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Merge pull request #1798 from blckmn/spektrum_rx 

Initial implementation of SPEK SRXL telemetry protocol
This commit is contained in:
Martin Budden 2016-12-21 23:59:29 +01:00 committed by GitHub
parent 2ead3d5479 aaddbf0162
commit 40ec36f6c4
9 changed files with 1187 additions and 13 deletions
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1
Makefile
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@ -592,6 +592,7 @@ HIGHEND_SRC = \
sensors/barometer.c \
telemetry/telemetry.c \
telemetry/crsf.c \
telemetry/srxl.c \
telemetry/frsky.c \
telemetry/hott.c \
telemetry/smartport.c \

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reference/spektrum/Bi-Directional SRXL.pdf Normal file
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reference/spektrum/spektrumTelemetrySensors.h Normal file
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//////////////////////////////////////////////////////////////////
//
// Copyright 2013 by Horizon Hobby, Inc.
// Released to Public Domain
//
// This header file may be incorporated into non-Horizon
// products.
//
//////////////////////////////////////////////////////////////////
#ifndef TELEMETRY_H
#define TELEMETRY_H
//////////////////////////////////////////////////////////////////
//
// Assigned I2C Addresses and Device Types
//
//////////////////////////////////////////////////////////////////
#define TELE_DEVICE_NODATA (0x00) // No data in packet
#define TELE_DEVICE_VOLTAGE (0x01) // High-Voltage sensor (INTERNAL)
#define TELE_DEVICE_TEMPERATURE (0x02) // Temperature Sensor (INTERNAL)
#define TELE_DEVICE_RSV_03 (0x03) // Reserved
#define TELE_DEVICE_RSV_04 (0x04) // Reserved
#define TELE_DEVICE_RSV_05 (0x05) // Reserved
#define TELE_DEVICE_RSV_06 (0x06) // Reserved
#define TELE_DEVICE_RSV_07 (0x07) // Reserved
#define TELE_DEVICE_RSV_08 (0x08) // Reserved
#define TELE_DEVICE_RSV_09 (0x09) // Reserved
#define TELE_DEVICE_PBOX (0x0A) // PowerBox
#define TELE_DEVICE_LAPTIMER (0x0B) // Lap Timer
#define TELE_DEVICE_TEXTGEN (0x0C) // Text Generator
#define TELE_DEVICE_AIRSPEED (0x11) // Air Speed
#define TELE_DEVICE_ALTITUDE (0x12) // Altitude
#define TELE_DEVICE_GMETER (0x14) // GForce
#define TELE_DEVICE_JETCAT (0x15) // JetCat interface
#define TELE_DEVICE_GPS_LOC (0x16) // GPS Location Data
#define TELE_DEVICE_GPS_STATS (0x17) // GPS Status
#define TELE_DEVICE_RX_MAH (0x18) // Receiver Pack Capacity (Dual)
#define TELE_DEVICE_JETCAT_2 (0x19) // JetCat interface, msg 2
#define TELE_DEVICE_GYRO (0x1A) // 3-axis gyro
#define TELE_DEVICE_ATTMAG (0x1B) // Attitude and Magnetic Compass
#define TELE_DEVICE_AS3X_LEGACYGAIN (0x1F) // Active AS3X Gains for legacy mode
#define TELE_DEVICE_ESC (0x20) // ESC
#define TELE_DEVICE_FUEL (0x22) // Fuel Flow Meter
#define TELE_DEVICE_ALPHA6 (0x24) // Alpha6 Stabilizer
// DO NOT USE (0x30) // Reserved for internal use
// DO NOT USE (0x32) // Reserved for internal use
#define TELE_DEVICE_MAH (0x34) // Battery Gauge (mAh) (Dual)
#define TELE_DEVICE_DIGITAL_AIR (0x36) // Digital Inputs & Tank Pressure
#define TELE_DEVICE_STRAIN (0x38) // Thrust/Strain Gauge
#define TELE_DEVICE_LIPOMON (0x3A) // 6S Cell Monitor (LiPo taps)
#define TELE_DEVICE_LIPOMON_14 (0x3F) // 14S Cell Monitor (LiPo taps)
#define TELE_DEVICE_VARIO_S (0x40) // Vario
#define TELE_DEVICE_RSV_43 (0x43) // Reserved
#define TELE_DEVICE_USER_16SU (0x50) // User-Def, STRU_TELE_USER_16SU
#define TELE_DEVICE_USER_16SU32U (0x52) // User-Def, STRU_TELE_USER_16SU32U
#define TELE_DEVICE_USER_16SU32S (0x54) // User-Def, STRU_TELE_USER_16SU32S
#define TELE_DEVICE_USER_16U32SU (0x56) // User-Def, STRU_TELE_USER_16U32SU
#define TELE_DEVICE_RSV_60 (0x60) // Reserved
#define TELE_DEVICE_RSV_68 (0x68) // Reserved
#define TELE_DEVICE_RSV_69 (0x69) // Reserved
#define TELE_DEVICE_RSV_6A (0x6A) // Reserved
#define TELE_DEVICE_RSV_6B (0x6B) // Reserved
#define TELE_DEVICE_RSV_6C (0x6C) // Reserved
#define TELE_DEVICE_RSV_6D (0x6D) // Reserved
#define TELE_DEVICE_RSV_6E (0x6E) // Reserved
#define TELE_DEVICE_RSV_6F (0x6F) // Reserved
#define TELE_DEVICE_RSV_70 (0x70) // Reserved
#define TELE_DEVICE_RTC (0x7C) // Pseudo-device giving timestamp
#define TELE_DEVICE_FRAMEDATA (0x7D) // Transmitter frame data
#define TELE_DEVICE_RPM (0x7E) // RPM sensor
#define TELE_DEVICE_QOS (0x7F) // RxV + flight log data
#define TELE_DEVICE_MAX (0x7F) // Last address available
#define TELE_DEVICE_SHORTRANGE (0x80) // Data is from a TM1100
//////////////////////////////////////////////////////////////////
//
// Message Data Structures
//
//////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
