353 lines
13 KiB
C++
353 lines
13 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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#include "aux_serial_driver.h"
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const CrossfireSensor crossfireSensors[] = {
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{LINK_ID, 0, STR_SENSOR_RX_RSSI1, UNIT_DB, 0},
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{LINK_ID, 1, STR_SENSOR_RX_RSSI2, UNIT_DB, 0},
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{LINK_ID, 2, STR_SENSOR_RX_QUALITY, UNIT_PERCENT, 0},
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{LINK_ID, 3, STR_SENSOR_RX_SNR, UNIT_DB, 0},
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{LINK_ID, 4, STR_SENSOR_ANTENNA, UNIT_RAW, 0},
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{LINK_ID, 5, STR_SENSOR_RF_MODE, UNIT_RAW, 0},
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{LINK_ID, 6, STR_SENSOR_TX_POWER, UNIT_MILLIWATTS, 0},
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{LINK_ID, 7, STR_SENSOR_TX_RSSI, UNIT_DB, 0},
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{LINK_ID, 8, STR_SENSOR_TX_QUALITY, UNIT_PERCENT, 0},
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{LINK_ID, 9, STR_SENSOR_TX_SNR, UNIT_DB, 0},
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{LINK_RX_ID, 0, STR_SENSOR_RX_RSSI_PERC, UNIT_PERCENT, 0},
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{LINK_RX_ID, 1, STR_SENSOR_RX_RF_POWER, UNIT_DBM, 0},
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{LINK_TX_ID, 0, STR_SENSOR_TX_RSSI_PERC, UNIT_PERCENT, 0},
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{LINK_TX_ID, 1, STR_SENSOR_TX_RF_POWER, UNIT_DBM, 0},
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{LINK_TX_ID, 2, STR_SENSOR_TX_FPS, UNIT_HERTZ, 0},
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{BATTERY_ID, 0, STR_SENSOR_BATT, UNIT_VOLTS, 1},
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{BATTERY_ID, 1, STR_SENSOR_CURR, UNIT_AMPS, 1},
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{BATTERY_ID, 2, STR_SENSOR_CAPACITY, UNIT_MAH, 0},
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{BATTERY_ID, 3, STR_BATT_PERCENT, UNIT_PERCENT, 0},
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{GPS_ID, 0, STR_SENSOR_GPS, UNIT_GPS_LATITUDE, 0},
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{GPS_ID, 0, STR_SENSOR_GPS, UNIT_GPS_LONGITUDE, 0},
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{GPS_ID, 2, STR_SENSOR_GSPD, UNIT_KMH, 1},
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{GPS_ID, 3, STR_SENSOR_HDG, UNIT_DEGREE, 3},
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{GPS_ID, 4, STR_SENSOR_ALT, UNIT_METERS, 0},
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{GPS_ID, 5, STR_SENSOR_SATELLITES, UNIT_RAW, 0},
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{ATTITUDE_ID, 0, STR_SENSOR_PITCH, UNIT_RADIANS, 3},
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{ATTITUDE_ID, 1, STR_SENSOR_ROLL, UNIT_RADIANS, 3},
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{ATTITUDE_ID, 2, STR_SENSOR_YAW, UNIT_RADIANS, 3},
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{FLIGHT_MODE_ID, 0, STR_SENSOR_FLIGHT_MODE, UNIT_TEXT, 0},
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{CF_VARIO_ID, 0, STR_SENSOR_VSPD, UNIT_METERS_PER_SECOND, 2},
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{0, 0, "UNKNOWN", UNIT_RAW, 0},
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};
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const CrossfireSensor & getCrossfireSensor(uint8_t id, uint8_t subId)
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{
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if (id == LINK_ID)
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return crossfireSensors[RX_RSSI1_INDEX+subId];
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else if (id == LINK_RX_ID)
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return crossfireSensors[RX_RSSI_PERC_INDEX+subId];
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else if (id == LINK_TX_ID)
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return crossfireSensors[TX_RSSI_PERC_INDEX+subId];
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else if (id == BATTERY_ID)
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return crossfireSensors[BATT_VOLTAGE_INDEX+subId];
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else if (id == GPS_ID)
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return crossfireSensors[GPS_LATITUDE_INDEX+subId];
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else if (id == CF_VARIO_ID)
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return crossfireSensors[VERTICAL_SPEED_INDEX];
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else if (id == ATTITUDE_ID)
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return crossfireSensors[ATTITUDE_PITCH_INDEX+subId];
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else if (id == FLIGHT_MODE_ID)
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return crossfireSensors[FLIGHT_MODE_INDEX];
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else
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return crossfireSensors[UNKNOWN_INDEX];
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}
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void processCrossfireTelemetryValue(uint8_t index, int32_t value)
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{
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if (!TELEMETRY_STREAMING())
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return;
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const CrossfireSensor & sensor = crossfireSensors[index];
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setTelemetryValue(PROTOCOL_TELEMETRY_CROSSFIRE, sensor.id, 0, sensor.subId,
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value, sensor.unit, sensor.precision);
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}
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bool checkCrossfireTelemetryFrameCRC(uint8_t module)
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{
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uint8_t * rxBuffer = getTelemetryRxBuffer(module);
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uint8_t len = rxBuffer[1];
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uint8_t crc = crc8(&rxBuffer[2], len-1);
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return (crc == rxBuffer[len+1]);
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}
