404 lines
17 KiB
C++
404 lines
17 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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struct FrSkySportSensor {
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const uint16_t firstId;
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const uint16_t lastId;
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const uint8_t subId;
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const char * name;
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const TelemetryUnit unit;
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const uint8_t prec;
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};
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const FrSkySportSensor sportSensors[] = {
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{ VALID_FRAME_RATE_ID, VALID_FRAME_RATE_ID, 0, ZSTR_VFR, UNIT_PERCENT, 0 },
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{ RSSI_ID, RSSI_ID, 0, ZSTR_RSSI, UNIT_DB, 0 },
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#if defined(MULTIMODULE)
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{ TX_RSSI_ID, TX_RSSI_ID, 0, ZSTR_TX_RSSI , UNIT_DB , 0 },
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{ TX_LQI_ID , TX_LQI_ID, 0, ZSTR_TX_QUALITY, UNIT_RAW, 0 },
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#endif
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{ ADC1_ID, ADC1_ID, 0, ZSTR_A1, UNIT_VOLTS, 1 },
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{ ADC2_ID, ADC2_ID, 0, ZSTR_A2, UNIT_VOLTS, 1 },
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{ A3_FIRST_ID, A3_LAST_ID, 0, ZSTR_A3, UNIT_VOLTS, 2 },
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{ A4_FIRST_ID, A4_LAST_ID, 0, ZSTR_A4, UNIT_VOLTS, 2 },
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{ BATT_ID, BATT_ID, 0, ZSTR_BATT, UNIT_VOLTS, 1 },
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{ R9_PWR_ID, R9_PWR_ID, 0, ZSTR_R9PW, UNIT_MILLIWATTS, 0 },
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{ T1_FIRST_ID, T1_LAST_ID, 0, ZSTR_TEMP1, UNIT_CELSIUS, 0 },
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{ T2_FIRST_ID, T2_LAST_ID, 0, ZSTR_TEMP2, UNIT_CELSIUS, 0 },
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{ RPM_FIRST_ID, RPM_LAST_ID, 0, ZSTR_RPM, UNIT_RPMS, 0 },
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{ FUEL_FIRST_ID, FUEL_LAST_ID, 0, ZSTR_FUEL, UNIT_PERCENT, 0 },
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{ ALT_FIRST_ID, ALT_LAST_ID, 0, ZSTR_ALT, UNIT_METERS, 2 },
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{ VARIO_FIRST_ID, VARIO_LAST_ID, 0, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 2 },
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{ ACCX_FIRST_ID, ACCX_LAST_ID, 0, ZSTR_ACCX, UNIT_G, 2 },
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{ ACCY_FIRST_ID, ACCY_LAST_ID, 0, ZSTR_ACCY, UNIT_G, 2 },
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{ ACCZ_FIRST_ID, ACCZ_LAST_ID, 0, ZSTR_ACCZ, UNIT_G, 2 },
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{ CURR_FIRST_ID, CURR_LAST_ID, 0, ZSTR_CURR, UNIT_AMPS, 1 },
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{ VFAS_FIRST_ID, VFAS_LAST_ID, 0, ZSTR_VFAS, UNIT_VOLTS, 2 },
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{ AIR_SPEED_FIRST_ID, AIR_SPEED_LAST_ID, 0, ZSTR_ASPD, UNIT_KTS, 1 },
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{ GPS_SPEED_FIRST_ID, GPS_SPEED_LAST_ID, 0, ZSTR_GSPD, UNIT_KTS, 3 },
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{ CELLS_FIRST_ID, CELLS_LAST_ID, 0, ZSTR_CELLS, UNIT_CELLS, 2 },
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{ GPS_ALT_FIRST_ID, GPS_ALT_LAST_ID, 0, ZSTR_GPSALT, UNIT_METERS, 2 },
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{ GPS_TIME_DATE_FIRST_ID, GPS_TIME_DATE_LAST_ID, 0, ZSTR_GPSDATETIME, UNIT_DATETIME, 0 },
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{ GPS_LONG_LATI_FIRST_ID, GPS_LONG_LATI_LAST_ID, 0, ZSTR_GPS, UNIT_GPS, 0 },
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{ FUEL_QTY_FIRST_ID, FUEL_QTY_LAST_ID, 0, ZSTR_FUEL, UNIT_MILLILITERS, 2 },
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{ GPS_COURS_FIRST_ID, GPS_COURS_LAST_ID, 0, ZSTR_HDG, UNIT_DEGREE, 2 },
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{ RBOX_BATT1_FIRST_ID, RBOX_BATT1_LAST_ID, 0, ZSTR_BATT1_VOLTAGE, UNIT_VOLTS, 3 },
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{ RBOX_BATT2_FIRST_ID, RBOX_BATT2_LAST_ID, 0, ZSTR_BATT2_VOLTAGE, UNIT_VOLTS, 3 },
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{ RBOX_BATT1_FIRST_ID, RBOX_BATT1_LAST_ID, 1, ZSTR_BATT1_CURRENT, UNIT_AMPS, 2 },
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{ RBOX_BATT2_FIRST_ID, RBOX_BATT2_LAST_ID, 1, ZSTR_BATT2_CURRENT, UNIT_AMPS, 2 },
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{ RBOX_CNSP_FIRST_ID, RBOX_CNSP_LAST_ID, 0, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 0 },
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{ RBOX_CNSP_FIRST_ID, RBOX_CNSP_LAST_ID, 1, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0 },
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{ RBOX_STATE_FIRST_ID, RBOX_STATE_LAST_ID, 0, ZSTR_CHANS_STATE, UNIT_BITFIELD, 0 },
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{ RBOX_STATE_FIRST_ID, RBOX_STATE_LAST_ID, 1, ZSTR_RB_STATE, UNIT_BITFIELD, 0 },
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{ SD1_FIRST_ID, SD1_LAST_ID, 0, ZSTR_SD1_CHANNEL, UNIT_RAW, 0 },
