334 lines
11 KiB
C++
334 lines
11 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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#if (defined(FRSKY_HUB) || defined(WS_HOW_HIGH))
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void checkMinMaxAltitude()
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{
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if (TELEMETRY_RELATIVE_BARO_ALT_BP > telemetryData.hub.maxAltitude)
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telemetryData.hub.maxAltitude = TELEMETRY_RELATIVE_BARO_ALT_BP;
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if (TELEMETRY_RELATIVE_BARO_ALT_BP < telemetryData.hub.minAltitude)
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telemetryData.hub.minAltitude = TELEMETRY_RELATIVE_BARO_ALT_BP;
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}
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#endif
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#if defined(FRSKY_HUB)
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void parseTelemHubByte(uint8_t byte)
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{
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static int8_t structPos;
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static uint8_t lowByte;
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static TS_STATE state = TS_IDLE;
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if (byte == 0x5e) {
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state = TS_DATA_ID;
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return;
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}
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if (state == TS_IDLE) {
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return;
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}
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if (state & TS_XOR) {
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byte = byte ^ 0x60;
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state = (TS_STATE)(state - TS_XOR);
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}
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else if (byte == 0x5d) {
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state = (TS_STATE)(state | TS_XOR);
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return;
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}
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if (state == TS_DATA_ID) {
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if (byte > 0x3f) {
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state = TS_IDLE;
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}
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else {
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structPos = byte * 2;
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state = TS_DATA_LOW;
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}
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return;
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}
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if (state == TS_DATA_LOW) {
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lowByte = byte;
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state = TS_DATA_HIGH;
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return;
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}
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state = TS_IDLE;
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#if defined(GPS)
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if ((uint8_t)structPos == offsetof(FrskyTelemetryData, gpsLatitude_bp)) {
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if (lowByte || byte)
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telemetryData.hub.gpsFix = 1;
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else if (telemetryData.hub.gpsFix > 0 && telemetryData.hub.gpsLatitude_bp > 1)
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telemetryData.hub.gpsFix = 0;
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}
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else if ((uint8_t)structPos == offsetof(FrskyTelemetryData, gpsLongitude_bp)) {
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if (lowByte || byte)
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telemetryData.hub.gpsFix = 1;
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else if (telemetryData.hub.gpsFix > 0 && telemetryData.hub.gpsLongitude_bp > 1)
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telemetryData.hub.gpsFix = 0;
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}
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if ((uint8_t)structPos == offsetof(FrskyTelemetryData, gpsAltitude_bp) ||
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((uint8_t)structPos >= offsetof(FrskyTelemetryData, gpsAltitude_ap) && (uint8_t)structPos <= offsetof(FrskyTelemetryData, gpsLatitudeNS) && (uint8_t)structPos != offsetof(FrskyTelemetryData, baroAltitude_bp) && (uint8_t)structPos != offsetof(FrskyTelemetryData, baroAltitude_ap))) {
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// If we don't have a fix, we may discard the value
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if (telemetryData.hub.gpsFix <= 0)
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return;
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}
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#endif // #if defined(GPS)
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((uint8_t*)&telemetryData.hub)[structPos] = lowByte;
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((uint8_t*)&telemetryData.hub)[structPos+1] = byte;
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switch ((uint8_t)structPos) {
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case offsetof(FrskyTelemetryData, rpm):
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telemetryData.hub.rpm *= (uint8_t)60/(g_model.frsky.blades+2);
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if (telemetryData.hub.rpm > telemetryData.hub.maxRpm)
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telemetryData.hub.maxRpm = telemetryData.hub.rpm;
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break;
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case offsetof(FrskyTelemetryData, temperature1):
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if (telemetryData.hub.temperature1 > telemetryData.hub.maxTemperature1)
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telemetryData.hub.maxTemperature1 = telemetryData.hub.temperature1;
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break;
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case offsetof(FrskyTelemetryData, temperature2):
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if (telemetryData.hub.temperature2 > telemetryData.hub.maxTemperature2)
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telemetryData.hub.maxTemperature2 = telemetryData.hub.temperature2;
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break;
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case offsetof(FrskyTelemetryData, current):
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#if defined(FAS_OFFSET) || !defined(CPUM64)
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if ((int16_t)telemetryData.hub.current > 0 && ((int16_t)telemetryData.hub.current + g_model.frsky.fasOffset) > 0)
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telemetryData.hub.current += g_model.frsky.fasOffset;
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else
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telemetryData.hub.current = 0;
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#endif
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if (telemetryData.hub.current > telemetryData.hub.maxCurrent)
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telemetryData.hub.maxCurrent = telemetryData.hub.current;
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break;
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case offsetof(FrskyTelemetryData, currentConsumption):
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// we receive data from openXsensor. stops the calculation of consumption and power