//
// Electronic Speed Control
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x20
UINT8 sID; // Secondary ID
UINT16 RPM; // RPM, 10RPM (0-655340 RPM). 0xFFFF --> "No data"
UINT16 voltsInput; // Volts, 0.01v (0-655.34V). 0xFFFF --> "No data"
UINT16 tempFET; // Temperature, 0.1C (0-999.8C) 0xFFFF --> "No data"
UINT16 currentMotor; // Current, 10mA (0-655.34A). 0xFFFF --> "No data"
UINT16 tempBEC; // Temperature, 0.1C (0-999.8C) 0x7FFF --> "No data"
UINT8 currentBEC; // BEC Current, 100mA (0-25.4A). 0xFF ----> "No data"
UINT8 voltsBEC; // BEC Volts, 0.05V (0-12.70V). 0xFF ----> "No data"
UINT8 throttle; // 0.5% (0-127%). 0xFF ----> "No data"
UINT8 powerOut; // Power Output, 0.5% (0-127%). 0xFF ----> "No data"} STRU_TELE_ESC;
//////////////////////////////////////////////////////////////////
//
// LAP TIMER
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x0B
UINT8 sID; // Secondary ID
UINT8 lapNumber; // Lap last finished
UINT8 gateNumber; // Last gate passed
UINT32 lastLapTime; // Time of lap in 1ms increments (NOT duration)
UINT32 gateTime; // Duration between last 2 gates
UINT8 unused[4];
} STRU_TELE_LAPTIMER;
//////////////////////////////////////////////////////////////////
//
// TEXT GENERATOR
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x0C
UINT8 sID; // Secondary ID
UINT8 lineNumber; // Line number to display (0 = title, 1-8 for general,
// 255 = Erase all text on screen)
char text[13]; // 0-terminated text
} STRU_TELE_TEXTGEN;
//////////////////////////////////////////////////////////////////
//
// (Liquid) Fuel Flow/Capacity (Two Tanks/Engines)
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 id; // Source device = 0x22
UINT8 sID; // Secondary ID
UINT16 fuelConsumed_A; // Integrated fuel consumption, 0.1mL
UINT16 flowRate_A; // Instantaneous consumption, 0.01mL/min
UINT16 temp_A; // Temperature, 0.1C (0-655.34C)
UINT16 fuelConsumed_B; // Integrated fuel consumption, 0.1mL
UINT16 flowRate_B; // Instantaneous consumption, 0.01mL/min
UINT16 temp_B; // Temperature, 0.1C (0-655.34C)
UINT16 spare; // Not used
} STRU_TELE_FUEL;
//////////////////////////////////////////////////////////////////
//
// Battery Current/Capacity (Dual Batteries)
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 id; // Source device = 0x34
UINT8 sID; // Secondary ID
INT16 current_A; // Instantaneous current, 0.1A (0-3276.8A)
INT16 chargeUsed_A; // Integrated mAh used, 1mAh (0-32.766Ah)
UINT16 temp_A; // Temperature, 0.1C (0-150.0C,
// 0x7FFF indicates not populated)
INT16 current_B; // Instantaneous current, 0.1A (0-6553.4A)
INT16 chargeUsed_B; // Integrated mAh used, 1mAh (0-65.534Ah)
UINT16 temp_B; // Temperature, 0.1C (0-150.0C,
// 0x7FFF indicates not populated)
UINT16 spare; // Not used
} STRU_TELE_MAH;
//////////////////////////////////////////////////////////////////
//
// Digital Input Status (Retract Status) and Tank Pressure
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 id; // Source device = 0x36
UINT8 sID; // Secondary ID
UINT16 digital; // Digital inputs (bit per input)
UINT16 pressure; // Tank pressure, 0.1PSI (0-6553.4PSI)
} STRU_TELE_DIGITAL_AIR;
//////////////////////////////////////////////////////////////////
//
// Thrust/Strain Gauge
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 id; // Source device = 0x38
UINT8 sID; // Secondary ID
UINT16 strain_A, // Strain sensor A
strain_B, // Strain sensor B
strain_C, // Strain sensor D
strain_D; // Strain sensor C
} STRU_TELE_STRAIN;
//////////////////////////////////////////////////////////////////
//
// THIRD-PARTY 16-BIT DATA SIGNED/UNSIGNED
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 id; // Source device = 0x50
UINT8 sID; // Secondary ID
INT16 sField1, // Signed 16-bit data fields
sField2,
sField3;
UINT16 uField1, // Unsigned 16-bit data fields
uField2,
uField3,
uField4;
} STRU_TELE_USER_16SU;
//////////////////////////////////////////////////////////////////
//
// THIRD-PARTY 16-BIT SIGNED/UNSIGNED AND 32-BIT UNSIGNED
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 id; // Source device = 0x52
UINT8 sID; // Secondary ID
INT16 sField1, // Signed 16-bit data fields
sField2;
UINT16 uField1, // Unsigned 16-bit data fields
uField2,
uField3;
UINT32 u32Field; // Unsigned 32-bit data field
} STRU_TELE_USER_16SU32U;
//////////////////////////////////////////////////////////////////
//
// THIRD-PARTY 16-BIT SIGNED/UNSIGNED AND 32-BIT SIGNED
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 id; // Source device = 0x54
UINT8 sID; // Secondary ID
INT16 sField1, // Signed 16-bit data fields
sField2;
UINT16 uField1, // Unsigned 16-bit data fields
uField2,
