5fd22612aa
Co-authored-by: Bertrand Songis <bsongis@gmail.com> Co-authored-by: raphaelcoeffic <raphael.coeffic@frafos.com>
490 lines
20 KiB
C++
490 lines
20 KiB
C++
/*
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* Copyright (C) EdgeTX
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*
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* Based on code named
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* opentx - https://github.com/opentx/opentx
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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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struct FrSkySportSensor {
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const uint16_t firstId;
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const uint8_t idCnt:6;
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const uint8_t subId:2;
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const uint8_t prec:2;
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const TelemetryUnit unit:6;
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const char * name;
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};
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#define FS(firstId,lastId,subId,name,unit,prec) {firstId,lastId-firstId,subId,prec,unit,name}
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const FrSkySportSensor sportSensors[] = {
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FS( VALID_FRAME_RATE_ID, VALID_FRAME_RATE_ID, 0, STR_SENSOR_VFR, UNIT_PERCENT, 0 ),
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FS( RSSI_ID, RSSI_ID, 0, STR_SENSOR_RSSI, UNIT_DB, 0 ),
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#if defined(MULTIMODULE)
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FS( TX_RSSI_ID, TX_RSSI_ID, 0, STR_SENSOR_TX_RSSI , UNIT_DB , 0 ),
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FS( TX_LQI_ID , TX_LQI_ID, 0, STR_SENSOR_TX_QUALITY, UNIT_RAW, 0 ),
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#endif
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FS( ADC1_ID, ADC1_ID, 0, STR_SENSOR_A1, UNIT_VOLTS, 1 ),
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FS( ADC2_ID, ADC2_ID, 0, STR_SENSOR_A2, UNIT_VOLTS, 1 ),
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FS( A3_FIRST_ID, A3_LAST_ID, 0, STR_SENSOR_A3, UNIT_VOLTS, 2 ),
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FS( A4_FIRST_ID, A4_LAST_ID, 0, STR_SENSOR_A4, UNIT_VOLTS, 2 ),
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FS( BATT_ID, BATT_ID, 0, STR_SENSOR_BATT, UNIT_VOLTS, 1 ),
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FS( R9_PWR_ID, R9_PWR_ID, 0, STR_SENSOR_R9PW, UNIT_MILLIWATTS, 0 ),
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FS( T1_FIRST_ID, T1_LAST_ID, 0, STR_SENSOR_TEMP1, UNIT_CELSIUS, 0 ),
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FS( T2_FIRST_ID, T2_LAST_ID, 0, STR_SENSOR_TEMP2, UNIT_CELSIUS, 0 ),
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FS( RPM_FIRST_ID, RPM_LAST_ID, 0, STR_SENSOR_RPM, UNIT_RPMS, 0 ),
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FS( FUEL_FIRST_ID, FUEL_LAST_ID, 0, STR_SENSOR_FUEL, UNIT_PERCENT, 0 ),
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FS( ALT_FIRST_ID, ALT_LAST_ID, 0, STR_SENSOR_ALT, UNIT_METERS, 2 ),
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FS( VARIO_FIRST_ID, VARIO_LAST_ID, 0, STR_SENSOR_VSPD, UNIT_METERS_PER_SECOND, 2 ),
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FS( ACCX_FIRST_ID, ACCX_LAST_ID, 0, STR_SENSOR_ACCX, UNIT_G, 3 ),
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FS( ACCY_FIRST_ID, ACCY_LAST_ID, 0, STR_SENSOR_ACCY, UNIT_G, 3 ),
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FS( ACCZ_FIRST_ID, ACCZ_LAST_ID, 0, STR_SENSOR_ACCZ, UNIT_G, 3 ),
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FS( ANGLE_FIRST_ID, ANGLE_LAST_ID, 0, STR_SENSOR_ROLL, UNIT_DEGREE, 2 ),
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FS( ANGLE_FIRST_ID, ANGLE_LAST_ID, 1, STR_SENSOR_PITCH, UNIT_DEGREE, 2 ),
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FS( CURR_FIRST_ID, CURR_LAST_ID, 0, STR_SENSOR_CURR, UNIT_AMPS, 1 ),
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FS( VFAS_FIRST_ID, VFAS_LAST_ID, 0, STR_SENSOR_VFAS, UNIT_VOLTS, 2 ),
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FS( AIR_SPEED_FIRST_ID, AIR_SPEED_LAST_ID, 0, STR_SENSOR_ASPD, UNIT_KTS, 1 ),
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FS( GPS_SPEED_FIRST_ID, GPS_SPEED_LAST_ID, 0, STR_SENSOR_GSPD, UNIT_KTS, 3 ),