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{ ESC_POWER_FIRST_ID, ESC_POWER_LAST_ID, 0, ZSTR_ESC_VOLTAGE, UNIT_VOLTS, 2 },
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{ ESC_POWER_FIRST_ID, ESC_POWER_LAST_ID, 1, ZSTR_ESC_CURRENT, UNIT_AMPS, 2 },
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{ ESC_RPM_CONS_FIRST_ID, ESC_RPM_CONS_LAST_ID, 0, ZSTR_ESC_RPM, UNIT_RPMS, 0 },
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{ ESC_RPM_CONS_FIRST_ID, ESC_RPM_CONS_LAST_ID, 1, ZSTR_ESC_CONSUMPTION, UNIT_MAH, 0 },
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{ ESC_TEMPERATURE_FIRST_ID, ESC_TEMPERATURE_LAST_ID, 0, ZSTR_ESC_TEMP, UNIT_CELSIUS, 0 },
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{ GASSUIT_TEMP1_FIRST_ID, GASSUIT_TEMP1_LAST_ID, 0, ZSTR_GASSUIT_TEMP1, UNIT_CELSIUS, 0 },
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{ GASSUIT_TEMP2_FIRST_ID, GASSUIT_TEMP2_LAST_ID, 0, ZSTR_GASSUIT_TEMP2, UNIT_CELSIUS, 0 },
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{ GASSUIT_SPEED_FIRST_ID, GASSUIT_SPEED_LAST_ID, 0, ZSTR_GASSUIT_RPM, UNIT_RPMS, 0 },
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{ GASSUIT_RES_VOL_FIRST_ID, GASSUIT_RES_VOL_LAST_ID, 0, ZSTR_GASSUIT_RES_VOL, UNIT_MILLILITERS, 0 },
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{ GASSUIT_RES_PERC_FIRST_ID, GASSUIT_RES_PERC_LAST_ID, 0, ZSTR_GASSUIT_RES_PERC, UNIT_PERCENT, 0 },
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{ GASSUIT_FLOW_FIRST_ID, GASSUIT_FLOW_LAST_ID, 0, ZSTR_GASSUIT_FLOW, UNIT_MILLILITERS_PER_MINUTE, 0 },
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{ GASSUIT_MAX_FLOW_FIRST_ID, GASSUIT_MAX_FLOW_LAST_ID, 0, ZSTR_GASSUIT_MAX_FLOW, UNIT_MILLILITERS_PER_MINUTE, 0 },
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{ GASSUIT_AVG_FLOW_FIRST_ID, GASSUIT_AVG_FLOW_LAST_ID, 0, ZSTR_GASSUIT_AVG_FLOW, UNIT_MILLILITERS_PER_MINUTE, 0 },
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{ SBEC_POWER_FIRST_ID, SBEC_POWER_LAST_ID, 0, ZSTR_SBEC_VOLTAGE, UNIT_VOLTS, 2 },
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{ SBEC_POWER_FIRST_ID, SBEC_POWER_LAST_ID, 1, ZSTR_SBEC_CURRENT, UNIT_AMPS, 2 },
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{ RB3040_OUTPUT_FIRST_ID, RB3040_OUTPUT_LAST_ID, 0, ZSTR_RB3040_EXTRA_STATE, UNIT_BITFIELD, 0 },
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{ RB3040_CH1_2_FIRST_ID, RB3040_CH1_2_LAST_ID, 0, ZSTR_RB3040_CHANNEL1, UNIT_AMPS, 2 },
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{ RB3040_CH1_2_FIRST_ID, RB3040_CH1_2_LAST_ID, 1, ZSTR_RB3040_CHANNEL2, UNIT_AMPS, 2 },
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{ RB3040_CH3_4_FIRST_ID, RB3040_CH3_4_LAST_ID, 0, ZSTR_RB3040_CHANNEL3, UNIT_AMPS, 2 },
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{ RB3040_CH3_4_FIRST_ID, RB3040_CH3_4_LAST_ID, 1, ZSTR_RB3040_CHANNEL4, UNIT_AMPS, 2 },
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{ RB3040_CH5_6_FIRST_ID, RB3040_CH5_6_LAST_ID, 0, ZSTR_RB3040_CHANNEL5, UNIT_AMPS, 2 },
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{ RB3040_CH5_6_FIRST_ID, RB3040_CH5_6_LAST_ID, 1, ZSTR_RB3040_CHANNEL6, UNIT_AMPS, 2 },
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{ RB3040_CH7_8_FIRST_ID, RB3040_CH7_8_LAST_ID, 0, ZSTR_RB3040_CHANNEL7, UNIT_AMPS, 2 },
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{ RB3040_CH7_8_FIRST_ID, RB3040_CH7_8_LAST_ID, 1, ZSTR_RB3040_CHANNEL8, UNIT_AMPS, 2 },
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{ 0, 0, 0, NULL, 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->lastId && 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 >> 8; // 0-1FF
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crc &= 0x00ff; // 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, uint32_t data, TelemetryUnit unit=UNIT_RAW)
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{
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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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precision = sensor->prec;
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}
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if (unit == UNIT_CELLS) {
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uint8_t cellsCount = (data & 0xF0) >> 4;
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uint8_t cellIndex = (data & 0x0F);
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if (cellIndex >= MAX_CELLS)
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return;
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uint32_t mask = (cellsCount << 24) + (cellIndex << 16);
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setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_SPORT, id, subId, instance, mask + (((data & 0x000FFF00) >> 8) / 5), unit, precision);
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if (cellIndex+1 < cellsCount) {
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mask += (1 << 16);
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setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_SPORT, id, subId, instance, mask + (((data & 0xFFF00000) >> 20) / 5), unit, precision);
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}
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}
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else {
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setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_SPORT, id, subId, instance, data, unit, precision);
