR = 0xFA, // SNR
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AFHDS2A_ID_RX_NOISE = 0xFB, // Noise
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AFHDS2A_ID_RX_RSSI = 0xFC, // RSSI
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AFHDS2A_ID_RX_ERR_RATE = 0xFE, // Error rate
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AFHDS2A_ID_END = 0xFF,
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// AC type telemetry with multiple values in one packet
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AFHDS2A_ID_GPS_FULL = 0xFD,
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AFHDS2A_ID_VOLT_FULL = 0xF0,
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AFHDS2A_ID_ACC_FULL = 0xEF,
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TX_RSSI_ID = 0x200, // Pseudo id outside 1 byte range of FlySky sensors
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};
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const FlySkySensor flySkySensors[] = {
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{AFHDS2A_ID_VOLTAGE | 0x100, ZSTR_A1, UNIT_VOLTS, 2}, // RX Voltage (remapped, really 0x0)
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{AFHDS2A_ID_TEMPERATURE, ZSTR_TEMP1, UNIT_CELSIUS, 1}, // Temperature
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{AFHDS2A_ID_MOT, ZSTR_RPM, UNIT_RAW, 0}, // RPM
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{AFHDS2A_ID_EXTV, ZSTR_A3, UNIT_VOLTS, 2}, // External voltage
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{AFHDS2A_ID_CELL_VOLTAGE, ZSTR_CELLS, UNIT_VOLTS, 2}, // Avg Cell voltage
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{AFHDS2A_ID_BAT_CURR, ZSTR_CURR, UNIT_AMPS, 2}, // battery current A * 100
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{AFHDS2A_ID_FUEL, ZSTR_CAPACITY, UNIT_RAW, 0}, // remaining battery percentage / mah drawn otherwise or fuel level no unit!
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{AFHDS2A_ID_RPM, ZSTR_RPM, UNIT_RAW, 0}, // throttle value / battery capacity
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{AFHDS2A_ID_CMP_HEAD, ZSTR_HDG, UNIT_DEGREE, 0}, // Heading 0..360 deg, 0=north 2bytes
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{AFHDS2A_ID_CLIMB_RATE, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 2}, // 2 bytes m/s *100
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{AFHDS2A_ID_COG, ZSTR_HDG, UNIT_DEGREE, 2}, // 2 bytes Course over ground(NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. unknown max uint
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{AFHDS2A_ID_GPS_STATUS, ZSTR_SATELLITES, UNIT_RAW, 0}, // 2 bytes
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{AFHDS2A_ID_ACC_X, ZSTR_ACCX, UNIT_METERS_PER_SECOND, 2}, // 2 bytes m/s *100 signed
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{AFHDS2A_ID_ACC_Y, ZSTR_ACCY, UNIT_METERS_PER_SECOND, 2}, // 2 bytes m/s *100 signed
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{AFHDS2A_ID_ACC_Z, ZSTR_ACCZ, UNIT_METERS_PER_SECOND, 2}, // 2 bytes m/s *100 signed
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{AFHDS2A_ID_ROLL, ZSTR_ROLL, UNIT_DEGREE, 2}, // 2 bytes deg *100 signed
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{AFHDS2A_ID_PITCH, ZSTR_PITCH, UNIT_DEGREE, 2}, // 2 bytes deg *100 signed
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{AFHDS2A_ID_YAW, ZSTR_YAW, UNIT_DEGREE, 2}, // 2 bytes deg *100 signed
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{AFHDS2A_ID_VERTICAL_SPEED, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 2}, // 2 bytes m/s *100
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{AFHDS2A_ID_GROUND_SPEED, ZSTR_GSPD, UNIT_METERS_PER_SECOND, 2}, // 2 bytes m/s *100 different unit than build-in sensor
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{AFHDS2A_ID_GPS_DIST, ZSTR_DIST, UNIT_METERS, 0}, // 2 bytes dist from home m unsigned
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{AFHDS2A_ID_ARMED, ZSTR_ARM, UNIT_RAW, 0}, // 2 bytes
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{AFHDS2A_ID_FLIGHT_MODE, ZSTR_FLIGHT_MODE, UNIT_RAW, 0}, // 2 bytes index
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{AFHDS2A_ID_PRES, ZSTR_PRES, UNIT_RAW, 2}, // 4 bytes In fact Temperature + Pressure -> Altitude
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{AFHDS2A_ID_PRES | 0x100, ZSTR_TEMP2, UNIT_CELSIUS, 1}, // 2 bytes Temperature
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{AFHDS2A_ID_ODO1, ZSTR_ODO1, UNIT_METERS, 2}, // 2 bytes Odometer1 -- some magic with 330 needed
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{AFHDS2A_ID_ODO2, ZSTR_ODO2, UNIT_METERS, 2}, // 2 bytes Odometer2 -- some magic with 330 needed
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{AFHDS2A_ID_SPE, ZSTR_ASPD, UNIT_KMH, 2}, // 2 bytes Speed km/h -- some magic with 330 needed
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{AFHDS2A_ID_TX_V, ZSTR_TXV, UNIT_VOLTS, 2}, // TX Voltage
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{AFHDS2A_ID_GPS_LAT, ZSTR_GPS, UNIT_RAW, 7}, // 4 bytes signed WGS84 in degrees * 1E7
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{AFHDS2A_ID_GPS_LON, ZSTR_GPS, UNIT_RAW, 7}, // 4 bytes signed WGS84 in degrees * 1E7
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{AFHDS2A_ID_GPS_ALT, ZSTR_GPSALT, UNIT_METERS, 2}, // 4 bytes signed GPS alt m*100
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{AFHDS2A_ID_ALT, ZSTR_ALT, UNIT_METERS, 2}, // 4 bytes signed Alt m*100
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{AFHDS2A_ID_RX_SNR, ZSTR_RX_SNR, UNIT_DB, 0}, // RX SNR
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{AFHDS2A_ID_RX_NOISE, ZSTR_RX_NOISE, UNIT_DB, 0}, // RX Noise
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{AFHDS2A_ID_RX_RSSI, ZSTR_RSSI, UNIT_DB, 0}, // RX RSSI (0xfc)