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FS( CELLS_FIRST_ID, CELLS_LAST_ID, 0, STR_SENSOR_CELLS, UNIT_CELLS, 2 ),
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FS( GPS_ALT_FIRST_ID, GPS_ALT_LAST_ID, 0, STR_SENSOR_GPSALT, UNIT_METERS, 2 ),
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FS( GPS_TIME_DATE_FIRST_ID, GPS_TIME_DATE_LAST_ID, 0, STR_SENSOR_GPSDATETIME, UNIT_DATETIME, 0 ),
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FS( GPS_LONG_LATI_FIRST_ID, GPS_LONG_LATI_LAST_ID, 0, STR_SENSOR_GPS, UNIT_GPS, 0 ),
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FS( FUEL_QTY_FIRST_ID, FUEL_QTY_LAST_ID, 0, STR_SENSOR_FUEL, UNIT_MILLILITERS, 2 ),
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FS( GPS_COURS_FIRST_ID, GPS_COURS_LAST_ID, 0, STR_SENSOR_HDG, UNIT_DEGREE, 2 ),
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FS( RBOX_BATT1_FIRST_ID, RBOX_BATT1_LAST_ID, 0, STR_SENSOR_BATT1_VOLTAGE, UNIT_VOLTS, 3 ),
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FS( RBOX_BATT2_FIRST_ID, RBOX_BATT2_LAST_ID, 0, STR_SENSOR_BATT2_VOLTAGE, UNIT_VOLTS, 3 ),
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FS( RBOX_BATT1_FIRST_ID, RBOX_BATT1_LAST_ID, 1, STR_SENSOR_BATT1_CURRENT, UNIT_AMPS, 2 ),
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FS( RBOX_BATT2_FIRST_ID, RBOX_BATT2_LAST_ID, 1, STR_SENSOR_BATT2_CURRENT, UNIT_AMPS, 2 ),
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FS( RBOX_CNSP_FIRST_ID, RBOX_CNSP_LAST_ID, 0, STR_SENSOR_BATT1_CONSUMPTION, UNIT_MAH, 0 ),
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FS( RBOX_CNSP_FIRST_ID, RBOX_CNSP_LAST_ID, 1, STR_SENSOR_BATT2_CONSUMPTION, UNIT_MAH, 0 ),
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FS( RBOX_STATE_FIRST_ID, RBOX_STATE_LAST_ID, 0, STR_SENSOR_CHANS_STATE, UNIT_TEXT, 0 ),
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FS( RBOX_STATE_FIRST_ID, RBOX_STATE_LAST_ID, 1, STR_SENSOR_RB_STATE, UNIT_TEXT, 0 ),
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FS( SD1_FIRST_ID, SD1_LAST_ID, 0, STR_SENSOR_SD1_CHANNEL, UNIT_RAW, 0 ),
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FS( ESC_POWER_FIRST_ID, ESC_POWER_LAST_ID, 0, STR_SENSOR_ESC_VOLTAGE, UNIT_VOLTS, 2 ),
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FS( ESC_POWER_FIRST_ID, ESC_POWER_LAST_ID, 1, STR_SENSOR_ESC_CURRENT, UNIT_AMPS, 2 ),
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FS( ESC_RPM_CONS_FIRST_ID, ESC_RPM_CONS_LAST_ID, 0, STR_SENSOR_ESC_RPM, UNIT_RPMS, 0 ),
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FS( ESC_RPM_CONS_FIRST_ID, ESC_RPM_CONS_LAST_ID, 1, STR_SENSOR_ESC_CONSUMPTION, UNIT_MAH, 0 ),
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FS( ESC_TEMPERATURE_FIRST_ID, ESC_TEMPERATURE_LAST_ID, 0, STR_SENSOR_ESC_TEMP, UNIT_CELSIUS, 0 ),
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FS( GASSUIT_TEMP1_FIRST_ID, GASSUIT_TEMP1_LAST_ID, 0, STR_SENSOR_GASSUIT_TEMP1, UNIT_CELSIUS, 0 ),
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FS( GASSUIT_TEMP2_FIRST_ID, GASSUIT_TEMP2_LAST_ID, 0, STR_SENSOR_GASSUIT_TEMP2, UNIT_CELSIUS, 0 ),
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FS( GASSUIT_SPEED_FIRST_ID, GASSUIT_SPEED_LAST_ID, 0, STR_SENSOR_GASSUIT_RPM, UNIT_RPMS, 0 ),
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FS( GASSUIT_RES_VOL_FIRST_ID, GASSUIT_RES_VOL_LAST_ID, 0, STR_SENSOR_GASSUIT_RES_VOL, UNIT_MILLILITERS, 0 ),
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FS( GASSUIT_RES_PERC_FIRST_ID, GASSUIT_RES_PERC_LAST_ID, 0, STR_SENSOR_GASSUIT_RES_PERC, UNIT_PERCENT, 0 ),
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FS( GASSUIT_FLOW_FIRST_ID, GASSUIT_FLOW_LAST_ID, 0, STR_SENSOR_GASSUIT_FLOW, UNIT_MILLILITERS_PER_MINUTE, 0 ),
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FS( GASSUIT_MAX_FLOW_FIRST_ID, GASSUIT_MAX_FLOW_LAST_ID, 0, STR_SENSOR_GASSUIT_MAX_FLOW, UNIT_MILLILITERS_PER_MINUTE, 0 ),
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FS( GASSUIT_AVG_FLOW_FIRST_ID, GASSUIT_AVG_FLOW_LAST_ID, 0, STR_SENSOR_GASSUIT_AVG_FLOW, UNIT_MILLILITERS_PER_MINUTE, 0 ),
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FS( SBEC_POWER_FIRST_ID, SBEC_POWER_LAST_ID, 0, STR_SENSOR_SBEC_VOLTAGE, UNIT_VOLTS, 2 ),
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FS( SBEC_POWER_FIRST_ID, SBEC_POWER_LAST_ID, 1, STR_SENSOR_SBEC_CURRENT, UNIT_AMPS, 2 ),
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FS( RB3040_OUTPUT_FIRST_ID, RB3040_OUTPUT_LAST_ID, 0, STR_SENSOR_RB3040_EXTRA_STATE, UNIT_TEXT, 0 ),
