301 lines
9.4 KiB
C++
301 lines
9.4 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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#ifndef _FRSKY_H_
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#define _FRSKY_H_
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#include "../definitions.h"
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#include "telemetry_holders.h"
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#include "../io/frsky_pxx2.h"
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// Receive buffer state machine state enum
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enum FrSkyDataState {
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STATE_DATA_IDLE,
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STATE_DATA_START,
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STATE_DATA_IN_FRAME,
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STATE_DATA_XOR,
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};
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#define FRSKY_SPORT_BAUDRATE 57600
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#define FRSKY_D_BAUDRATE 9600
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#define FRSKY_SPORT_PACKET_SIZE 9
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// Enumerate FrSky packet codes
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#define LINKPKT 0xfe
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#define USRPKT 0xfd
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#define A11PKT 0xfc
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#define A12PKT 0xfb
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#define A21PKT 0xfa
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#define A22PKT 0xf9
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#define ALRM_REQUEST 0xf8
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#define RSSI1PKT 0xf7
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#define RSSI2PKT 0xf6
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#define RSSI_REQUEST 0xf1
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// FrSky PRIM IDs (1 byte)
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#define DATA_FRAME 0x10
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// FrSky old DATA IDs (1 byte)
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#define GPS_ALT_BP_ID 0x01
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#define TEMP1_ID 0x02
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#define RPM_ID 0x03
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#define FUEL_ID 0x04
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#define TEMP2_ID 0x05
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#define VOLTS_ID 0x06
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#define GPS_ALT_AP_ID 0x09
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#define BARO_ALT_BP_ID 0x10
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#define GPS_SPEED_BP_ID 0x11
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#define GPS_LONG_BP_ID 0x12
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#define GPS_LAT_BP_ID 0x13
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#define GPS_COURS_BP_ID 0x14
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#define GPS_DAY_MONTH_ID 0x15
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#define GPS_YEAR_ID 0x16
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#define GPS_HOUR_MIN_ID 0x17
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#define GPS_SEC_ID 0x18
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#define GPS_SPEED_AP_ID 0x19
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#define GPS_LONG_AP_ID 0x1A
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#define GPS_LAT_AP_ID 0x1B
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#define GPS_COURS_AP_ID 0x1C
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#define BARO_ALT_AP_ID 0x21
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#define GPS_LONG_EW_ID 0x22
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#define GPS_LAT_NS_ID 0x23
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#define ACCEL_X_ID 0x24
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#define ACCEL_Y_ID 0x25
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#define ACCEL_Z_ID 0x26
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#define CURRENT_ID 0x28
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#define VARIO_ID 0x30
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#define VFAS_ID 0x39
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#define VOLTS_BP_ID 0x3A
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#define VOLTS_AP_ID 0x3B
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#define FRSKY_LAST_ID 0x3F
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#define D_RSSI_ID 0xF0
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#define D_A1_ID 0xF1
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#define D_A2_ID 0xF2
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#define VFAS_D_HIPREC_OFFSET 2000
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// FrSky new DATA IDs (2 bytes)
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#define ALT_FIRST_ID 0x0100
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#define ALT_LAST_ID 0x010f
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#define VARIO_FIRST_ID 0x0110
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#define VARIO_LAST_ID 0x011f
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#define CURR_FIRST_ID 0x0200
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#define CURR_LAST_ID 0x020f
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#define VFAS_FIRST_ID 0x0210
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#define VFAS_LAST_ID 0x021f
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#define CELLS_FIRST_ID 0x0300
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#define CELLS_LAST_ID 0x030f
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#define T1_FIRST_ID 0x0400
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#define T1_LAST_ID 0x040f
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#define T2_FIRST_ID 0x0410
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#define T2_LAST_ID 0x041f
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#define RPM_FIRST_ID 0x0500
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#define RPM_LAST_ID 0x050f
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#define FUEL_FIRST_ID 0x0600
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#define FUEL_LAST_ID 0x060f
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#define ACCX_FIRST_ID 0x0700
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#define ACCX_LAST_ID 0x070f
