231 lines
7.4 KiB
C++
231 lines
7.4 KiB
C++
/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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#ifndef TELEMETRY_FRSKY_H
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#define TELEMETRY_FRSKY_H
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#define FRSKY_RX_PACKET_SIZE 19
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#define FRSKY_TX_PACKET_SIZE 12
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#include <inttypes.h>
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// .20 seconds
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#define FRSKY_TIMEOUT10ms 20
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enum AlarmLevel {
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alarm_off = 0,
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alarm_yellow = 1,
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alarm_orange = 2,
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alarm_red = 3
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};
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#define ALARM_GREATER(channel, alarm) ((g_model.frsky.channels[channel].alarms_greater >> alarm) & 1)
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#define ALARM_LEVEL(channel, alarm) ((g_model.frsky.channels[channel].alarms_level >> (2*alarm)) & 3)
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class FrskyValueWithMin {
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public:
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uint8_t value;
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uint8_t min;
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uint16_t sum;
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void set(uint8_t value);
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};
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class FrskyValueWithMinMax: public FrskyValueWithMin {
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public:
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uint8_t max;
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void set(uint8_t value, uint8_t unit);
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};
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#define VARIO_QUEUE_LENGTH 5
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#if defined(FRSKY_HUB)
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PACK(struct FrskySerialData {
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int16_t baroAltitudeOffset;// spare reused
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int16_t gpsAltitude_bp; // 0x01 before punct
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int16_t temperature1; // 0x02 -20 .. 250 deg. celcius
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uint16_t rpm; // 0x03 0..60,000 revs. per minute
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uint16_t fuelLevel; // 0x04 0, 25, 50, 75, 100 percent
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int16_t temperature2; // 0x05 -20 .. 250 deg. celcius
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uint16_t volts; // 0x06 1/500V increments (0..4.2V)
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uint32_t distFromEarthAxis;// 2 spares reused
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int16_t gpsAltitude_ap; // 0x01+8 after punct
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uint8_t cellVolts[12]; // 6 spares reused
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int16_t baroAltitude_bp; // 0x10 0..9,999 meters
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uint16_t gpsSpeed_bp; // 0x11 before punct
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uint16_t gpsLongitude_bp; // 0x12 before punct
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uint16_t gpsLatitude_bp; // 0x13 before punct
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uint16_t gpsCourse_bp; // 0x14 before punct (0..359.99 deg. -- seemingly 2-decimal precision)
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uint8_t day; // 0x15
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uint8_t month; // 0x15
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uint16_t year; // 0x16
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uint8_t hour; // 0x17
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uint8_t min; // 0x17
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uint16_t sec; // 0x18
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uint16_t gpsSpeed_ap; // 0x11+8
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uint16_t gpsLongitude_ap; // 0x12+8
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uint16_t gpsLatitude_ap; // 0x13+8
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uint16_t gpsCourse_ap; // 0x14+8
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uint32_t pilotLatitude; // 2 spares reused
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uint32_t pilotLongitude; // 2 spares reused
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uint16_t baroAltitude_ap; // 0x21 after punct
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uint16_t gpsLongitudeEW; // 0x1A+8 East/West
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uint16_t gpsLatitudeNS; // 0x1B+8 North/South
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int16_t accelX; // 0x24 1/256th gram (-8g ~ +8g)
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int16_t accelY; // 0x25 1/256th gram (-8g ~ +8g)
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int16_t accelZ; // 0x26 1/256th gram (-8g ~ +8g)
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uint8_t gpsDistNeeded:1; // 1bits out of 16bits spare reused
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int8_t gpsFix:2; // 2bits out of 16bits spare reused: -1=never fixed, 0=not fixed now, 1=fixed
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uint8_t spare1:1; //
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uint8_t cellsCount:4; // 4bits out of 16bits spare reused
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uint8_t minCellVolts; // 8bits out of 16bits spare reused
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uint16_t current; // 0x28 Current
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int16_t varioAltitudeQueue[VARIO_QUEUE_LENGTH]; //circular buffer
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int32_t varioAltitude_cm;
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int16_t varioSpeed; // 0x30 Vertical speed in cm/s
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uint16_t gpsDistance;
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int16_t gpsAltitudeOffset;
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uint8_t varioAltitudeQueuePointer; // circular-buffer pointer
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uint8_t minCellIdx;
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int16_t cellsSum;
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uint16_t currentConsumption;
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uint16_t currentPrescale;
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uint16_t power;