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FS( RB3040_CH1_2_FIRST_ID, RB3040_CH1_2_LAST_ID, 0, STR_SENSOR_RB3040_CHANNEL1, UNIT_AMPS, 2 ),
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FS( RB3040_CH1_2_FIRST_ID, RB3040_CH1_2_LAST_ID, 1, STR_SENSOR_RB3040_CHANNEL2, UNIT_AMPS, 2 ),
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FS( RB3040_CH3_4_FIRST_ID, RB3040_CH3_4_LAST_ID, 0, STR_SENSOR_RB3040_CHANNEL3, UNIT_AMPS, 2 ),
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FS( RB3040_CH3_4_FIRST_ID, RB3040_CH3_4_LAST_ID, 1, STR_SENSOR_RB3040_CHANNEL4, UNIT_AMPS, 2 ),
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FS( RB3040_CH5_6_FIRST_ID, RB3040_CH5_6_LAST_ID, 0, STR_SENSOR_RB3040_CHANNEL5, UNIT_AMPS, 2 ),
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FS( RB3040_CH5_6_FIRST_ID, RB3040_CH5_6_LAST_ID, 1, STR_SENSOR_RB3040_CHANNEL6, UNIT_AMPS, 2 ),
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FS( RB3040_CH7_8_FIRST_ID, RB3040_CH7_8_LAST_ID, 0, STR_SENSOR_RB3040_CHANNEL7, UNIT_AMPS, 2 ),
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FS( RB3040_CH7_8_FIRST_ID, RB3040_CH7_8_LAST_ID, 1, STR_SENSOR_RB3040_CHANNEL8, UNIT_AMPS, 2 ),
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FS( SERVO_FIRST_ID, SERVO_LAST_ID, 0, STR_SENSOR_SERVO_CURRENT, UNIT_AMPS, 1 ),
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FS( SERVO_FIRST_ID, SERVO_LAST_ID, 1, STR_SENSOR_SERVO_VOLTAGE, UNIT_VOLTS, 1 ),
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FS( SERVO_FIRST_ID, SERVO_LAST_ID, 2, STR_SENSOR_SERVO_TEMPERATURE, UNIT_CELSIUS, 0 ),
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FS( SERVO_FIRST_ID, SERVO_LAST_ID, 3, STR_SENSOR_SERVO_STATUS, UNIT_TEXT, 0 ),
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FS( 0, 0, 0, nullptr, 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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for (const FrSkySportSensor * sensor = sportSensors; sensor->firstId; sensor++) {
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if (id >= sensor->firstId && id <= (sensor->firstId + sensor->idCnt) && subId == sensor->subId) {
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return sensor;
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}
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}
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return nullptr;
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}
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bool checkSportPacket(const 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 >> 8u; // 0-1FF
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crc &= 0x00FFu; // 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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uint16_t servosState;
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uint16_t rboxState;
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void sportProcessTelemetryPacket(uint16_t id, uint8_t subId, uint8_t instance,
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uint32_t data, TelemetryUnit unit)
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{
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const TelemetryProtocol proto = PROTOCOL_TELEMETRY_FRSKY_SPORT;
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const FrSkySportSensor * sensor = getFrSkySportSensor(id, subId);
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uint8_t precision = 255;
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if (sensor) {
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if (unit == UNIT_RAW) {
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unit = sensor->unit;
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}
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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 & 0xF0u) >> 4u;
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uint8_t cellIndex = (data & 0x0Fu);
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if (cellIndex >= MAX_CELLS) return;
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uint32_t mask = (cellsCount << 24u) + (cellIndex << 16u);
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uint32_t value = mask + (((data & 0x000FFF00u) >> 8u) / 5);
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setTelemetryValue(proto, id, subId, instance, value, unit, precision);
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if (cellIndex + 1 < cellsCount) {
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mask += (1 << 16u);