uField3;
INT32 u32Field; // Signed 32-bit data field
} STRU_TELE_USER_16U32SU;
//////////////////////////////////////////////////////////////////
//
// THIRD-PARTY 16-BIT UNSIGNED AND 32-BIT SIGNED/UNSIGNED
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 id; // Source device = 0x56
UINT8 sID; // Secondary ID
UINT16 uField1; // Unsigned 16-bit data field
INT32 u32Field; // Signed 32-bit data field
INT32 u32Field1, // Signed 32-bit data fields
u32Field2;
} STRU_TELE_USER_16U32SU;
//////////////////////////////////////////////////////////////////
//
// POWERBOX
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x0A
UINT8 sID; // Secondary ID
UINT16 volt1; // Volts, 0v01v
UINT16 volt2; // Volts, 0.01v
UINT16 capacity1; // mAh, 1mAh
UINT16 capacity2; // mAh, 1mAh
UINT16 spare16_1;
UINT16 spare16_2;
UINT8 spare;
UINT8 alarms; // Alarm bitmask (see below)
} STRU_TELE_POWERBOX;
#define TELE_PBOX_ALARM_VOLTAGE_1 (0x01)
#define TELE_PBOX_ALARM_VOLTAGE_2 (0x02)
#define TELE_PBOX_ALARM_CAPACITY_1 (0x04)
#define TELE_PBOX_ALARM_CAPACITY_2 (0x08)
//#define TELE_PBOX_ALARM_RPM (0x10)
//#define TELE_PBOX_ALARM_TEMPERATURE (0x20)
#define TELE_PBOX_ALARM_RESERVED_1 (0x40)
#define TELE_PBOX_ALARM_RESERVED_2 (0x80)
//////////////////////////////////////////////////////////////////
//
// DUAL ENERGY
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 id; // Source device = 0x18
UINT8 sID; // Secondary ID
INT16 current_A; // Instantaneous current, 0.01A (0-328.7A)
INT16 chargeUsed_A; // Integrated mAh used, 0.1mAh (0-3276.6mAh)
UINT16 volts_A; // Voltage, 0.01VC (0-16.00V)
INT16 current_B; // Instantaneous current, 0.1A (0-3276.8A)
INT16 chargeUsed_B; // Integrated mAh used, 1mAh (0-32.766Ah)
UINT16 volts_B; // Voltage, 0.01VC (0-16.00V)
UINT16 spare; // Not used
} STRU_TELE_ENERGY_DUAL;
//////////////////////////////////////////////////////////////////
//
// HIGH-CURRENT
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x03
UINT8 sID; // Secondary ID
INT16 current, // Range: +/- 150A
// Resolution: 300A/2048 = 0.196791 A/tick
dummy; // TBD
} STRU_TELE_IHIGH;
#define IHIGH_RESOLUTION_FACTOR ((FP32)(0.196791))
//////////////////////////////////////////////////////////////////
//
// VARIO-S
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x40
UINT8 sID; // Secondary ID
INT16 altitude; // .1m increments
INT16 delta_0250ms, // delta last 250ms, 0.1m/s increments
delta_0500ms, // delta last 500ms, 0.1m/s increments
delta_1000ms, // delta last 1.0 seconds
delta_1500ms, // delta last 1.5 seconds
delta_2000ms, // delta last 2.0 seconds
delta_3000ms; // delta last 3.0 seconds
} STRU_TELE_VARIO_S;
//////////////////////////////////////////////////////////////////
//
// ALTIMETER
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier;
UINT8 sID; // Secondary ID
INT16 altitude; // .1m increments
INT16 maxAltitude; // .1m increments
} STRU_TELE_ALT;
//////////////////////////////////////////////////////////////////
//
// AIRSPEED
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier;
UINT8 sID; // Secondary ID
UINT16 airspeed; // 1 km/h increments
UINT16 maxAirspeed; // 1 km/h increments
} STRU_TELE_SPEED;
//////////////////////////////////////////////////////////////////
//
// GFORCE
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x14
UINT8 sID; // Secondary ID
INT16 GForceX; // force is reported as .01G increments
INT16 GForceY; // Range = +/-4000 (+/- 40G) in Pro model
INT16 GForceZ; // Range = +/-800 (+/- 8G) in Standard model
INT16 maxGForceX; // abs(max G X-axis) FORE/AFT
INT16 maxGForceY; // abs (max G Y-axis) LEFT/RIGHT
INT16 maxGForceZ; // max G Z-axis WING SPAR LOAD
INT16 minGForceZ; // min G Z-axis WING SPAR LOAD
} STRU_TELE_G_METER;
//////////////////////////////////////////////////////////////////
//
// JETCAT/TURBINE
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x15
UINT8 sID; // Secondary ID
UINT8 status; // See table below
UINT8 throttle; // (BCD) xx Percent
UINT16 packVoltage; // (BCD) xx.yy
UINT16 pumpVoltage; // (BCD) xx.yy
UINT32 RPM; // (BCD)
UINT16 EGT; // (BCD) Temperature, Celsius
UINT8 offCondition; // (BCD) See table below
UINT8 spare;
} STRU_TELE_JETCAT;
enum JETCAT_ECU_TURBINE_STATE { // ECU Status definitions
JETCAT_ECU_STATE_OFF = 0x00,
JETCAT_ECU_STATE_WAIT_for_RPM = 0x01, // (Stby/Start)
JETCAT_ECU_STATE_Ignite = 0x02,
JETCAT_ECU_STATE_Accelerate = 0x03,
JETCAT_ECU_STATE_Stabilise = 0x04,
JETCAT_ECU_STATE_Learn_HI = 0x05,
JETCAT_ECU_STATE_Learn_LO = 0x06,
JETCAT_ECU_STATE_UNDEFINED = 0x07,
JETCAT_ECU_STATE_Slow_Down = 0x08,
JETCAT_ECU_STATE_Manual = 0x09,
JETCAT_ECU_STATE_AutoOff = 0x10,
JETCAT_ECU_STATE_Run = 0x11, // (reg.)