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telemetryData.hub.openXsensor = 1;
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break;
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case offsetof(FrskyTelemetryData, volts_ap):
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#if defined(FAS_PROTOTYPE)
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telemetryData.hub.vfas = (telemetryData.hub.volts_bp * 10 + telemetryData.hub.volts_ap);
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#else
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telemetryData.hub.vfas = ((telemetryData.hub.volts_bp * 10 + telemetryData.hub.volts_ap) * 21) / 11;
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#endif
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/* TODO later if (!telemetryData.hub.minVfas || telemetryData.hub.minVfas > telemetryData.hub.vfas)
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telemetryData.hub.minVfas = telemetryData.hub.vfas; */
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break;
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case offsetof(FrskyTelemetryData, baroAltitude_bp):
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// First received barometer altitude => Altitude offset
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if (!telemetryData.hub.baroAltitudeOffset)
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telemetryData.hub.baroAltitudeOffset = -telemetryData.hub.baroAltitude_bp;
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telemetryData.hub.baroAltitude_bp += telemetryData.hub.baroAltitudeOffset;
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checkMinMaxAltitude();
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break;
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#if defined(GPS)
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case offsetof(FrskyTelemetryData, gpsAltitude_ap):
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if (!telemetryData.hub.gpsAltitudeOffset)
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telemetryData.hub.gpsAltitudeOffset = -telemetryData.hub.gpsAltitude_bp;
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telemetryData.hub.gpsAltitude_bp += telemetryData.hub.gpsAltitudeOffset;
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if (!telemetryData.hub.baroAltitudeOffset) {
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if (telemetryData.hub.gpsAltitude_bp > telemetryData.hub.maxAltitude)
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telemetryData.hub.maxAltitude = telemetryData.hub.gpsAltitude_bp;
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if (telemetryData.hub.gpsAltitude_bp < telemetryData.hub.minAltitude)
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telemetryData.hub.minAltitude = telemetryData.hub.gpsAltitude_bp;
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}
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if (!telemetryData.hub.pilotLatitude && !telemetryData.hub.pilotLongitude) {
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// First received GPS position => Pilot GPS position
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getGpsPilotPosition();
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}
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else if (telemetryData.hub.gpsDistNeeded || menuHandlers[menuLevel] == menuViewTelemetryFrsky) {
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getGpsDistance();
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}
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break;
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case offsetof(FrskyTelemetryData, gpsSpeed_bp):
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// Speed => Max speed
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if (telemetryData.hub.gpsSpeed_bp > telemetryData.hub.maxGpsSpeed)
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telemetryData.hub.maxGpsSpeed = telemetryData.hub.gpsSpeed_bp;
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break;
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#endif
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case offsetof(FrskyTelemetryData, volts):
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frskyUpdateCells();
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break;
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case offsetof(FrskyTelemetryData, accelX):
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case offsetof(FrskyTelemetryData, accelY):
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case offsetof(FrskyTelemetryData, accelZ):
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*(int16_t*)(&((uint8_t*)&telemetryData.hub)[structPos]) /= 10;
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break;
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#if 0
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case offsetof(FrskyTelemetryData, gpsAltitude_bp):
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case offsetof(FrskyTelemetryData, fuelLevel):
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case offsetof(FrskyTelemetryData, gpsLongitude_bp):
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case offsetof(FrskyTelemetryData, gpsLatitude_bp):
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case offsetof(FrskyTelemetryData, gpsCourse_bp):
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case offsetof(FrskyTelemetryData, day):
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case offsetof(FrskyTelemetryData, year):
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case offsetof(FrskyTelemetryData, sec):
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case offsetof(FrskyTelemetryData, gpsSpeed_ap):
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case offsetof(FrskyTelemetryData, gpsLongitude_ap):
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case offsetof(FrskyTelemetryData, gpsLatitude_ap):
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case offsetof(FrskyTelemetryData, gpsCourse_ap):
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case offsetof(FrskyTelemetryData, gpsLongitudeEW):
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case offsetof(FrskyTelemetryData, gpsLatitudeNS):
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case offsetof(FrskyTelemetryData, varioSpeed):
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case offsetof(FrskyTelemetryData, power): /* because sent by openXsensor */
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case offsetof(FrskyTelemetryData, vfas):
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case offsetof(FrskyTelemetryData, volts_bp):
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break;
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default:
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*((uint16_t *)(((uint8_t*)&telemetryData.hub) + structPos)) = previousValue;
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break;
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#endif
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}
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}
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#endif // #if defined(FRSKY_HUB)
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#if defined(WS_HOW_HIGH)
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void parseTelemWSHowHighByte(uint8_t byte)
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{
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if (wshhStreaming < (WSHH_TIMEOUT10ms - 10)) {
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((uint8_t*)&telemetryData.hub)[offsetof(FrskyTelemetryData, baroAltitude_bp)] = byte;
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checkMinMaxAltitude();
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}
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else {
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// At least 100mS passed since last data received
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((uint8_t*)&telemetryData.hub)[offsetof(FrskyTelemetryData, baroAltitude_bp)+1] = byte;
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}
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// baroAltitude_bp unit here is feet!