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value = mask + (((data & 0xFFF00000u) >> 20u) / 5);
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setTelemetryValue(proto, id, subId, instance, value, unit, precision);
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}
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}
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else {
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setTelemetryValue(proto, id, subId, instance, data, unit, precision);
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}
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}
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bool sportProcessTelemetryPacket(uint8_t module, const uint8_t * packet, uint8_t len)
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{
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if (!checkSportPacket(packet)) {
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TRACE("sportProcessTelemetryPacket(): checksum error ");
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DUMP(packet, FRSKY_SPORT_PACKET_SIZE);
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return false;
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}
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sportProcessTelemetryPacketWithoutCrc(module, 0, packet);
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return true;
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}
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static void sportSetServoState(uint16_t id, uint8_t subId, uint8_t instance, uint16_t value)
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{
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const TelemetryProtocol proto = PROTOCOL_TELEMETRY_FRSKY_SPORT;
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if (value == 0) {
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setTelemetryText(proto, id, subId, instance, "OK");
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}
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else {
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for (uint8_t i = 0; i < 16; i++) {
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if (value & (1u << i)) {
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char s[] = "CH__ KO";
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strAppendUnsigned(&s[2], i + 1, 2);
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setTelemetryText(proto, id, subId, instance, s);
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break;
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}
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}
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}
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}
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static void sportSetRBoxState(uint16_t id, uint8_t subId, uint8_t instance, uint16_t value)
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{
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const TelemetryProtocol proto = PROTOCOL_TELEMETRY_FRSKY_SPORT;
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if (value == 0) {
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setTelemetryText(proto, id, subId, instance, "Rx OK");
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}
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else {
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static const char * const RXS_STATUS[] = {
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"Rx1 Ovl",
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"Rx2 Ovl",
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"SBUS Ovl",
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"Rx1 FS",
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"Rx1 LF",
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"Rx2 FS",
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"Rx2 LF",
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"Rx1 Lost",
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"Rx2 Lost",
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"Rx1 NS",
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"Rx2 NS",
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"Rx3 FS",
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"Rx3 LF",
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"Rx3 Lost",
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"Rx3 NS"
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};
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for (uint8_t i = 0; i < DIM(RXS_STATUS); i++) {