JETCAT_ECU_STATE_Accleleration_delay = 0x12,
JETCAT_ECU_STATE_SpeedReg = 0x13, // (Speed Ctrl)
JETCAT_ECU_STATE_Two_Shaft_Regulate = 0x14, // (only for secondary shaft)
JETCAT_ECU_STATE_PreHeat1 = 0x15,
JETCAT_ECU_STATE_PreHeat2 = 0x16,
JETCAT_ECU_STATE_MainFStart = 0x17,
JETCAT_ECU_STATE_NotUsed = 0x18,
JETCAT_ECU_STATE_KeroFullOn = 0x19,
// undefined states 0x1A-0x1F
EVOJET_ECU_STATE_off = 0x20,
EVOJET_ECU_STATE_ignt = 0x21,
EVOJET_ECU_STATE_acce = 0x22,
EVOJET_ECU_STATE_run = 0x23,
EVOJET_ECU_STATE_cal = 0x24,
EVOJET_ECU_STATE_cool = 0x25,
EVOJET_ECU_STATE_fire = 0x26,
EVOJET_ECU_STATE_glow = 0x27,
EVOJET_ECU_STATE_heat = 0x28,
EVOJET_ECU_STATE_idle = 0x29,
EVOJET_ECU_STATE_lock = 0x2A,
EVOJET_ECU_STATE_rel = 0x2B,
EVOJET_ECU_STATE_spin = 0x2C,
EVOJET_ECU_STATE_stop = 0x2D,
// undefined states 0x2E-0x2F
HORNET_ECU_STATE_OFF = 0x30,
HORNET_ECU_STATE_SLOWDOWN = 0x31,
HORNET_ECU_STATE_COOL_DOWN = 0x32,
HORNET_ECU_STATE_AUTO = 0x33,
HORNET_ECU_STATE_AUTO_HC = 0x34,
HORNET_ECU_STATE_BURNER_ON = 0x35,
HORNET_ECU_STATE_CAL_IDLE = 0x36,
HORNET_ECU_STATE_CALIBRATE = 0x37,
HORNET_ECU_STATE_DEV_DELAY = 0x38,
HORNET_ECU_STATE_EMERGENCY = 0x39,
HORNET_ECU_STATE_FUEL_HEAT = 0x3A,
HORNET_ECU_STATE_FUEL_IGNITE = 0x3B,
HORNET_ECU_STATE_GO_IDLE = 0x3C,
HORNET_ECU_STATE_PROP_IGNITE = 0x3D,
HORNET_ECU_STATE_RAMP_DELAY = 0x3E,
HORNET_ECU_STATE_RAMP_UP = 0x3F,
HORNET_ECU_STATE_STANDBY = 0x40,
HORNET_ECU_STATE_STEADY = 0x41,
HORNET_ECU_STATE_WAIT_ACC = 0x42,
HORNET_ECU_STATE_ERROR = 0x43,
// undefined states 0x44-0x4F
XICOY_ECU_STATE_Temp_High = 0x50,
XICOY_ECU_STATE_Trim_Low = 0x51,
XICOY_ECU_STATE_Set_Idle = 0x52,
XICOY_ECU_STATE_Ready = 0x53,
XICOY_ECU_STATE_Ignition = 0x54,
XICOY_ECU_STATE_Fuel_Ramp = 0x55,
XICOY_ECU_STATE_Glow_Test = 0x56,
XICOY_ECU_STATE_Running = 0x57,
XICOY_ECU_STATE_Stop = 0x58,
XICOY_ECU_STATE_Flameout = 0x59,
XICOY_ECU_STATE_Speed_Low = 0x5A,
XICOY_ECU_STATE_Cooling = 0x5B,
XICOY_ECU_STATE_Igniter_Bad = 0x5C,
XICOY_ECU_STATE_Starter_F = 0x5D,
XICOY_ECU_STATE_Weak_Fuel = 0x5E,
XICOY_ECU_STATE_Start_On = 0x5F,
XICOY_ECU_STATE_Pre_Heat = 0x60,
XICOY_ECU_STATE_Battery = 0x61,
XICOY_ECU_STATE_Time_Out = 0x62,
XICOY_ECU_STATE_Overload = 0x63,
XICOY_ECU_STATE_Igniter_Fail = 0x64,
XICOY_ECU_STATE_Burner_On = 0x65,
XICOY_ECU_STATE_Starting = 0x66,
XICOY_ECU_STATE_SwitchOver = 0x67,
XICOY_ECU_STATE_Cal_Pump = 0x68,
XICOY_ECU_STATE_Pump_Limit = 0x69,
XICOY_ECU_STATE_No_Engine = 0x6A,
XICOY_ECU_STATE_Pwr_Boost = 0x6B,
XICOY_ECU_STATE_Run_Idle = 0x6C,
XICOY_ECU_STATE_Run_Max = 0x6D,
TURBINE_ECU_MAX_STATE = 0x74
};
enum JETCAT_ECU_OFF_CONDITIONS { // ECU off conditions. Valid only when the ECUStatus = JETCAT_ECU_STATE_OFF
JETCAT_ECU_OFF_No_Off_Condition_defined = 0,
JETCAT_ECU_OFF_Shut_down_via_RC,
JETCAT_ECU_OFF_Overtemperature,
JETCAT_ECU_OFF_Ignition_timeout,
JETCAT_ECU_OFF_Acceleration_time_out,
JETCAT_ECU_OFF_Acceleration_too_slow,
JETCAT_ECU_OFF_Over_RPM,
JETCAT_ECU_OFF_Low_Rpm_Off,
JETCAT_ECU_OFF_Low_Battery,
JETCAT_ECU_OFF_Auto_Off,
JETCAT_ECU_OFF_Low_temperature_Off,
JETCAT_ECU_OFF_Hi_Temp_Off,
JETCAT_ECU_OFF_Glow_Plug_defective,
JETCAT_ECU_OFF_Watch_Dog_Timer,
JETCAT_ECU_OFF_Fail_Safe_Off,
JETCAT_ECU_OFF_Manual_Off, // (via GSU)
JETCAT_ECU_OFF_Power_fail, // (Battery fail)
JETCAT_ECU_OFF_Temp_Sensor_fail, // (only during startup)
JETCAT_ECU_OFF_Fuel_fail,
JETCAT_ECU_OFF_Prop_fail,
JETCAT_ECU_OFF_2nd_Engine_fail,
JETCAT_ECU_OFF_2nd_Engine_Diff_Too_High,
JETCAT_ECU_OFF_2nd_Engine_No_Comm,
JETCAT_ECU_MAX_OFF_COND
};
typedef struct
{
UINT8 identifier; // Source device = 0x19
UINT8 sID; // Secondary ID
UINT16 FuelFlowRateMLMin; // (BCD) mL per Minute
UINT32 RestFuelVolumeInTankML; // (BCD) mL remaining in tank
// 8 bytes left
} STRU_TELE_JETCAT2;
//////////////////////////////////////////////////////////////////
//
// GPS
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x16
UINT8 sID; // Secondary ID
UINT16 altitudeLow; // BCD, meters, format 3.1 (Low bits of alt)
UINT32 latitude; // BCD, format 4.4,
// Degrees * 100 + minutes, < 100 degrees
UINT32 longitude; // BCD, format 4.4,
