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Implementation of KISS ESC Telemetry protocol

This commit is contained in:
Bas Delfos 2016-11-10 21:08:59 +01:00
parent 14370426af
commit 16178a0662
20 changed files with 428 additions and 31 deletions
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3
Makefile
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@ -589,7 +589,8 @@ HIGHEND_SRC = \
telemetry/hott.c \
telemetry/smartport.c \
telemetry/ltm.c \
telemetry/mavlink.c
telemetry/mavlink.c \
telemetry/esc_telemetry.c \
ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
VCP_SRC = \

1
src/main/build/debug.h
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@ -59,5 +59,6 @@ typedef enum {
DEBUG_VELOCITY,
DEBUG_DTERM_FILTER,
DEBUG_ANGLERATE,
DEBUG_ESC_TELEMETRY,
DEBUG_COUNT
} debugType_e;

4
src/main/drivers/pwm_output.h
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@ -64,6 +64,7 @@ typedef struct {
const timerHardware_t *timerHardware;
uint16_t value;
uint16_t timerDmaSource;
volatile bool requestTelemetry;
#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
uint32_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
#else
@ -75,6 +76,8 @@ typedef struct {
#endif
} motorDmaOutput_t;
motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
extern bool pwmMotorsEnabled;
struct timerHardware_s;
@ -111,4 +114,3 @@ pwmOutputPort_t *pwmGetMotors(void);
bool pwmIsSynced(void);
void pwmDisableMotors(void);
void pwmEnableMotors(void);

9
src/main/drivers/pwm_output_stm32f3xx.c
View File

@ -46,6 +46,11 @@ static uint8_t dmaMotorTimerCount = 0;
static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
{
return &dmaMotors[index];
}
uint8_t getTimerIndex(TIM_TypeDef *timer)
{
for (int i = 0; i < dmaMotorTimerCount; i++) {
@ -66,7 +71,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
// compute checksum
int csum = 0;
int csum_data = packet;

9
src/main/drivers/pwm_output_stm32f4xx.c
View File

@ -45,6 +45,11 @@ static uint8_t dmaMotorTimerCount = 0;
static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
{
return &dmaMotors[index];
}
uint8_t getTimerIndex(TIM_TypeDef *timer)
{
for (int i = 0; i < dmaMotorTimerCount; i++) {
@ -64,7 +69,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
// compute checksum
int csum = 0;
int csum_data = packet;

9
src/main/drivers/pwm_output_stm32f7xx.c
View File

@ -44,6 +44,11 @@ static uint8_t dmaMotorTimerCount = 0;
static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
{
return &dmaMotors[index];
}
uint8_t getTimerIndex(TIM_TypeDef *timer)
{
for (int i = 0; i < dmaMotorTimerCount; i++) {
@ -64,7 +69,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
// compute checksum
int csum = 0;
int csum_data = packet;

1
src/main/fc/config.c
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@ -424,6 +424,7 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
batteryConfig->vbatmincellvoltage = 33;
batteryConfig->vbatwarningcellvoltage = 35;
batteryConfig->vbathysteresis = 1;
batteryConfig->batteryMeterType = BATTERY_SENSOR_ADC;
batteryConfig->currentMeterOffset = 0;
batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
batteryConfig->batteryCapacity = 0;

1
src/main/fc/config.h
View File

@ -55,6 +55,7 @@ typedef enum {
FEATURE_VTX = 1 << 24,
FEATURE_RX_SPI = 1 << 25,
FEATURE_SOFTSPI = 1 << 26,
FEATURE_ESC_TELEMETRY = 1 << 27,
} features_e;
void beeperOffSet(uint32_t mask);

22
src/main/fc/fc_tasks.c
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@ -66,6 +66,7 @@
#include "scheduler/scheduler.h"
#include "telemetry/telemetry.h"
#include "telemetry/esc_telemetry.h"
#include "config/feature.h"
#include "config/config_profile.h"
@ -194,6 +195,15 @@ static void taskTelemetry(uint32_t currentTime)
}
#endif
#ifdef USE_ESC_TELEMETRY
static void taskEscTelemetry(uint32_t currentTime)
{
if (feature(FEATURE_ESC_TELEMETRY)) {
escTelemetryProcess(currentTime);
}
}
#endif
void fcTasksInit(void)
{
schedulerInit();
@ -254,6 +264,9 @@ void fcTasksInit(void)
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef USE_ESC_TELEMETRY
setTaskEnabled(TASK_ESC_TELEMETRY, feature(FEATURE_ESC_TELEMETRY));
#endif
#ifdef CMS
#ifdef USE_MSP_DISPLAYPORT
setTaskEnabled(TASK_CMS, true);
@ -421,6 +434,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef USE_ESC_TELEMETRY
[TASK_ESC_TELEMETRY] = {
.taskName = "ESC_TELEMETRY",
.taskFunc = taskEscTelemetry,
.desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef CMS
[TASK_CMS] = {
.taskName = "CMS",