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int16_t spare2;
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uint16_t vfas; // 0x39 Added to FrSky protocol for home made sensors with a better precision
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uint16_t volts_bp; // 0x3A
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uint16_t volts_ap; // 0x3B
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// end of FrSky Hub data
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/* next fields must keep this order! */
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int16_t minAltitude;
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int16_t maxAltitude;
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uint16_t maxRpm;
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int16_t maxTemperature1;
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int16_t maxTemperature2;
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uint16_t maxGpsSpeed;
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uint16_t maxGpsDistance;
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uint16_t maxCurrent;
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uint16_t maxPower;
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/* end */
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});
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#elif defined(WS_HOW_HIGH)
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PACK(struct FrskySerialData {
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int16_t baroAltitude_bp; // 0..9,999 meters
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int16_t baroAltitudeOffset;
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int16_t minAltitude;
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int16_t maxAltitude;
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uint16_t currentConsumption;
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uint16_t currentPrescale;
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uint16_t power;
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uint16_t maxPower;
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#if defined(VARIO)
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int16_t varioAltitudeQueue[VARIO_QUEUE_LENGTH]; //circular buffer
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uint8_t varioAltitudeQueuePointer; // circular-buffer pointer
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int32_t varioAltitude_cm;
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int16_t varioSpeed; // Vertical speed in cm/s
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#endif
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});
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#elif defined(VARIO)
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PACK(struct FrskySerialData {
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int16_t varioAltitudeQueue[VARIO_QUEUE_LENGTH]; //circular buffer
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uint8_t varioAltitudeQueuePointer; // circular-buffer pointer
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int32_t varioAltitude_cm;
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int16_t varioSpeed; // Vertical speed in cm/s
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uint16_t currentConsumption;
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uint16_t currentPrescale;
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uint16_t power;
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uint16_t maxPower;
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});
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#else
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PACK(struct FrskySerialData {
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uint16_t currentConsumption;
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uint16_t currentPrescale;
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uint16_t power;
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uint16_t maxPower;
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});
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#endif
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struct FrskyData {
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FrskyValueWithMinMax analog[2];
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FrskyValueWithMin rssi[2];
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FrskySerialData hub;
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};
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// Global Fr-Sky telemetry data variables
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extern uint8_t frskyStreaming; // >0 (true) == data is streaming in. 0 = nodata detected for some time
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#if defined(WS_HOW_HIGH)
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extern uint8_t frskyUsrStreaming;
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#endif
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#define SEND_RSSI_ALARMS 6
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#define SEND_MODEL_ALARMS 4
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extern uint8_t frskyAlarmsSendState;
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extern FrskyData frskyData;
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extern uint8_t frskyTxBuffer[FRSKY_TX_PACKET_SIZE];
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extern uint8_t frskyTxBufferCount;
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void FRSKY_Init(void);
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#define FRSKY_End()
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void telemetryWakeup(void);
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void telemetryInterrupt10ms(void);
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inline void frskySendAlarms(void)
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{
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frskyAlarmsSendState = SEND_RSSI_ALARMS;
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}
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bool FRSKY_alarmRaised(uint8_t idx);
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void resetTelemetry();
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#define TELEMETRY_ALT_BP frskyData.hub.baroAltitude_bp
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#define TELEMETRY_ALT_AP frskyData.hub.baroAltitude_ap
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#define TELEMETRY_GPS_ALT_AP frskyData.hub.gpsAltitude_ap
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#define TELEMETRY_GPS_ALT_BP frskyData.hub.gpsAltitude_bp
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#define TELEMETRY_GPS_SPEED_BP frskyData.hub.gpsSpeed_bp
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#define TELEMETRY_GPS_SPEED_AP frskyData.hub.gpsSpeed_ap
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#define TELEMETRY_STREAMING() (frskyStreaming > 0)
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#endif
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