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wshhStreaming = WSHH_TIMEOUT10ms; // reset counter
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}
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#endif
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void frskyDProcessPacket(const uint8_t *packet)
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{
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// What type of packet?
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switch (packet[0])
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{
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case LINKPKT: // A1/A2/RSSI values
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{
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telemetryData.analog[TELEM_ANA_A1].set(packet[1], g_model.frsky.channels[TELEM_ANA_A1].type);
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telemetryData.analog[TELEM_ANA_A2].set(packet[2], g_model.frsky.channels[TELEM_ANA_A2].type);
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telemetryData.rssi[0].set(packet[3]);
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telemetryData.rssi[1].set(packet[4] / 2);
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telemetryStreaming = TELEMETRY_TIMEOUT10ms; // reset counter only if valid packets are being detected
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link_counter += 256 / FRSKY_D_AVERAGING;
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#if defined(VARIO)
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uint8_t varioSource = g_model.frsky.varioSource - VARIO_SOURCE_A1;
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if (varioSource < 2) {
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telemetryData.hub.varioSpeed = applyChannelRatio(varioSource, telemetryData.analog[varioSource].value);
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}
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#endif
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break;
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}
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#if defined(FRSKY_HUB) || defined (WS_HOW_HIGH)
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case USRPKT: // User Data packet
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uint8_t numBytes = 3 + (packet[1] & 0x07); // sanitize in case of data corruption leading to buffer overflow
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for (uint8_t i=3; i<numBytes; i++) {
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#if defined(FRSKY_HUB)
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if (IS_USR_PROTO_FRSKY_HUB()) {
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parseTelemHubByte(packet[i]);
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}
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#endif
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#if defined(WS_HOW_HIGH)
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if (IS_USR_PROTO_WS_HOW_HIGH()) {
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parseTelemWSHowHighByte(packet[i]);
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}
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#endif
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}
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break;
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#endif // #if defined(FRSKY_HUB) || defined (WS_HOW_HIGH)
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}
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}
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// Alarms level sent to the FrSky module
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uint8_t frskyAlarmsSendState = 0 ;
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void frskyPushValue(uint8_t *&ptr, uint8_t value)
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{
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// byte stuff the only byte than might need it
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bool bytestuff = false;
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if (value == START_STOP) {
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bytestuff = true;
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value = 0x5e;
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}
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else if (value == BYTESTUFF) {
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bytestuff = true;
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value = 0x5d;
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}
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*ptr++ = value;
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if (bytestuff)
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*ptr = BYTESTUFF;
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}
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void frskySendPacket(uint8_t type, uint8_t value, uint8_t p1, uint8_t p2)
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{
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uint8_t *ptr = &frskyTxBuffer[0];
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*ptr++ = START_STOP; // End of packet
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*ptr++ = 0x00;
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*ptr++ = 0x00;
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*ptr++ = 0x00;
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*ptr++ = 0x00;
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*ptr++ = 0x00;
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*ptr++ = (IS_SOUND_OFF() ? alarm_off : p2);
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*ptr++ = p1;
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frskyPushValue(ptr, value);
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*ptr++ = type;
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*ptr++ = START_STOP; // Start of packet
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frskyTxBufferCount = ptr - &frskyTxBuffer[0];
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#if !defined(SIMU)
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telemetryTransmitBuffer();
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#endif
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}
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void frskyDSendNextAlarm(void)
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{
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if (frskyTxBufferCount)
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return; // we only have one buffer. If it's in use, then we can't send yet.
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// Now send a packet
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frskyAlarmsSendState -= 1;
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uint8_t alarm = 1 - (frskyAlarmsSendState % 2);
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if (frskyAlarmsSendState < SEND_MODEL_ALARMS) {
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uint8_t channel = 1 - (frskyAlarmsSendState / 2);
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frskySendPacket(A22PKT + frskyAlarmsSendState, g_model.frsky.channels[channel].alarms_value[alarm], ALARM_GREATER(channel, alarm), ALARM_LEVEL(channel, alarm));
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}
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else {
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frskySendPacket(RSSI1PKT-alarm, getRssiAlarmValue(alarm), 0, (2+alarm+g_model.frsky.rssiAlarms[alarm].level) % 4);
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}
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}
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