1
src/main/io/serial.h
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@ -37,6 +37,7 @@ typedef enum {
FUNCTION_BLACKBOX = (1 << 7), // 128
FUNCTION_PASSTHROUGH = (1 << 8), // 256
FUNCTION_TELEMETRY_MAVLINK = (1 << 9), // 512
FUNCTION_TELEMETRY_ESC = (1 << 10), // 1024
} serialPortFunction_e;
typedef enum {

13
src/main/io/serial_cli.c
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@ -231,7 +231,7 @@ static const char * const featureNames[] = {
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
"SDCARD", "VTX", "RX_SPI", "SOFTSPI", NULL
"SDCARD", "VTX", "RX_SPI", "SOFTSPI", "ESC_TELEMETRY", NULL
};
// sync this with rxFailsafeChannelMode_e
@ -513,6 +513,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
"VELOCITY",
"DFILTER",
"ANGLERATE",
"ESC_TELEMETRY",
};
#ifdef OSD
@ -3600,14 +3601,14 @@ static void cliTasks(char *cmdline)
subTaskFrequency = (int)(1000000.0f / ((float)cycleTime));
taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
if (masterConfig.pid_process_denom > 1) {
cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
} else {
taskFrequency = subTaskFrequency;
cliPrintf("%02d - (%8s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
cliPrintf("%02d - (%9s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
}
} else {
taskFrequency = (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
}
const int maxLoad = (taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
const int averageLoad = (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
@ -3619,11 +3620,11 @@ static void cliTasks(char *cmdline)
taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
if (taskId == TASK_GYROPID && masterConfig.pid_process_denom > 1) {
cliPrintf(" - (%12s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
cliPrintf(" - (%13s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
}
}
}
cliPrintf("Total (excluding SERIAL) %22d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
cliPrintf("Total (excluding SERIAL) %23d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
}
#endif

7
src/main/main.c
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@ -104,6 +104,7 @@
#include "sensors/initialisation.h"
#include "telemetry/telemetry.h"
#include "telemetry/esc_telemetry.h"
#include "flight/pid.h"
#include "flight/imu.h"
@ -491,6 +492,12 @@ void init(void)
}
#endif
#ifdef USE_ESC_TELEMETRY
if (feature(FEATURE_ESC_TELEMETRY)) {
escTelemetryInit();
}
#endif
#ifdef USB_CABLE_DETECTION
usbCableDetectInit();
#endif

3
src/main/scheduler/scheduler.h
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@ -85,6 +85,9 @@ typedef enum {
#ifdef USE_BST
TASK_BST_MASTER_PROCESS,
#endif
#ifdef USE_ESC_TELEMETRY
TASK_ESC_TELEMETRY,
#endif
#ifdef CMS
TASK_CMS,
#endif

15
src/main/sensors/battery.c
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@ -35,6 +35,8 @@
#include "sensors/battery.h"
#include "telemetry/esc_telemetry.h"
#include "fc/rc_controls.h"
#include "io/beeper.h"
@ -65,6 +67,10 @@ static uint16_t batteryAdcToVoltage(uint16_t src)
static void updateBatteryVoltage(void)
{
if (batteryConfig->batteryMeterType == BATTERY_SENSOR_ESC) {
vbat = getEscTelemetryVbat();
}
else {
static biquadFilter_t vbatFilter;
static bool vbatFilterIsInitialised;
@ -79,6 +85,7 @@ static void updateBatteryVoltage(void)
}
vbatSample = biquadFilterApply(&vbatFilter, vbatSample);
vbat = batteryAdcToVoltage(vbatSample);
}
if (debugMode == DEBUG_BATTERY) debug[1] = vbat;
}
@ -201,11 +208,19 @@ void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t dea
case CURRENT_SENSOR_NONE:
amperage = 0;
break;
case CURRENT_SENSOR_ESC:
amperage = getEscTelemetryCurrent();
break;
}
if (batteryConfig->currentMeterType == CURRENT_SENSOR_ESC) {
mAhDrawn = getEscTelemetryConsumption();
}
else {
mAhdrawnRaw += (amperage * lastUpdateAt) / 1000;
mAhDrawn = mAhdrawnRaw / (3600 * 100);
}
}
float calculateVbatPidCompensation(void) {
float batteryScaler = 1.0f;