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}
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}
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void sportProcessTelemetryPacket(const uint8_t * packet)
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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;
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}
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sportProcessTelemetryPacketWithoutCrc(TELEMETRY_ENDPOINT_SPORT, packet);
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}
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void sportProcessTelemetryPacketWithoutCrc(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 && 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;
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uint8_t moduleIndex;
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if (origin == TELEMETRY_ENDPOINT_SPORT) {
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#if defined(SIMU) && defined(INTERNAL_MODULE_PXX2)
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// When running simu on ACCESS radio, we set the origin as internal module
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moduleIndex = 0;
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origin = 0;
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originMask = 0x01;
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#else
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moduleIndex = isSportLineUsedByInternalModule() ? 0 : 1;
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originMask = 0x04;
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#endif
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}
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else {
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moduleIndex = (origin >> 2);
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originMask = 0x01 << moduleIndex;
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}
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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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if (g_model.rssiSource) {
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TelemetrySensor * sensor = &g_model.telemetrySensors[g_model.rssiSource - 1];
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if (sensor->isSameInstance(PROTOCOL_TELEMETRY_FRSKY_SPORT, instance)) {
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telemetryData.rssi.set(data);
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}
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}
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else {
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telemetryData.rssi.set(data);
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}
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#if defined(MULTIMODULE)
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if (telemetryProtocol == PROTOCOL_TELEMETRY_MULTIMODULE) {
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sportProcessTelemetryPacket(TX_RSSI_ID, 0, instance, packet[5] >> 1, UNIT_DB);
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sportProcessTelemetryPacket(TX_LQI_ID, 0, instance, packet[7], UNIT_RAW);
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}
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#endif
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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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// receive 'dBm' and show by 'mw'
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static const uint32_t r9pwrs[][2] = {{0, 1}, {5, 3}, {10, 10}, {13, 20}, {14, 25}, {20, 100}, {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(moduleIndex, 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(moduleIndex, 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 (RxBt and RSSI are sent in a loop by the module in some situations)
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if (TELEMETRY_STREAMING() && (telemetryData.telemetryValid & originMask)/* because when Rx is OFF it happens that some old A1/A2 values are sent from the XJT module*/) {
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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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}
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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 << 30))
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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 << 31))
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sportProcessTelemetryPacket(dataId, 0, instance, value, UNIT_GPS_LONGITUDE);
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else
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sportProcessTelemetryPacket(dataId, 0, instance, value, UNIT_GPS_LATITUDE);
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}
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else if (dataId >= RBOX_BATT1_FIRST_ID && dataId <= RBOX_BATT2_LAST_ID) {
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sportProcessTelemetryPacket(dataId, 0, instance, data & 0xffff);
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sportProcessTelemetryPacket(dataId, 1, instance, data >> 16);
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}