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template<int N>
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bool getCrossfireTelemetryValue(uint8_t index, int32_t & value, uint8_t module)
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{
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uint8_t * rxBuffer = getTelemetryRxBuffer(module);
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bool result = false;
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uint8_t * byte = &rxBuffer[index];
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value = (*byte & 0x80) ? -1 : 0;
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for (uint8_t i=0; i<N; i++) {
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value <<= 8;
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if (*byte != 0xff) {
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result = true;
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}
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value += *byte++;
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}
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return result;
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}
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void processCrossfireTelemetryFrame(uint8_t module)
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{
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uint8_t * rxBuffer = getTelemetryRxBuffer(module);
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uint8_t &rxBufferCount = getTelemetryRxBufferCount(module);
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if (telemetryState == TELEMETRY_INIT &&
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moduleState[module].counter != CRSF_FRAME_MODELID_SENT) {
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moduleState[module].counter = CRSF_FRAME_MODELID;
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}
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uint8_t id = rxBuffer[2];
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int32_t value;
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switch(id) {
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case CF_VARIO_ID:
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if (getCrossfireTelemetryValue<2>(3, value, module))
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processCrossfireTelemetryValue(VERTICAL_SPEED_INDEX, value);
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break;
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case GPS_ID:
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if (getCrossfireTelemetryValue<4>(3, value, module))
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processCrossfireTelemetryValue(GPS_LATITUDE_INDEX, value/10);
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if (getCrossfireTelemetryValue<4>(7, value, module))
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processCrossfireTelemetryValue(GPS_LONGITUDE_INDEX, value/10);
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if (getCrossfireTelemetryValue<2>(11, value, module))
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processCrossfireTelemetryValue(GPS_GROUND_SPEED_INDEX, value);
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if (getCrossfireTelemetryValue<2>(13, value, module))
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processCrossfireTelemetryValue(GPS_HEADING_INDEX, value);
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if (getCrossfireTelemetryValue<2>(15, value, module))
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processCrossfireTelemetryValue(GPS_ALTITUDE_INDEX, value - 1000);
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if (getCrossfireTelemetryValue<1>(17, value, module))
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processCrossfireTelemetryValue(GPS_SATELLITES_INDEX, value);
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break;
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case LINK_ID:
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for (unsigned int i=0; i<=TX_SNR_INDEX; i++) {
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if (getCrossfireTelemetryValue<1>(3+i, value, module)) {
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if (i == TX_POWER_INDEX) {
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static const int32_t power_values[] = {0, 10, 25, 100, 500,
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1000, 2000, 250, 50};
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value =
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((unsigned)value < DIM(power_values) ? power_values[value] : 0);
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}
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processCrossfireTelemetryValue(i, value);
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if (i == RX_QUALITY_INDEX) {
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if (value) {
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telemetryData.rssi.set(value);
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telemetryStreaming = TELEMETRY_TIMEOUT10ms;
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telemetryData.telemetryValid |= 1 << module;
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}
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else {
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if (telemetryData.telemetryValid & (1 << module)) {
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telemetryData.rssi.reset();
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telemetryStreaming = 0;
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}
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telemetryData.telemetryValid &= ~(1 << module);
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}
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}
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}
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}
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break;
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case LINK_RX_ID:
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if (getCrossfireTelemetryValue<1>(4, value, module))
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processCrossfireTelemetryValue(RX_RSSI_PERC_INDEX, value);
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if (getCrossfireTelemetryValue<1>(7, value, module))
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processCrossfireTelemetryValue(TX_RF_POWER_INDEX, value);
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break;