13
src/main/sensors/battery.h
View File

@ -31,9 +31,17 @@ typedef enum {
CURRENT_SENSOR_NONE = 0,
CURRENT_SENSOR_ADC,
CURRENT_SENSOR_VIRTUAL,
CURRENT_SENSOR_MAX = CURRENT_SENSOR_VIRTUAL
CURRENT_SENSOR_ESC,
CURRENT_SENSOR_MAX = CURRENT_SENSOR_ESC
} currentSensor_e;
typedef enum {
BATTERY_SENSOR_NONE = 0,
BATTERY_SENSOR_ADC,
BATTERY_SENSOR_ESC,
BATTERY_SENSOR_MAX = BATTERY_SENSOR_ESC
} batterySensor_e;
typedef struct batteryConfig_s {
uint8_t vbatscale; // adjust this to match battery voltage to reported value
uint8_t vbatresdivval; // resistor divider R2 (default NAZE 10(K))
@ -42,10 +50,11 @@ typedef struct batteryConfig_s {
uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery critical alarm, in 0.1V units, default is 33 (3.3V)
uint8_t vbatwarningcellvoltage; // warning voltage per cell, this triggers battery warning alarm, in 0.1V units, default is 35 (3.5V)
uint8_t vbathysteresis; // hysteresis for alarm, default 1 = 0.1V
batterySensor_e batteryMeterType; // type of battery meter uses, either ADC or ESC
int16_t currentMeterScale; // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
uint16_t currentMeterOffset; // offset of the current sensor in millivolt steps
currentSensor_e currentMeterType; // type of current meter used, either ADC or virtual
currentSensor_e currentMeterType; // type of current meter used, either ADC, Virtual or ESC
// FIXME this doesn't belong in here since it's a concern of MSP, not of the battery code.
uint8_t multiwiiCurrentMeterOutput; // if set to 1 output the amperage in milliamp steps instead of 0.01A steps via msp

4
src/main/target/KISSFC/target.h
View File

@ -24,6 +24,10 @@
#define SBUS_PORT_OPTIONS (SERIAL_STOPBITS_2 | SERIAL_PARITY_EVEN | SERIAL_INVERTED | SERIAL_BIDIR)
#define USE_DSHOT
#define USE_ESC_TELEMETRY
#define USE_ESCSERIAL
#define ESCSERIAL_TIMER_TX_HARDWARE 6
#define LED0 PB1