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if (value & (1u << i)) {
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setTelemetryText(proto, id, subId, instance, RXS_STATUS[i]);
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break;
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}
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}
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}
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}
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static void sportSetRB3040State(uint16_t id, uint8_t subId, uint8_t instance, uint32_t value)
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{
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const TelemetryProtocol proto = PROTOCOL_TELEMETRY_FRSKY_SPORT;
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if (value == 0) {
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setTelemetryText(proto, id, subId, instance, "OK");
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}
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else {
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for (uint8_t i = 0; i < 9; i++) {
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if (value & (1u << i)) {
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if (i < 8) {
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char s[] = "CH__ KO";
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strAppendUnsigned(&s[2], i + 17, 2);
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setTelemetryText(proto, id, subId, instance, s);
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break;
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} else {
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setTelemetryText(proto, id, subId, instance, "S.P Ovl");
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break;
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}
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}
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}
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}
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}
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void sportProcessTelemetryPacketWithoutCrc(uint8_t module, uint8_t origin, const 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 dataId = *((uint16_t *)(packet+2));
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uint32_t data = SPORT_DATA_S32(packet);
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#if defined(BLUETOOTH)
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if (g_eeGeneral.bluetoothMode == BLUETOOTH_TELEMETRY &&
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bluetooth.state == BLUETOOTH_STATE_CONNECTED) {
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bluetooth.forwardTelemetry(packet);
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}
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#endif
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if (primId == DATA_FRAME) {
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uint8_t originMask = 0x01 << module;
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uint8_t instance = physicalId + (origin << 5);
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if (dataId == RSSI_ID) {
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data = SPORT_DATA_U8(packet);
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if (data > 0) {
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telemetryStreaming = TELEMETRY_TIMEOUT10ms; // reset counter only if valid packets are being detected
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telemetryData.telemetryValid |= originMask;
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}
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else {
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telemetryData.telemetryValid &= ~originMask;
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// one module may send RSSI(0) while the other is still streaming
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// in this case we don't want to update telemetryData.rssi
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return;
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}
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telemetryData.rssi.set(data);
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}
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else if (dataId == VALID_FRAME_RATE_ID) {