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else if (dataId >= RBOX_CNSP_FIRST_ID && dataId <= RBOX_CNSP_LAST_ID) {
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sportProcessTelemetryPacket(dataId, 0, instance, data & 0xffff);
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sportProcessTelemetryPacket(dataId, 1, instance, data >> 16);
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}
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else if (dataId >= RBOX_STATE_FIRST_ID && dataId <= RBOX_STATE_LAST_ID) {
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bool static isRB10 = false;
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uint16_t newServosState;
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if (servosState == 0 && (data & 0xff00) == 0xff00) {
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isRB10 = true;
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}
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if (isRB10) {
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newServosState = data & 0x00ff; // 8ch only RB10
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}
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else {
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newServosState = data & 0xffff;
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}
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if (newServosState != 0 && servosState == 0) {
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audioEvent(AU_SERVO_KO);
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}
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uint16_t newRboxState = data >> 16;
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if ((newRboxState & 0x07) && (rboxState & 0x07) == 0) {
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audioEvent(AU_RX_OVERLOAD);
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}
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servosState = newServosState;
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rboxState = newRboxState;
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sportProcessTelemetryPacket(dataId, 0, instance, servosState);
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sportProcessTelemetryPacket(dataId, 1, instance, rboxState);
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}
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else if (dataId >= ESC_POWER_FIRST_ID && dataId <= ESC_POWER_LAST_ID) {
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sportProcessTelemetryPacket(dataId, 0, instance, data & 0xffff);
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sportProcessTelemetryPacket(dataId, 1, instance, data >> 16);
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}
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else if (dataId >= ESC_RPM_CONS_FIRST_ID && dataId <= ESC_RPM_CONS_LAST_ID) {
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sportProcessTelemetryPacket(dataId, 0, instance, 100 * (data & 0xffff));
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sportProcessTelemetryPacket(dataId, 1, instance, data >> 16);
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}
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else if (dataId >= ESC_TEMPERATURE_FIRST_ID && dataId <= ESC_TEMPERATURE_LAST_ID) {
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sportProcessTelemetryPacket(dataId, 0, instance, data & 0x00ff);
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}
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else if (dataId >= SBEC_POWER_FIRST_ID && dataId <= SBEC_POWER_LAST_ID) {
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sportProcessTelemetryPacket(dataId, 0, instance, (data & 0xffff) / 10);
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sportProcessTelemetryPacket(dataId, 1, instance, (data >> 16) / 10);
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}
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else if (dataId >= DIY_STREAM_FIRST_ID && dataId <= DIY_STREAM_LAST_ID) {
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#if defined(LUA)
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if (luaInputTelemetryFifo && luaInputTelemetryFifo->hasSpace(sizeof(SportTelemetryPacket))) {
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SportTelemetryPacket luaPacket;
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luaPacket.physicalId = physicalId;
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luaPacket.primId = primId;
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luaPacket.dataId = dataId;
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luaPacket.value = data;
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for (uint8_t i=0; i<sizeof(SportTelemetryPacket); i++) {
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luaInputTelemetryFifo->push(luaPacket.raw[i]);
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}
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}
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#endif
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}
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else if (dataId >= RB3040_CH1_2_FIRST_ID && dataId <= RB3040_CH7_8_LAST_ID) {
|
|
sportProcessTelemetryPacket(dataId, 0, instance, data & 0xffff);
|
|
sportProcessTelemetryPacket(dataId, 1, instance, (data >> 16u) & 0xffff);
|
|
}
|
|
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);
|
|
}
|