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#define ACCY_FIRST_ID 0x0710
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#define ACCY_LAST_ID 0x071f
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#define ACCZ_FIRST_ID 0x0720
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#define ACCZ_LAST_ID 0x072f
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#define GPS_LONG_LATI_FIRST_ID 0x0800
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#define GPS_LONG_LATI_LAST_ID 0x080f
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#define GPS_ALT_FIRST_ID 0x0820
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#define GPS_ALT_LAST_ID 0x082f
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#define GPS_SPEED_FIRST_ID 0x0830
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#define GPS_SPEED_LAST_ID 0x083f
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#define GPS_COURS_FIRST_ID 0x0840
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#define GPS_COURS_LAST_ID 0x084f
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#define GPS_TIME_DATE_FIRST_ID 0x0850
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#define GPS_TIME_DATE_LAST_ID 0x085f
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#define A3_FIRST_ID 0x0900
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#define A3_LAST_ID 0x090f
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#define A4_FIRST_ID 0x0910
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#define A4_LAST_ID 0x091f
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#define AIR_SPEED_FIRST_ID 0x0a00
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#define AIR_SPEED_LAST_ID 0x0a0f
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#define RBOX_BATT1_FIRST_ID 0x0b00
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#define RBOX_BATT1_LAST_ID 0x0b0f
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#define RBOX_BATT2_FIRST_ID 0x0b10
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#define RBOX_BATT2_LAST_ID 0x0b1f
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#define RBOX_STATE_FIRST_ID 0x0b20
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#define RBOX_STATE_LAST_ID 0x0b2f
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#define RBOX_CNSP_FIRST_ID 0x0b30
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#define RBOX_CNSP_LAST_ID 0x0b3f
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#define SD1_FIRST_ID 0x0b40
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#define SD1_LAST_ID 0x0b4f
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#define ESC_POWER_FIRST_ID 0x0b50
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#define ESC_POWER_LAST_ID 0x0b5f
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#define ESC_RPM_CONS_FIRST_ID 0x0b60
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#define ESC_RPM_CONS_LAST_ID 0x0b6f
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#define ESC_TEMPERATURE_FIRST_ID 0x0b70
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#define ESC_TEMPERATURE_LAST_ID 0x0b7f
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#define X8R_FIRST_ID 0x0c20
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#define X8R_LAST_ID 0x0c2f
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#define S6R_FIRST_ID 0x0c30
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#define S6R_LAST_ID 0x0c3f
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#define GASSUIT_TEMP1_FIRST_ID 0x0d00
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#define GASSUIT_TEMP1_LAST_ID 0x0d0f
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#define GASSUIT_TEMP2_FIRST_ID 0x0d10
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#define GASSUIT_TEMP2_LAST_ID 0x0d1f
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#define GASSUIT_SPEED_FIRST_ID 0x0d20
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#define GASSUIT_SPEED_LAST_ID 0x0d2f
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#define GASSUIT_RES_VOL_FIRST_ID 0x0d30
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#define GASSUIT_RES_VOL_LAST_ID 0x0d3f
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#define GASSUIT_RES_PERC_FIRST_ID 0x0d40
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#define GASSUIT_RES_PERC_LAST_ID 0x0d4f
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#define GASSUIT_FLOW_FIRST_ID 0x0d50
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#define GASSUIT_FLOW_LAST_ID 0x0d5f
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#define GASSUIT_MAX_FLOW_FIRST_ID 0x0d60
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#define GASSUIT_MAX_FLOW_LAST_ID 0x0d6f
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#define GASSUIT_AVG_FLOW_FIRST_ID 0x0d70
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#define GASSUIT_AVG_FLOW_LAST_ID 0x0d7f
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#define SBEC_POWER_FIRST_ID 0x0e50
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#define SBEC_POWER_LAST_ID 0x0e5f
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#define DIY_FIRST_ID 0x5100
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#define DIY_LAST_ID 0x52ff
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#define DIY_STREAM_FIRST_ID 0x5000
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#define DIY_STREAM_LAST_ID 0x50ff
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#define FACT_TEST_ID 0xf000
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#define RSSI_ID 0xf101
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#define ADC1_ID 0xf102
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#define ADC2_ID 0xf103
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#define BATT_ID 0xf104
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#define RAS_ID 0xf105
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#define XJT_VERSION_ID 0xf106
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#define R9_PWR_ID 0xf107
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#define SP2UART_A_ID 0xfd00
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#define SP2UART_B_ID 0xfd01
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#define FUEL_QTY_FIRST_ID 0x0a10
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#define FUEL_QTY_LAST_ID 0x0a1f
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// Default sensor data IDs (Physical IDs + CRC)
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#define DATA_ID_VARIO 0x00 // 0
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#define DATA_ID_FLVSS 0xA1 // 1
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#define DATA_ID_FAS 0x22 // 2
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#define DATA_ID_GPS 0x83 // 3