// Degrees * 100 + minutes, flag --> > 99deg
UINT16 course; // BCD, 3.1
UINT8 HDOP; // BCD, format 1.1
UINT8 GPSflags; // see definitions below
} STRU_TELE_GPS_LOC;
typedef struct
{
UINT8 identifier; // Source device = 0x17
UINT8 sID; // Secondary ID
UINT16 speed; // BCD, knots, format 3.1
UINT32 UTC; // BCD, format HH:MM:SS.S, format 6.1
UINT8 numSats; // BCD, 0-99
UINT8 altitudeHigh; // BCD, meters, format 2.0 (High bits alt)
} STRU_TELE_GPS_STAT;
// GPS flags definitions:
#define GPS_INFO_FLAGS_IS_NORTH_BIT (0)
#define GPS_INFO_FLAGS_IS_NORTH (1 << GPS_INFO_FLAGS_IS_NORTH_BIT)
#define GPS_INFO_FLAGS_IS_EAST_BIT (1)
#define GPS_INFO_FLAGS_IS_EAST (1 << GPS_INFO_FLAGS_IS_EAST_BIT)
#define GPS_INFO_FLAGS_LONG_GREATER_99_BIT (2)
#define GPS_INFO_FLAGS_LONG_GREATER_99 (1 << GPS_INFO_FLAGS_LONG_GREATER_99_BIT)
#define GPS_INFO_FLAGS_GPS_FIX_VALID_BIT (3)
#define GPS_INFO_FLAGS_GPS_FIX_VALID (1 << GPS_INFO_FLAGS_GPS_FIX_VALID_BIT)
#define GPS_INFO_FLAGS_GPS_DATA_RECEIVED_BIT (4)
#define GPS_INFO_FLAGS_GPS_DATA_RECEIVED (1 << GPS_INFO_FLAGS_GPS_DATA_RECEIVED_BIT)
#define GPS_INFO_FLAGS_3D_FIX_BIT (5)
#define GPS_INFO_FLAGS_3D_FIX (1 << GPS_INFO_FLAGS_3D_FIX_BIT)
#define GPS_INFO_FLAGS_NEGATIVE_ALT_BIT (7)
#define GPS_INFO_FLAGS_NEGATIVE_ALT (1 << GPS_INFO_FLAGS_NEGATIVE_ALT_BIT)
//////////////////////////////////////////////////////////////////
//
// GYRO
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x1A
UINT8 sID; // Secondary ID
INT16 gyroX; // Rotation rates of the body - Rate
// is about the X Axis which is
// defined out the nose of the
// vehicle.
INT16 gyroY; // Units are 0.1 deg/sec - Rate is
// about the Y Axis which is defined
// out the right wing of the vehicle.
INT16 gyroZ; // Rate is about the Z axis which is
// defined down from the vehicle.
INT16 maxGyroX; // Max rates (absolute value)
INT16 maxGyroY;
INT16 maxGyroZ;
} STRU_TELE_GYRO;
//////////////////////////////////////////////////////////////////
//
// Alpha6 Stabilizer
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x24
UINT8 sID; // Secondary ID
UINT16 volts; // 0.01V increments
UINT8 state_FM; // Flight Mode and System State
// (see below)
UINT8 gainRoll, // Roll Gain, high bit -->
// Heading Hold
gainPitch, // Pitch Gain
gainYaw; // Yaw Gain
INT16 attRoll, // Roll Attitude, 0.1degree, RHR
attPitch, // Pitch Attitude
attYaw; // Yaw Attitude
UINT16 spare;
} STRU_TELE_ALPHA6;
#define GBOX_STATE_BOOT (0x00) // Alpha6 State - Boot
#define GBOX_STATE_INIT (0x01) // Init
#define GBOX_STATE_READY (0x02) // Ready
#define GBOX_STATE_SENSORFAULT (0x03) // Sensor Fault
#define GBOX_STATE_POWERFAULT (0x04) // Power Fault
#define GBOX_STATE_MASK (0x0F)
#define GBOX_FMODE_FM0 (0x00) // FM0 through FM4
#define GBOX_FMODE_FM1 (0x10)
#define GBOX_FMODE_FM2 (0x20)
#define GBOX_FMODE_FM3 (0x30)
#define GBOX_FMODE_FM4 (0x40)
#define GBOX_FMODE_PANIC (0x50)
#define GBOX_FMODE_MASK (0xF0)
//////////////////////////////////////////////////////////////////
//
// 6S LiPo Cell Monitor
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x3A
UINT8 sID; // Secondary ID
UINT16 cell[6]; // Voltage across cell 1, .01V steps
// 0x7FFF --> cell not present
UINT16 temp; // Temperature, 0.1C (0-655.34C)
} STRU_TELE_LIPOMON;
//////////////////////////////////////////////////////////////////
//
// 14S LiPo Cell Monitor
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x3F
UINT8 sID; // Secondary ID
UINT8 cell[14]; // Voltage across cell 1, .01V steps,
// excess of 2.56V (ie, 3.00V would
// report 300-256 = 44)
// 0xFF --> cell not present
} STRU_TELE_LIPOMON_14;
//////////////////////////////////////////////////////////////////
//
// ATTITUDE & MAG COMPASS
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x1B
UINT8 sID; // Secondary ID
INT16 attRoll; // Attitude, 3 axes. Roll is a
// rotation about the X Axis of
// the vehicle using the RHR.
INT16 attPitch; // Units are 0.1 deg - Pitch is a
// rotation about the Y Axis of the
// vehicle using the RHR.
INT16 attYaw; // Yaw is a rotation about the Z
// Axis of the vehicle using the RHR.