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{AFHDS2A_ID_RX_ERR_RATE, ZSTR_RX_QUALITY, UNIT_RAW, 0}, // RX error rate
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{TX_RSSI_ID, ZSTR_TX_RSSI, UNIT_RAW, 0}, // Pseudo sensor for TRSSI
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{0x00, NULL, UNIT_RAW, 0}, // sentinel
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};
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int32_t getALT(uint32_t value);
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static void processFlySkySensor(const uint8_t * packet, uint8_t type)
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{
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uint8_t buffer[8];
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uint16_t id = packet[0];
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const uint8_t instance = packet[1];
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int32_t value;
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//Load most likely value
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if (type == 0xAA)
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value = (packet[3] << 8) | packet[2];
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else
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value = (packet[6] << 24) | (packet[5] << 16) | (packet[4] << 8) | packet[3];
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if (id == 0) id = 0x100; // Some part of OpenTX does not like sensor with id and instance 0, remap to 0x100
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if (id == AFHDS2A_ID_RX_NOISE || id == AFHDS2A_ID_RX_RSSI) {
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value = 135 - value;
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}
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else if (id == AFHDS2A_ID_RX_ERR_RATE) {
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value = 100 - value;
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telemetryData.rssi.set(value);
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if (value > 0) telemetryStreaming = TELEMETRY_TIMEOUT10ms;
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}
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else if (id == AFHDS2A_ID_PRES && value) {
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// Extract temperature to a new sensor
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setTelemetryValue(PROTOCOL_TELEMETRY_FLYSKY_IBUS, id | 0x100, 0, instance, ((value >> 19) - 400), UNIT_CELSIUS, 1);
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// Extract alt to a new sensor
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setTelemetryValue(PROTOCOL_TELEMETRY_FLYSKY_IBUS, AFHDS2A_ID_ALT, 0, instance, getALT(value), UNIT_METERS, 2);
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value &= PRESSURE_MASK;
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}
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else if ((id >= AFHDS2A_ID_ACC_X && id <= AFHDS2A_ID_VERTICAL_SPEED) || id == AFHDS2A_ID_CLIMB_RATE) {
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value = (int16_t) value; // Signed value
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}
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else if (id == AFHDS2A_ID_GPS_STATUS) {
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value = value >> 8;
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}
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else if (id == AFHDS2A_ID_GPS_FULL) {
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//(AC FRAME)[ID][inst][size][fix][sats][LAT]x4[LON]x4[ALT]x4
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setTelemetryValue(PROTOCOL_TELEMETRY_FLYSKY_IBUS, AFHDS2A_ID_GPS_STATUS, 0, instance, packet[4], UNIT_RAW, 0);
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for (uint8_t sensorID = AFHDS2A_ID_GPS_LAT; sensorID <= AFHDS2A_ID_GPS_ALT; sensorID++) {
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int index = 5 + (sensorID - AFHDS2A_ID_GPS_LAT) * 4;
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buffer[0] = sensorID;
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buffer[1] = instance;
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buffer[2] = 4;
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memcpy(buffer + 3, packet + index, 4);
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processFlySkySensor(buffer, 0xAC);
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}
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return;
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}
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else if (id == AFHDS2A_ID_VOLT_FULL) {
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//(AC FRAME)[ID][inst][size][ACC_X]x2[ACC_Y]x2[ACC_Z]x2[ROLL]x2[PITCH]x2[YAW]x2
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for (uint8_t sensorID = AFHDS2A_ID_EXTV; sensorID <= AFHDS2A_ID_RPM; sensorID++) {
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int index = 3 + (sensorID - AFHDS2A_ID_EXTV) * 2;
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buffer[0] = sensorID;
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buffer[1] = instance;
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buffer[2] = packet[index];
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buffer[3] = packet[index + 1];
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processFlySkySensor(buffer, 0xAA);
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}
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return;
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}
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else if (id == AFHDS2A_ID_ACC_FULL) {
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//(AC FRAME)[ID][inst][size]