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#define DATA_ID_RPM 0xE4 // 4
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#define DATA_ID_SP2UH 0x45 // 5
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#define DATA_ID_SP2UR 0xC6 // 6
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inline bool IS_HIDDEN_TELEMETRY_VALUE(uint16_t id)
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{
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return (id == SP2UART_A_ID) || (id == SP2UART_B_ID) || (id == XJT_VERSION_ID) || (id == RAS_ID) || (id == FACT_TEST_ID);
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}
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class TelemetryData {
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public:
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TelemetryExpiringDecorator<TelemetryValue> swrInternal;
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TelemetryExpiringDecorator<TelemetryValue> swrExternal;
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TelemetryFilterDecorator<TelemetryValue> rssi;
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uint16_t xjtVersion;
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bool varioHighPrecision;
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void setSwr(uint8_t module, uint8_t value)
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{
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if (module == 0)
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swrInternal.set(value);
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else
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swrExternal.set(value);
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}
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void clear()
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{
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memset(this, 0, sizeof(*this));
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}
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};
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extern TelemetryData telemetryData;
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inline bool TELEMETRY_STREAMING()
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{
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return telemetryData.rssi.value() > 0;
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}
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inline uint8_t TELEMETRY_RSSI()
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{
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return telemetryData.rssi.value();
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}
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#define START_STOP 0x7E
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#define BYTESTUFF 0x7D
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#define STUFF_MASK 0x20
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typedef enum {
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TS_IDLE = 0, // waiting for 0x5e frame marker
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TS_DATA_ID, // waiting for dataID
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TS_DATA_LOW, // waiting for data low byte
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TS_DATA_HIGH, // waiting for data high byte
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TS_XOR = 0x80 // decode stuffed byte
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} TS_STATE;
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// FrSky D Telemetry Protocol
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void processHubPacket(uint8_t id, int16_t value);
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void frskyDProcessPacket(const uint8_t *packet);
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// FrSky S.PORT Telemetry Protocol
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void sportProcessTelemetryPacket(const uint8_t * packet);
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void sportProcessTelemetryPacketWithoutCrc(uint8_t origin, const uint8_t * packet);
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void telemetryWakeup();
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void telemetryReset();
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extern uint8_t telemetryProtocol;
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void telemetryInit(uint8_t protocol);
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void telemetryInterrupt10ms();
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bool pushFrskyTelemetryData(uint8_t data); // returns true when end of frame detected
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void processFrskyTelemetryData(uint8_t data);
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#if defined(NO_RAS)
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inline bool isRasValueValid()
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{
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return false;
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}
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#elif defined(PXX2)
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inline bool isRasValueValid()
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{
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return true;
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}
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#elif defined(PCBX10)
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inline bool isRasValueValid()
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{
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return false;
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}
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#elif defined(PCBX9DP) || defined(PCBX9E)
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inline bool isRasValueValid()
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{
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return telemetryData.xjtVersion != 0x0000 && telemetryData.xjtVersion != 0x00ff;
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}
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#else
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inline bool isRasValueValid()
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{
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return false;
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}
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#endif
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constexpr uint8_t FRSKY_BAD_ANTENNA_THRESHOLD = 0x33;
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#endif // _FRSKY_H_
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