INT16 magX; // Magnetic Compass, 3 axes
INT16 magY; // Units are TBD
INT16 magZ; //
} STRU_TELE_ATTMAG;
//////////////////////////////////////////////////////////////////
//
// Real-Time Clock
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x7C
UINT8 sID; // Secondary ID
UINT8 spare[6];
UINT64 UTC64; // Linux 64-bit time_t for
// post-2038 date compatibility
} STRU_TELE_RTC;
//////////////////////////////////////////////////////////////////
//
// RPM/Volts/Temperature
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x7E
UINT8 sID; // Secondary ID
UINT16 microseconds; // microseconds between pulse leading edges
UINT16 volts; // 0.01V increments
INT16 temperature; // degrees F
INT8 dBm_A, // Average signal for A antenna in dBm
dBm_B; // Average signal for B antenna in dBm.
// If only 1 antenna, set B = A
} STRU_TELE_RPM;
//////////////////////////////////////////////////////////////////
//
// QoS DATA
//
//////////////////////////////////////////////////////////////////
//
// NOTE: AR6410-series send:
// id = 7F
// sID = 0
// A = 0
// B = 0
// L = 0
// R = 0
// F = fades
// H = holds
// rxV = 0xFFFF
//
typedef struct
{
UINT8 identifier; // Source device = 0x7F
UINT8 sID; // Secondary ID
UINT16 A;
UINT16 B;
UINT16 L;
UINT16 R;
UINT16 F;
UINT16 H;
UINT16 rxVoltage; // Volts, 0.01V increments
} STRU_TELE_QOS;
//////////////////////////////////////////////////////////////////
//
// UNION OF ALL DEVICE MESSAGES
//
//////////////////////////////////////////////////////////////////
//
typedef union
{
UINT16 raw[8];
STRU_TELE_RTC rtc;
STRU_TELE_QOS qos;
STRU_TELE_RPM rpm;
STRU_TELE_FRAMEDATA frame;
STRU_TELE_ALT alt;
STRU_TELE_SPEED speed;
STRU_TELE_ENERGY_DUAL eDual;
STRU_TELE_VARIO_S varioS;
STRU_TELE_G_METER accel;
STRU_TELE_JETCAT jetcat;
STRU_TELE_JETCAT2 jetcat2;
STRU_TELE_GPS_LOC gpsloc;
STRU_TELE_GPS_STAT gpsstat;
STRU_TELE_GYRO gyro;
STRU_TELE_ATTMAG attMag;
STRU_TELE_POWERBOX powerBox;
STRU_TELE_ESC escGeneric;
STRU_TELE_LAPTIMER lapTimer;
STRU_TELE_TEXTGEN textgen;
STRU_TELE_FUEL fuel;
STRU_TELE_MAH mAh;
STRU_TELE_DIGITAL_AIR digAir;
STRU_TELE_STRAIN strain;
STRU_TELE_LIPOMON lipomon;
STRU_TELE_LIPOMON_14 lipomon14;
STRU_TELE_USER_16SU user_16SU;
STRU_TELE_USER_16SU32U user_16SU32U;
STRU_TELE_USER_16SU32S user_16SU32S;
STRU_TELE_USER_16U32SU user_16U32SU;
} UN_TELEMETRY; // All telemetry messages

61
src/main/rx/spektrum.c
View File

@ -18,8 +18,9 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "string.h"
#include "platform.h"
#include "common/maths.h"
#ifdef SERIAL_RX
@ -41,19 +42,20 @@
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "config/feature.h"
// driver for spektrum satellite receiver / sbus
#define SPEKTRUM_MAX_SUPPORTED_CHANNEL_COUNT 12
#define SPEKTRUM_2048_CHANNEL_COUNT 12
#define SPEKTRUM_1024_CHANNEL_COUNT 7
#define SPEKTRUM_2048_CHANNEL_COUNT 12
#define SPEKTRUM_1024_CHANNEL_COUNT 7
#define SPEK_FRAME_SIZE 16
#define SPEKTRUM_NEEDED_FRAME_INTERVAL 5000
#define SPEKTRUM_NEEDED_FRAME_INTERVAL 5000
#define SPEKTRUM_BAUDRATE 115200
#define SPEKTRUM_BAUDRATE 115200
#define SPEKTRUM_MAX_FADE_PER_SEC 40
#define SPEKTRUM_FADE_REPORTS_PER_SEC 2
#define SPEKTRUM_MAX_FADE_PER_SEC 40
#define SPEKTRUM_FADE_REPORTS_PER_SEC 2
static uint8_t spek_chan_shift;
static uint8_t spek_chan_mask;
@ -70,6 +72,7 @@ static uint8_t rssi_channel; // Stores the RX RSSI channel.