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case LINK_TX_ID:
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if (getCrossfireTelemetryValue<1>(4, value, module))
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processCrossfireTelemetryValue(TX_RSSI_PERC_INDEX, value);
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if (getCrossfireTelemetryValue<1>(7, value, module))
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processCrossfireTelemetryValue(RX_RF_POWER_INDEX, value);
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if (getCrossfireTelemetryValue<1>(8, value, module))
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processCrossfireTelemetryValue(TX_FPS_INDEX, value * 10);
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break;
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case BATTERY_ID:
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if (getCrossfireTelemetryValue<2>(3, value, module))
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processCrossfireTelemetryValue(BATT_VOLTAGE_INDEX, value);
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if (getCrossfireTelemetryValue<2>(5, value, module))
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processCrossfireTelemetryValue(BATT_CURRENT_INDEX, value);
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if (getCrossfireTelemetryValue<3>(7, value, module))
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processCrossfireTelemetryValue(BATT_CAPACITY_INDEX, value);
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if (getCrossfireTelemetryValue<1>(10, value, module))
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processCrossfireTelemetryValue(BATT_REMAINING_INDEX, value);
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break;
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case ATTITUDE_ID:
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if (getCrossfireTelemetryValue<2>(3, value, module))
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processCrossfireTelemetryValue(ATTITUDE_PITCH_INDEX, value/10);
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if (getCrossfireTelemetryValue<2>(5, value, module))
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processCrossfireTelemetryValue(ATTITUDE_ROLL_INDEX, value/10);
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if (getCrossfireTelemetryValue<2>(7, value, module))
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processCrossfireTelemetryValue(ATTITUDE_YAW_INDEX, value/10);
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break;
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case FLIGHT_MODE_ID:
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{
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const CrossfireSensor & sensor = crossfireSensors[FLIGHT_MODE_INDEX];
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auto textLength = min<int>(16, rxBuffer[1]);
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rxBuffer[textLength] = '\0';
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setTelemetryText(PROTOCOL_TELEMETRY_CROSSFIRE, sensor.id, 0, sensor.subId,
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(const char *)rxBuffer + 3);
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break;
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}
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case RADIO_ID:
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if (rxBuffer[3] == 0xEA // radio address
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&& rxBuffer[5] == 0x10 // timing correction frame
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) {
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uint32_t update_interval;
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int32_t offset;
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if (getCrossfireTelemetryValue<4>(6, (int32_t &)update_interval,
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module) &&
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getCrossfireTelemetryValue<4>(10, offset, module)) {
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// values are in 10th of micro-seconds
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update_interval /= 10;
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offset /= 10;
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TRACE("[XF] Rate: %d, Lag: %d", update_interval, offset);
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getModuleSyncStatus(module).update(update_interval, offset);
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}
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}
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break;
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#if defined(LUA)
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default:
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if (luaInputTelemetryFifo && luaInputTelemetryFifo->hasSpace(rxBufferCount-2) ) {
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for (uint8_t i=1; i<rxBufferCount-1; i++) {
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// destination address and CRC are skipped
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luaInputTelemetryFifo->push(rxBuffer[i]);
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}
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}
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break;
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#endif
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}
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}
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bool crossfireLenIsSane(uint8_t len)
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{
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// packet len must be at least 3 bytes (type+payload+crc) and 2 bytes < MAX (hdr+len)
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return (len > 2 && len < TELEMETRY_RX_PACKET_SIZE-1);
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}
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void crossfireTelemetrySeekStart(uint8_t *rxBuffer, uint8_t &rxBufferCount)
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{
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// Bad telemetry packets frequently are just truncated packets, with the start
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// of a new packet contained in the data. This causes multiple packet drops as
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// the parser tries to resync.