298
src/main/telemetry/esc_telemetry.c Normal file
View File

@ -0,0 +1,298 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <platform.h>
#include "fc/config.h"
#include "config/feature.h"
#include "config/config_master.h"
#include "common/utils.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#include "drivers/serial_uart.h"
#include "drivers/pwm_output.h"
#include "io/serial.h"
#include "flight/mixer.h"
#include "sensors/battery.h"
#include "esc_telemetry.h"
#include "build/debug.h"
/*
KISS ESC TELEMETRY PROTOCOL
---------------------------
One transmission will have 10 times 8-bit bytes sent with 115200 baud and 3.6V.
Byte 0: Temperature
Byte 1: Voltage high byte
Byte 2: Voltage low byte
Byte 3: Current high byte
Byte 4: Current low byte
Byte 5: Consumption high byte
Byte 6: Consumption low byte
Byte 7: Rpm high byte
Byte 8: Rpm low byte
Byte 9: 8-bit CRC
*/
/*
DEBUG INFORMATION
-----------------
set debug_mode = DEBUG_ESC_TELEMETRY in cli
0: current motor index requested
1: number of timeouts
2: voltage
3: current
*/
typedef struct {
bool skipped;
uint8_t temperature;
uint16_t voltage;
uint16_t current;
uint16_t consumption;
uint16_t rpm;
} esc_telemetry_t;
typedef enum {
ESC_TLM_FRAME_PENDING = 1 << 0, // 1
ESC_TLM_FRAME_COMPLETE = 1 << 1 // 2
} escTlmFrameState_t;
typedef enum {
ESC_TLM_TRIGGER_WAIT = 0,
ESC_TLM_TRIGGER_READY = 1 << 0, // 1
ESC_TLM_TRIGGER_PENDING = 1 << 1, // 2
} escTlmTriggerState_t;
#define ESC_TLM_BAUDRATE 115200
#define ESC_TLM_BUFFSIZE 10
#define ESC_BOOTTIME 5000 // 5 seconds
#define ESC_REQUEST_TIMEOUT 1000 // 1 seconds
static bool tlmFrameDone = false;
static bool firstCycleComplete = false;
static uint8_t tlm[ESC_TLM_BUFFSIZE] = { 0, };
static uint8_t tlmFramePosition = 0;
static serialPort_t *escTelemetryPort = NULL;
static esc_telemetry_t escTelemetryData[4];
static uint32_t escTriggerTimestamp = -1;
static uint8_t escTelemetryMotor = 0; // motor index 0 - 3
static bool escTelemetryEnabled = false;
static escTlmTriggerState_t escTelemetryTriggerState = ESC_TLM_TRIGGER_WAIT;
static uint16_t escVbat = 0;
static uint16_t escCurrent = 0;
static uint16_t escConsumption = 0;
static void escTelemetryDataReceive(uint16_t c);
static uint8_t update_crc8(uint8_t crc, uint8_t crc_seed);
static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen);
static void selectNextMotor(void);
bool isEscTelemetryActive(void)
{
return escTelemetryEnabled;
}
uint16_t getEscTelemetryVbat(void)
{
return escVbat / 10;
}
uint16_t getEscTelemetryCurrent(void)
{
return escCurrent;
}
uint16_t getEscTelemetryConsumption(void)
{
return escConsumption;
}
bool escTelemetryInit(void)
{
serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_ESC);
if (!portConfig) {
return false;
}
portOptions_t options = (SERIAL_NOT_INVERTED);
// Initialize serial port
escTelemetryPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_ESC, escTelemetryDataReceive, ESC_TLM_BAUDRATE, MODE_RX, options);
if (escTelemetryPort) {
escTelemetryEnabled = true;
masterConfig.batteryConfig.currentMeterType = CURRENT_SENSOR_ESC;
masterConfig.batteryConfig.batteryMeterType = BATTERY_SENSOR_ESC;
}
return escTelemetryPort != NULL;
}
void freeEscTelemetryPort(void)
{
closeSerialPort(escTelemetryPort);
escTelemetryPort = NULL;
escTelemetryEnabled = false;
}
// Receive ISR callback
static void escTelemetryDataReceive(uint16_t c)
{
// KISS ESC sends some data during startup, ignore this for now (maybe future use)
// startup data could be firmware version and serialnumber
if (escTelemetryTriggerState == ESC_TLM_TRIGGER_WAIT) return;
tlm[tlmFramePosition] = (uint8_t)c;
if (tlmFramePosition == ESC_TLM_BUFFSIZE - 1) {
tlmFrameDone = true;
tlmFramePosition = 0;
} else {
tlmFramePosition++;
}
}
uint8_t escTelemetryFrameStatus(void)
{
uint8_t frameStatus = ESC_TLM_FRAME_PENDING;
uint16_t chksum, tlmsum;
if (!tlmFrameDone) {
return frameStatus;
}
tlmFrameDone = false;
// Get CRC8 checksum
chksum = get_crc8(tlm, ESC_TLM_BUFFSIZE - 1);
tlmsum = tlm[ESC_TLM_BUFFSIZE - 1]; // last byte contains CRC value
if (chksum == tlmsum) {
escTelemetryData[escTelemetryMotor].skipped = false;
escTelemetryData[escTelemetryMotor].temperature = tlm[0];
escTelemetryData[escTelemetryMotor].voltage = tlm[1] << 8 | tlm[2];
escTelemetryData[escTelemetryMotor].current = tlm[3] << 8 | tlm[4];
escTelemetryData[escTelemetryMotor].consumption = tlm[5] << 8 | tlm[6];
escTelemetryData[escTelemetryMotor].rpm = tlm[7] << 8 | tlm[8];
frameStatus = ESC_TLM_FRAME_COMPLETE;
}
return frameStatus;
}
void escTelemetryProcess(uint32_t currentTime)
{
UNUSED(currentTime);
if (!escTelemetryEnabled) {
return;
}
// Wait period of time before requesting telemetry (let the system boot first)
if (millis() < ESC_BOOTTIME)
{
return;
}
else if (escTelemetryTriggerState == ESC_TLM_TRIGGER_WAIT)
{
// Ready for starting requesting telemetry
escTelemetryTriggerState = ESC_TLM_TRIGGER_READY;
escTelemetryMotor = 0;
escTriggerTimestamp = millis();
}
else if (escTelemetryTriggerState == ESC_TLM_TRIGGER_READY)
{
if (debugMode == DEBUG_ESC_TELEMETRY) debug[0] = escTelemetryMotor+1;
motorDmaOutput_t * const motor = getMotorDmaOutput(escTelemetryMotor);
motor->requestTelemetry = true;
escTelemetryTriggerState = ESC_TLM_TRIGGER_PENDING;
}
if (escTriggerTimestamp + ESC_REQUEST_TIMEOUT < millis())
{
// ESC did not repond in time, skip to next motor
escTelemetryData[escTelemetryMotor].skipped = true;
selectNextMotor();
escTelemetryTriggerState = ESC_TLM_TRIGGER_READY;
if (debugMode == DEBUG_ESC_TELEMETRY) debug[1]++;
}
// Get received frame status
uint8_t state = escTelemetryFrameStatus();
if (state == ESC_TLM_FRAME_COMPLETE)
{
// Wait until all ESCs are processed
if (firstCycleComplete)
{
uint8_t i;
escCurrent = 0;
escConsumption = 0;
for (i = 0; i < 4; i++) // Motor count for Dshot limited to 4
{
if (!escTelemetryData[i].skipped)
{
escVbat = escVbat == 0 ? escTelemetryData[i].voltage : (escVbat + escTelemetryData[i].voltage) / 2;
escCurrent = escCurrent + escTelemetryData[i].current;
escConsumption = escConsumption + escTelemetryData[i].consumption;
}
}
}
if (debugMode == DEBUG_ESC_TELEMETRY) debug[2] = escVbat;
if (debugMode == DEBUG_ESC_TELEMETRY) debug[3] = escCurrent;
selectNextMotor();
escTelemetryTriggerState = ESC_TLM_TRIGGER_READY;
}
}
static void selectNextMotor(void)
{
escTelemetryMotor++;
if (escTelemetryMotor >= 4) { // Motor count for Dshot limited to 4
escTelemetryMotor = 0;
firstCycleComplete = true;
}
escTriggerTimestamp = millis();
}
//-- CRC
static uint8_t update_crc8(uint8_t crc, uint8_t crc_seed)
{
uint8_t crc_u, i;
crc_u = crc;
crc_u ^= crc_seed;
for ( i=0; i<8; i++) crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 );
return (crc_u);
}
static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen)
{
uint8_t crc = 0, i;
for( i=0; i<BufLen; i++) crc = update_crc8(Buf[i], crc);
return (crc);
}