static volatile uint8_t spekFrame[SPEK_FRAME_SIZE];
static rxRuntimeConfig_t *rxRuntimeConfigPtr;
static serialPort_t *serialPort;
#ifdef SPEKTRUM_BIND
static IO_t BindPin = DEFIO_IO(NONE);
@ -78,6 +81,10 @@ static IO_t BindPin = DEFIO_IO(NONE);
static IO_t BindPlug = DEFIO_IO(NONE);
#endif
static uint8_t telemetryBuf[SRXL_FRAME_SIZE_MAX];
static uint8_t telemetryBufLen = 0;
void srxlRxSendTelemetryData(void);
// Receive ISR callback
static void spektrumDataReceive(uint16_t c)
@ -146,6 +153,9 @@ static uint8_t spektrumFrameStatus(void)
}
}
if (telemetryBufLen) {
srxlRxSendTelemetryData();
}
return RX_FRAME_COMPLETE;
}
@ -275,15 +285,22 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
#ifdef TELEMETRY
bool portShared = telemetryCheckRxPortShared(portConfig);
bool srxlEnabled = (feature(FEATURE_TELEMETRY) && !portShared && rxConfig->serialrx_provider == SERIALRX_SPEKTRUM2048);
#else
bool srxlEnabled = false;
bool portShared = false;
#endif
serialPort_t *spektrumPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, spektrumDataReceive, SPEKTRUM_BAUDRATE, portShared ? MODE_RXTX : MODE_RX, SERIAL_NOT_INVERTED);
serialPort = openSerialPort(portConfig->identifier,
FUNCTION_RX_SERIAL,
spektrumDataReceive,
SPEKTRUM_BAUDRATE,
portShared || srxlEnabled ? MODE_RXTX : MODE_RX,
SERIAL_NOT_INVERTED | (srxlEnabled ? SERIAL_BIDIR : 0));
#ifdef TELEMETRY
if (portShared) {
telemetrySharedPort = spektrumPort;
telemetrySharedPort = serialPort;
}
#endif
@ -292,7 +309,29 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
rssi_channel = 0;
}
return spektrumPort != NULL;
return serialPort != NULL;
}
void srxlRxWriteTelemetryData(const void *data, int len)
{
len = MIN(len, (int)sizeof(telemetryBuf));
memcpy(telemetryBuf, data, len);
telemetryBufLen = len;
}
void srxlRxSendTelemetryData(void)
{
// if there is telemetry data to write
if (telemetryBufLen > 0) {
serialWriteBuf(serialPort, telemetryBuf, telemetryBufLen);
telemetryBufLen = 0; // reset telemetry buffer
}
}
bool srxlRxIsActive(void)
{
return serialPort != NULL;
}
#endif // SERIAL_RX

11
src/main/rx/spektrum.h
View File

@ -17,8 +17,15 @@
#pragma once
#define SPEKTRUM_SAT_BIND_DISABLED 0
#define SPEKTRUM_SAT_BIND_MAX 10
#define SPEKTRUM_SAT_BIND_DISABLED 0
#define SPEKTRUM_SAT_BIND_MAX 10
#define SPEK_FRAME_SIZE 16
#define SRXL_FRAME_OVERHEAD 5
#define SRXL_FRAME_SIZE_MAX (SPEK_FRAME_SIZE + SRXL_FRAME_OVERHEAD)
void spektrumBind(rxConfig_t *rxConfig);
bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
void srxlRxWriteTelemetryData(const void *data, int len);
bool srxlRxIsActive(void);

1
src/main/target/common.h
View File

@ -87,6 +87,7 @@
#define USE_DASHBOARD
#define USE_MSP_DISPLAYPORT
#define TELEMETRY_CRSF
#define TELEMETRY_SRXL
#define TELEMETRY_JETIEXBUS
#define TELEMETRY_MAVLINK
#define USE_RX_MSP

270
src/main/telemetry/srxl.c Normal file
View File

@ -0,0 +1,270 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#ifdef TELEMETRY
#include "config/feature.h"
#include "build/version.h"
#include "common/streambuf.h"
#include "common/utils.h"
#include "sensors/battery.h"
#include "io/gps.h"
#include "io/serial.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "io/gps.h"
#include "flight/imu.h"
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "telemetry/telemetry.h"
#include "telemetry/srxl.h"
#include "fc/config.h"
#define SRXL_CYCLETIME_US 100000 // 100ms, 10 Hz
#define SRXL_ADDRESS_FIRST 0xA5
#define SRXL_ADDRESS_SECOND 0x80
#define SRXL_PACKET_LENGTH 0x15
#define SRXL_FRAMETYPE_TELE_QOS 0x7F
#define SRXL_FRAMETYPE_TELE_RPM 0x7E
#define SRXL_FRAMETYPE_POWERBOX 0x0A
#define SRXL_FRAMETYPE_SID 0x00
static bool srxlTelemetryEnabled;
static uint16_t srxlCrc;
static uint8_t srxlFrame[SRXL_FRAME_SIZE_MAX];
#define SRXL_POLY 0x1021
static uint16_t srxlCrc16(uint16_t crc, uint8_t data)
{
crc = crc ^ data << 8;
for (int i = 0; i < 8; i++) {
if (crc & 0x8000) {
crc = crc << 1 ^ SRXL_POLY;
} else {
crc = crc << 1;
}
}
return crc;
}
static void srxlInitializeFrame(sbuf_t *dst)
{
srxlCrc = 0;
dst->ptr = srxlFrame;
dst->end = ARRAYEND(srxlFrame);
sbufWriteU8(dst, SRXL_ADDRESS_FIRST);
sbufWriteU8(dst, SRXL_ADDRESS_SECOND);
sbufWriteU8(dst, SRXL_PACKET_LENGTH);
}
static void srxlSerialize8(sbuf_t *dst, uint8_t v)
{
sbufWriteU8(dst, v);
srxlCrc = srxlCrc16(srxlCrc, v);
}
static void srxlSerialize16(sbuf_t *dst, uint16_t v)
{
// Use BigEndian format
srxlSerialize8(dst, (v >> 8));
srxlSerialize8(dst, (uint8_t)v);
}
static void srxlFinalize(sbuf_t *dst)
{
sbufWriteU16(dst, srxlCrc);
sbufSwitchToReader(dst, srxlFrame);
// write the telemetry frame to the receiver.
srxlRxWriteTelemetryData(sbufPtr(dst), sbufBytesRemaining(dst));
}
/*
SRXL frame has the structure:
<0xA5><0x80><Length><16-byte telemetry packet><2 Byte CRC of payload>
The <Length> shall be 0x15 (length of the 16-byte telemetry packet + overhead).
*/
/*
typedef struct
{
UINT8 identifier; // Source device = 0x7F
UINT8 sID; // Secondary ID
UINT16 A;
UINT16 B;
UINT16 L;
UINT16 R;
UINT16 F;
UINT16 H;
UINT16 rxVoltage; // Volts, 0.01V increments
} STRU_TELE_QOS;
*/
void srxlFrameQos(sbuf_t *dst)
{
srxlSerialize8(dst, SRXL_FRAMETYPE_TELE_QOS);
srxlSerialize8(dst, SRXL_FRAMETYPE_SID);
srxlSerialize16(dst, 0xFFFF); // A
srxlSerialize16(dst, 0xFFFF); // B
srxlSerialize16(dst, 0xFFFF); // L
srxlSerialize16(dst, 0xFFFF); // R
srxlSerialize16(dst, 0xFFFF); // F
srxlSerialize16(dst, 0xFFFF); // H
srxlSerialize16(dst, 0xFFFF); // rxVoltage
}
/*
typedef struct
{
UINT8 identifier; // Source device = 0x7E
UINT8 sID; // Secondary ID
UINT16 microseconds; // microseconds between pulse leading edges
UINT16 volts; // 0.01V increments
INT16 temperature; // degrees F
INT8 dBm_A, // Average signal for A antenna in dBm
dBm_B; // Average signal for B antenna in dBm.