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data = 100 - SPORT_DATA_U8(packet);
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}
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else if (dataId == R9_PWR_ID) {
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// convert 'dBm' to 'mW'
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static const uint32_t r9pwrs[][2] = {{0, 1}, {5, 3}, {10, 10},
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{13, 20}, {14, 25}, {20, 100},
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{23, 200}, {27, 500}, {30, 1000}};
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uint32_t dBm = SPORT_DATA_U8(packet);
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for (auto & r9pwr : r9pwrs) {
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if (dBm == r9pwr[0]) {
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data = r9pwr[1];
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break;
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}
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}
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}
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else if (dataId == XJT_VERSION_ID) {
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telemetryData.xjtVersion = HUB_DATA_U16(packet);
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if (!isRasValueValid()) {
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telemetryData.setSwr(module, 0);
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}
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}
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else if (dataId == RAS_ID) {
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if (isRasValueValid()) {
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telemetryData.setSwr(module, SPORT_DATA_U8(packet));
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}
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}
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// here we discard the frame if it comes from an origin which has RSSI = 0
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// (RxBt and RSSI are sent in a loop by the module in some situations)
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if (TELEMETRY_STREAMING() &&
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// because when Rx is OFF it happens that some
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// old A1/A2 values are sent from the XJT module
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(telemetryData.telemetryValid & originMask)) {
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if ((dataId >> 8) == 0) {
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// The old FrSky IDs
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processHubPacket(dataId, HUB_DATA_U16(packet));
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} else if (!IS_HIDDEN_TELEMETRY_VALUE(dataId)) {
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if (dataId == ADC1_ID || dataId == ADC2_ID || dataId == BATT_ID || dataId == RAS_ID) {
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data = SPORT_DATA_U8(packet);
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}
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if (dataId >= GPS_LONG_LATI_FIRST_ID && dataId <= GPS_LONG_LATI_LAST_ID) {
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int32_t value = (data & 0x3fffffff);
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if (data & (1 << 30u))
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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 << 31u))
|
|
sportProcessTelemetryPacket(dataId, 0, instance, value, UNIT_GPS_LONGITUDE);
|
|
else
|
|
sportProcessTelemetryPacket(dataId, 0, instance, value, UNIT_GPS_LATITUDE);
|
|
}
|
|
else if (dataId >= RBOX_BATT1_FIRST_ID && dataId <= RBOX_BATT2_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, data & 0xFFFFu);
|
|
sportProcessTelemetryPacket(dataId, 1, instance, data >> 16u);
|
|
}
|
|
else if (dataId >= RBOX_CNSP_FIRST_ID && dataId <= RBOX_CNSP_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, data & 0xFFFFu);
|
|
sportProcessTelemetryPacket(dataId, 1, instance, data >> 16u);
|
|
}
|
|
else if (dataId >= RBOX_STATE_FIRST_ID && dataId <= RBOX_STATE_LAST_ID) {
|
|
bool static isRB10 = false;
|
|
uint16_t newServosState;
|
|
|
|
if (servosState == 0 && (data & 0xFF00u) == 0xFF00u) {
|
|
isRB10 = true;
|
|
}
|
|
if (isRB10) {
|
|
newServosState = data & 0x00FFu; // 8ch only RB10
|
|
}
|
|
else {
|
|
newServosState = data & 0xFFFFu;