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for (uint8_t sensorID = AFHDS2A_ID_ACC_X; sensorID <= AFHDS2A_ID_YAW; sensorID++) {
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int index = 3 + (sensorID - AFHDS2A_ID_ACC_X) * 2;
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buffer[0] = sensorID;
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buffer[1] = instance;
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buffer[2] = packet[index];
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buffer[3] = packet[index + 1];
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processFlySkySensor(buffer, 0xAA);
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}
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return;
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}
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for (const FlySkySensor * sensor = flySkySensors; sensor->id; sensor++) {
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if (sensor->id != id) continue;
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if (sensor->unit == UNIT_CELSIUS) value -= 400; // Temperature sensors have 40 degree offset
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else if (sensor->unit == UNIT_VOLTS) value = (uint16_t) value; // Voltage types are unsigned 16bit integers
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setTelemetryValue(PROTOCOL_TELEMETRY_FLYSKY_IBUS, id, 0, instance, value, sensor->unit, sensor->precision);
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return;
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}
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//unknown
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setTelemetryValue(PROTOCOL_TELEMETRY_FLYSKY_IBUS, id, 0, instance, value, UNIT_RAW, 0);
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}
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void processFlySkyPacket(const uint8_t * packet)
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{
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// Set TX RSSI Value, reverse MULTIs scaling
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setTelemetryValue(PROTOCOL_TELEMETRY_FLYSKY_IBUS, TX_RSSI_ID, 0, 0, packet[0], UNIT_RAW, 0);
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const uint8_t * buffer = packet + 1;
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int sesnor = 0;
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while (sesnor++ < 7) {
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if (*buffer == AFHDS2A_ID_END) break;
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processFlySkySensor(buffer, 0xAA);
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buffer += 4;
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}
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}
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void processFlySkyPacketAC(const uint8_t * packet)
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{
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// Set TX RSSI Value, reverse MULTIs scaling
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setTelemetryValue(PROTOCOL_TELEMETRY_FLYSKY_IBUS, TX_RSSI_ID, 0, 0, packet[0], UNIT_RAW, 0);
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const uint8_t * buffer = packet + 1;
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while (buffer - packet < 26) //28 + 1(multi TX rssi) - 3(ac header)
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{
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if (*buffer == AFHDS2A_ID_END) break;
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uint8_t size = buffer[2];
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processFlySkySensor(buffer, 0xAC);
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buffer += size + 3;
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}
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}
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void processFlySkyTelemetryData(uint8_t data, uint8_t * rxBuffer, uint8_t &rxBufferCount)
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{
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if (rxBufferCount == 0)
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return;
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if (data == 0xAA || data == 0xAC) {
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TRACE("[IBUS] Packet 0x%02X", data);
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}
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else {
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TRACE("[IBUS] invalid start byte 0x%02X", data);
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rxBufferCount = 0;
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return;
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}
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if (rxBufferCount < TELEMETRY_RX_PACKET_SIZE) {
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rxBuffer[rxBufferCount++] = data;
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}
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else {
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TRACE("[IBUS] array size %d error", rxBufferCount);
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rxBufferCount = 0;
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}
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if (rxBufferCount >= FLYSKY_TELEMETRY_LENGTH) {
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// debug print the content of the packets
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#if 0
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debugPrintf(", rssi 0x%02X: ", rxBuffer[1]);
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for (int i=0; i<7; i++) {