// If only 1 antenna, set B = A
} STRU_TELE_RPM;
*/
void srxlFrameRpm(sbuf_t *dst)
{
srxlSerialize8(dst, SRXL_FRAMETYPE_TELE_RPM);
srxlSerialize8(dst, SRXL_FRAMETYPE_SID);
srxlSerialize16(dst, 0xFFFF); // pulse leading edges
srxlSerialize16(dst, vbat * 10); // vbat is in units of 0.1V
srxlSerialize16(dst, 0x7FFF); // temperature
srxlSerialize8(dst, 0xFF); // dbmA
srxlSerialize8(dst, 0xFF); // dbmB
/* unused */
srxlSerialize16(dst, 0xFFFF);
srxlSerialize16(dst, 0xFFFF);
srxlSerialize16(dst, 0xFFFF);
}
/*
typedef struct
{
UINT8 identifier; // Source device = 0x0A
UINT8 sID; // Secondary ID
UINT16 volt1; // Volts, 0.01v
UINT16 volt2; // Volts, 0.01v
UINT16 capacity1; // mAh, 1mAh
UINT16 capacity2; // mAh, 1mAh
UINT16 spare16_1;
UINT16 spare16_2;
UINT8 spare;
UINT8 alarms; // Alarm bitmask (see below)
} STRU_TELE_POWERBOX;
*/
#define TELE_PBOX_ALARM_VOLTAGE_1 (0x01)
#define TELE_PBOX_ALARM_VOLTAGE_2 (0x02)
#define TELE_PBOX_ALARM_CAPACITY_1 (0x04)
#define TELE_PBOX_ALARM_CAPACITY_2 (0x08)
//#define TELE_PBOX_ALARM_RPM (0x10)
//#define TELE_PBOX_ALARM_TEMPERATURE (0x20)
#define TELE_PBOX_ALARM_RESERVED_1 (0x40)
#define TELE_PBOX_ALARM_RESERVED_2 (0x80)
void srxlFramePowerBox(sbuf_t *dst)
{
srxlSerialize8(dst, SRXL_FRAMETYPE_POWERBOX);
srxlSerialize8(dst, SRXL_FRAMETYPE_SID);
srxlSerialize16(dst, vbat * 10); // vbat is in units of 0.1V - vbat1
srxlSerialize16(dst, vbat * 10); // vbat is in units of 0.1V - vbat2
srxlSerialize16(dst, amperage / 10);
srxlSerialize16(dst, 0xFFFF);
srxlSerialize16(dst, 0xFFFF); // spare
srxlSerialize16(dst, 0xFFFF); // spare
srxlSerialize8(dst, 0xFF); // spare
srxlSerialize8(dst, 0x00); // ALARMS
}
// schedule array to decide how often each type of frame is sent
#define SRXL_SCHEDULE_COUNT_MAX 3
typedef void (*srxlSchedulePtr)(sbuf_t *dst);
const srxlSchedulePtr srxlScheduleFuncs[SRXL_SCHEDULE_COUNT_MAX] = {
/* must send srxlFrameQos, Rpm and then alternating items of our own */
srxlFrameQos,
srxlFrameRpm,
srxlFramePowerBox
};
static void processSrxl(void)
{
static uint8_t srxlScheduleIndex = 0;
sbuf_t srxlPayloadBuf;
sbuf_t *dst = &srxlPayloadBuf;
srxlSchedulePtr srxlPtr = srxlScheduleFuncs[srxlScheduleIndex];
if (srxlPtr) {
srxlInitializeFrame(dst);
srxlPtr(dst);
srxlFinalize(dst);
}
srxlScheduleIndex = (srxlScheduleIndex + 1) % SRXL_SCHEDULE_COUNT_MAX;
}
void initSrxlTelemetry(void)
{
// check if there is a serial port open for SRXL telemetry (ie opened by the SRXL RX)
// and feature is enabled, if so, set SRXL telemetry enabled
srxlTelemetryEnabled = srxlRxIsActive();
}
bool checkSrxlTelemetryState(void)
{
return srxlTelemetryEnabled;
}
/*
* Called periodically by the scheduler
*/
void handleSrxlTelemetry(timeUs_t currentTimeUs)
{
static uint32_t srxlLastCycleTime;
if (!srxlTelemetryEnabled) {
return;
}
// Actual telemetry data only needs to be sent at a low frequency, ie 10Hz
if (currentTimeUs >= srxlLastCycleTime + SRXL_CYCLETIME_US) {
srxlLastCycleTime = currentTimeUs;
processSrxl();
}
}
#endif

24
src/main/telemetry/srxl.h Normal file
View File

@ -0,0 +1,24 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "common/time.h"
void initSrxlTelemetry(void);
bool checkSrxlTelemetryState(void);
void handleSrxlTelemetry(timeUs_t currentTimeUs);

10
src/main/telemetry/telemetry.c
View File

@ -47,6 +47,7 @@
#include "telemetry/jetiexbus.h"
#include "telemetry/mavlink.h"
#include "telemetry/crsf.h"
#include "telemetry/srxl.h"
static telemetryConfig_t *telemetryConfig;
@ -78,6 +79,9 @@ void telemetryInit(void)
#ifdef TELEMETRY_CRSF
initCrsfTelemetry();
#endif
#ifdef TELEMETRY_SRXL
initSrxlTelemetry();
#endif
telemetryCheckState();
}
@ -126,6 +130,9 @@ void telemetryCheckState(void)
#ifdef TELEMETRY_CRSF
checkCrsfTelemetryState();
#endif
#ifdef TELEMETRY_SRXL
checkSrxlTelemetryState();
#endif
}
void telemetryProcess(uint32_t currentTime, rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
@ -156,6 +163,9 @@ void telemetryProcess(uint32_t currentTime, rxConfig_t *rxConfig, uint16_t deadb
#ifdef TELEMETRY_CRSF
handleCrsfTelemetry(currentTime);
#endif
#ifdef TELEMETRY_SRXL
handleSrxlTelemetry(currentTime);
#endif
}
#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_SMARTPORT)