|
|
}
|
|
if (newServosState != 0 && servosState == 0) {
|
|
audioEvent(AU_SERVO_KO);
|
|
}
|
|
uint16_t newRboxState = data >> 16u;
|
|
if ((newRboxState & 0x07u) && (rboxState & 0x07u) == 0) {
|
|
audioEvent(AU_RX_OVERLOAD);
|
|
}
|
|
servosState = newServosState;
|
|
rboxState = newRboxState;
|
|
sportSetServoState(dataId, 0, instance, servosState);
|
|
sportSetRBoxState(dataId, 1, instance, rboxState);
|
|
}
|
|
else if (dataId >= RB3040_OUTPUT_FIRST_ID && dataId <= RB3040_OUTPUT_LAST_ID) {
|
|
sportSetRB3040State(dataId, 0, instance, data);
|
|
}
|
|
else if (dataId >= ESC_POWER_FIRST_ID && dataId <= ESC_POWER_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, data & 0xFFFFu);
|
|
sportProcessTelemetryPacket(dataId, 1, instance, data >> 16u);
|
|
}
|
|
else if (dataId >= ESC_RPM_CONS_FIRST_ID && dataId <= ESC_RPM_CONS_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, 100 * (data & 0xFFFFu));
|
|
sportProcessTelemetryPacket(dataId, 1, instance, data >> 16u);
|
|
}
|
|
else if (dataId >= ESC_TEMPERATURE_FIRST_ID && dataId <= ESC_TEMPERATURE_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, data & 0x00FFu);
|
|
}
|
|
else if (dataId >= SBEC_POWER_FIRST_ID && dataId <= SBEC_POWER_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, (data & 0xFFFFu) / 10);
|
|
sportProcessTelemetryPacket(dataId, 1, instance, (data >> 16u) / 10);
|
|
}
|
|
else if (dataId >= DIY_STREAM_FIRST_ID && dataId <= DIY_STREAM_LAST_ID) {
|
|
#if defined(LUA)
|
|
if (luaInputTelemetryFifo &&
|
|
luaInputTelemetryFifo->hasSpace(sizeof(SportTelemetryPacket))) {
|
|
|
|
SportTelemetryPacket luaPacket;
|
|
luaPacket.physicalId = physicalId;
|
|
luaPacket.primId = primId;
|
|
luaPacket.dataId = dataId;
|
|
luaPacket.value = data;
|
|
for (uint8_t i=0; i<sizeof(SportTelemetryPacket); i++) {
|
|
luaInputTelemetryFifo->push(luaPacket.raw[i]);
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
else if (dataId >= RB3040_CH1_2_FIRST_ID && dataId <= RB3040_CH7_8_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, data & 0xFFFFu);
|
|
sportProcessTelemetryPacket(dataId, 1, instance, (data >> 16u) & 0xFFFFu);
|
|
}
|
|
else if (dataId >= SERVO_FIRST_ID && dataId <= SERVO_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, data & 0xFFu);
|
|
sportProcessTelemetryPacket(dataId, 1, instance, (data >> 8u) & 0xFFu);
|
|
sportProcessTelemetryPacket(dataId, 2, instance, (data >> 16u) & 0xFFu);
|
|
uint8_t newServosState = data >> 24u;
|
|
setTelemetryText(PROTOCOL_TELEMETRY_FRSKY_SPORT, dataId, 3, instance,
|
|
newServosState ? "STALL" : "OK");
|
|
if (newServosState != 0 && servosState == 0) {
|
|
audioEvent(AU_SERVO_KO);
|
|
servosState = newServosState;
|
|
}
|
|
}
|
|
else if (dataId >= ANGLE_FIRST_ID && dataId <= ANGLE_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, data & 0xFFFFu);
|
|
sportProcessTelemetryPacket(dataId, 1, instance, data >> 16u);
|
|
}
|
|
else {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, data);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#if defined(LUA)
|
|
else if (primId == 0x32) {
|
|
if (luaInputTelemetryFifo && luaInputTelemetryFifo->hasSpace(sizeof(SportTelemetryPacket))) {
|
|
SportTelemetryPacket luaPacket;
|
|
luaPacket.physicalId = physicalId;
|
|
luaPacket.primId = primId;
|
|
luaPacket.dataId = dataId;
|
|
luaPacket.value = data;
|
|
for (uint8_t i=0; i<sizeof(SportTelemetryPacket); i++) {
|
|
luaInputTelemetryFifo->push(luaPacket.raw[i]);
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void frskySportSetDefault(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 FrSkySportSensor * sensor = getFrSkySportSensor(id, subId);
|
|
if (sensor) {
|
|
TelemetryUnit unit = sensor->unit;
|
|
uint8_t prec = min<uint8_t>(2, sensor->prec);
|
|
telemetrySensor.init(sensor->name, unit, prec);
|
|
if (id >= ADC1_ID && id <= BATT_ID) {
|
|
telemetrySensor.custom.ratio = 132;
|
|
telemetrySensor.filter = 1;
|
|
}
|
|
else if (id >= CURR_FIRST_ID && id <= CURR_LAST_ID) {
|
|
telemetrySensor.onlyPositive = 1;
|
|
}
|
|
else if (id >= ALT_FIRST_ID && id <= ALT_LAST_ID) {
|
|
telemetrySensor.autoOffset = 1;
|
|
}
|
|
if (unit == UNIT_RPMS) {
|
|
telemetrySensor.custom.ratio = 1;
|
|
telemetrySensor.custom.offset = 1;
|
|
}
|
|
else if (unit == UNIT_METERS) {
|
|
if (IS_IMPERIAL_ENABLE()) {
|
|
telemetrySensor.unit = UNIT_FEET;
|
|
}
|
|
}
|
|
else if (unit == UNIT_GPS_LATITUDE || unit == UNIT_GPS_LONGITUDE) {
|
|
telemetrySensor.unit = UNIT_GPS;
|
|
}
|
|
}
|
|
else {
|
|
telemetrySensor.init(id);
|
|
}
|
|
|
|
storageDirty(EE_MODEL);
|
|
}
|