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// Search through the rxBuffer for a sync byte, shift the contents if found
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// and reduce rxBufferCount
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for (uint8_t idx=1; idx<rxBufferCount; ++idx) {
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uint8_t data = rxBuffer[idx];
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if (data == RADIO_ADDRESS || data == UART_SYNC) {
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uint8_t remain = rxBufferCount - idx;
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// If there's at least 2 bytes, check the length for validity too
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if (remain > 1 && !crossfireLenIsSane(rxBuffer[idx+1]))
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continue;
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//TRACE("Found 0x%02x with %u remain", data, remain);
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// copy the data to the front of the buffer
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for (uint8_t src=idx; src<rxBufferCount; ++src) {
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rxBuffer[src-idx] = rxBuffer[src];
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}
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rxBufferCount = remain;
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return;
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} // if found sync
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}
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// Not found, clear the buffer
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rxBufferCount = 0;
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}
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void processCrossfireTelemetryData(uint8_t data, uint8_t module)
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{
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uint8_t * rxBuffer = getTelemetryRxBuffer(module);
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uint8_t &rxBufferCount = getTelemetryRxBufferCount(module);
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if (rxBufferCount == 0 && data != RADIO_ADDRESS && data != UART_SYNC) {
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TRACE("[XF] address 0x%02X error", data);
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return;
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}
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if (rxBufferCount == 1 && !crossfireLenIsSane(data)) {
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TRACE("[XF] length 0x%02X error", data);
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rxBufferCount = 0;
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return;
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}
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if (rxBufferCount < TELEMETRY_RX_PACKET_SIZE) {
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rxBuffer[rxBufferCount++] = data;
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}
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else {
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TRACE("[XF] array size %d error", rxBufferCount);
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rxBufferCount = 0;
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}
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// rxBuffer[1] holds the packet length-2, check if the whole packet was received
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while (rxBufferCount > 4 && (rxBuffer[1]+2) == rxBufferCount) {
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if (checkCrossfireTelemetryFrameCRC(module)) {
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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.write(rxBuffer, rxBufferCount);
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}
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#endif
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processCrossfireTelemetryFrame(module);
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rxBufferCount = 0;
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}
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else {
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TRACE("[XF] CRC error ");
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crossfireTelemetrySeekStart(rxBuffer, rxBufferCount); // adjusts rxBufferCount
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}
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}
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}
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void crossfireSetDefault(int index, uint8_t id, uint8_t subId)
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{
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TelemetrySensor & telemetrySensor = g_model.telemetrySensors[index];
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telemetrySensor.id = id;
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telemetrySensor.instance = subId;
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const CrossfireSensor & sensor = getCrossfireSensor(id, subId);
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TelemetryUnit unit = sensor.unit;
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if (unit == UNIT_GPS_LATITUDE || unit == UNIT_GPS_LONGITUDE)
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unit = UNIT_GPS;
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uint8_t prec = min<uint8_t>(2, sensor.precision);
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telemetrySensor.init(sensor.name, unit, prec);
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if (id == LINK_ID) {
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telemetrySensor.logs = true;
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}
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storageDirty(EE_MODEL);
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}
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