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debugPrintf("[%02X %02X %02X%02X] ", rxBuffer[i*4+2], rxBuffer[i*4 + 3],
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rxBuffer[i*4 + 4], rxBuffer[i*4 + 5]);
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}
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debugPrintf("\r\n");
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#endif
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if (data == 0xAA) processFlySkyPacket(rxBuffer + 1);
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else if (data == 0xAC) processFlySkyPacketAC(rxBuffer + 1);
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rxBufferCount = 0;
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}
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}
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const FlySkySensor * getFlySkySensor(uint16_t id)
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{
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for (const FlySkySensor * sensor = flySkySensors; sensor->id; sensor++) {
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if (id == sensor->id)
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return sensor;
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}
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return nullptr;
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}
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void flySkySetDefault(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 FlySkySensor * sensor = getFlySkySensor(id);
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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->precision);
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telemetrySensor.init(sensor->name, unit, prec);
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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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}
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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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uint16_t ibusTempToK(int16_t tempertureIbus)
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{
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return (uint16_t) (tempertureIbus - 400) + 2731;
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}
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int32_t log2fix(uint32_t x)
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{
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int32_t b = 1U << (ALT_PRECISION - 1);
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int32_t y = 0;
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while (x < 1U << ALT_PRECISION) {
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x <<= 1;
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y -= 1U << ALT_PRECISION;
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}
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while (x >= 2U << ALT_PRECISION) {
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x >>= 1;
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y += 1U << ALT_PRECISION;
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}
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uint64_t z = x;
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for (size_t i = 0; i < ALT_PRECISION; i++) {
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z = (z * z) >> ALT_PRECISION;
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if (z >= 2U << ALT_PRECISION) {
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z >>= 1;
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y += b;
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}
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b >>= 1;
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}
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return y;
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}
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int32_t getALT(uint32_t value)
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{
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uint32_t pressurePa = value & PRESSURE_MASK;
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if (pressurePa == 0) return 0;
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uint16_t temperatureK = ibusTempToK((uint16_t) (value >> 19));
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static uint32_t initPressure = 0;
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static uint16_t initTemperature = 0;
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if (initPressure <= 0) // use current pressure for ground altitude -> 0
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{
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initPressure = pressurePa;
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initTemperature = temperatureK;
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|
}
|
|
int temperature = (initTemperature + temperatureK) >> 1; //div 2
|
|
bool tempNegative = temperature < 0;
|
|
if (tempNegative) temperature = temperature * -1;
|
|
uint64_t helper = R_DIV_G_MUL_10_Q15;
|
|
helper = helper * (uint64_t) temperature;
|
|
helper = helper >> ALT_PRECISION;
|
|
|
|
uint32_t po_to_p = (uint32_t)(initPressure << (ALT_PRECISION - 1));
|
|
po_to_p = po_to_p / pressurePa;
|
|
//shift missing bit
|
|
po_to_p = po_to_p << 1;
|
|
if (po_to_p == 0) return 0;
|
|
uint64_t t = log2fix(po_to_p) * INV_LOG2_E_Q1DOT31;
|
|
int32_t ln = t >> 31;
|
|
|
|
bool neg = ln < 0;
|
|
if (neg) ln = ln * -1;
|
|
helper = helper * (uint64_t) ln;
|
|
helper = helper >> ALT_PRECISION;
|
|
int result = (int) helper;
|
|
|
|
if (neg ^ tempNegative) result = result * -1;
|
|
return result;
|
|
} |