10
src/main/telemetry/esc_telemetry.h Normal file
View File

@ -0,0 +1,10 @@
#pragma once
uint8_t escTelemetryFrameStatus(void);
bool escTelemetryInit(void);
bool isEscTelemetryActive(void);
uint16_t getEscTelemetryVbat(void);
uint16_t getEscTelemetryCurrent(void);
uint16_t getEscTelemetryConsumption(void);
void escTelemetryProcess(uint32_t currentTime);

2
src/main/telemetry/frsky.c
View File

@ -529,7 +529,7 @@ void handleFrSkyTelemetry(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
sendTemperature1();
sendThrottleOrBatterySizeAsRpm(rxConfig, deadband3d_throttle);
if (feature(FEATURE_VBAT) && batteryCellCount > 0) {
if ((feature(FEATURE_VBAT) || feature(FEATURE_ESC_TELEMETRY)) && batteryCellCount > 0) {
sendVoltage();
sendVoltageAmp();
sendAmperage();

4
src/main/telemetry/smartport.c
View File

@ -646,7 +646,7 @@ void handleSmartPortTelemetry(void)
}
break;
case FSSP_DATAID_CURRENT :
if (feature(FEATURE_CURRENT_METER)) {
if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
smartPortSendPackage(id, amperage / 10); // given in 10mA steps, unknown requested unit
smartPortHasRequest = 0;
}
@ -659,7 +659,7 @@ void handleSmartPortTelemetry(void)
}
break;
case FSSP_DATAID_FUEL :
if (feature(FEATURE_CURRENT_METER)) {
if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
smartPortSendPackage(id, mAhDrawn); // given in mAh, unknown requested unit
smartPortHasRequest = 0;
}