Split jetiexbus telemetry into separate module
This commit is contained in:
parent
9664ba13ff
commit
4354307097
|
@ -156,6 +156,7 @@ FC_SRC = \
|
|||
telemetry/srxl.c \
|
||||
telemetry/frsky.c \
|
||||
telemetry/hott.c \
|
||||
telemetry/jetiexbus.c \
|
||||
telemetry/smartport.c \
|
||||
telemetry/ltm.c \
|
||||
telemetry/mavlink.c \
|
||||
|
|
|
@ -46,8 +46,6 @@
|
|||
|
||||
#include "common/utils.h"
|
||||
|
||||
#include "drivers/serial.h"
|
||||
#include "drivers/serial_uart.h"
|
||||
#include "drivers/time.h"
|
||||
|
||||
#include "io/serial.h"
|
||||
|
@ -55,20 +53,6 @@
|
|||
#include "rx/rx.h"
|
||||
#include "rx/jetiexbus.h"
|
||||
|
||||
#ifdef TELEMETRY
|
||||
#include <string.h>
|
||||
#include "flight/altitude.h"
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/battery.h"
|
||||
//#include "sensors/barometer.h"
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "telemetry/jetiexbus.h"
|
||||
#endif //TELEMETRY
|
||||
|
||||
|
||||
#include "build/debug.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
|
||||
//
|
||||
// Serial driver for Jeti EX Bus receiver
|
||||
|
@ -78,155 +62,36 @@
|
|||
#define JETIEXBUS_MIN_FRAME_GAP 1000
|
||||
#define JETIEXBUS_CHANNEL_COUNT 16 // most Jeti TX transmit 16 channels
|
||||
|
||||
#define EXBUS_HEADER_LEN 6
|
||||
#define EXBUS_CRC_LEN 2
|
||||
#define EXBUS_OVERHEAD (EXBUS_HEADER_LEN + EXBUS_CRC_LEN)
|
||||
#define EXBUS_MAX_CHANNEL_FRAME_SIZE (EXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + EXBUS_CRC_LEN)
|
||||
#define EXBUS_MAX_REQUEST_FRAME_SIZE 9
|
||||
|
||||
#define EXBUS_START_CHANNEL_FRAME (0x3E)
|
||||
#define EXBUS_START_REQUEST_FRAME (0x3D)
|
||||
#define EXBUS_EX_REQUEST (0x3A)
|
||||
#define EXBUS_JETIBOX_REQUEST (0x3B)
|
||||
|
||||
#define EXBUS_CHANNELDATA (0x3E03) // Frame contains Channel Data
|
||||
#define EXBUS_CHANNELDATA_DATA_REQUEST (0x3E01) // Frame contains Channel Data, but with a request for data
|
||||
#define EXBUS_TELEMETRY_REQUEST (0x3D01) // Frame is a request Frame
|
||||
|
||||
enum {
|
||||
EXBUS_STATE_ZERO = 0,
|
||||
EXBUS_STATE_IN_PROGRESS,
|
||||
EXBUS_STATE_RECEIVED,
|
||||
EXBUS_STATE_PROCESSED
|
||||
};
|
||||
|
||||
enum {
|
||||
EXBUS_TRANS_ZERO = 0,
|
||||
EXBUS_TRANS_RX_READY,
|
||||
EXBUS_TRANS_RX,
|
||||
EXBUS_TRANS_IS_TX_COMPLETED,
|
||||
EXBUS_TRANS_TX
|
||||
};
|
||||
|
||||
enum exBusHeader_e {
|
||||
EXBUS_HEADER_SYNC = 0,
|
||||
EXBUS_HEADER_REQ,
|
||||
EXBUS_HEADER_MSG_LEN,
|
||||
EXBUS_HEADER_PACKET_ID,
|
||||
EXBUS_HEADER_DATA_ID,
|
||||
EXBUS_HEADER_SUBLEN,
|
||||
EXBUS_HEADER_DATA
|
||||
};
|
||||
|
||||
#ifdef TELEMETRY
|
||||
|
||||
#define EXTEL_DATA_MSG (0x40)
|
||||
#define EXTEL_UNMASK_TYPE (0x3F)
|
||||
#define EXTEL_SYNC_LEN 1
|
||||
#define EXTEL_CRC_LEN 1
|
||||
#define EXTEL_HEADER_LEN 6
|
||||
#define EXTEL_MAX_LEN 29
|
||||
#define EXTEL_OVERHEAD (EXTEL_SYNC_LEN + EXTEL_HEADER_LEN + EXTEL_CRC_LEN)
|
||||
#define EXTEL_MAX_PAYLOAD (EXTEL_MAX_LEN - EXTEL_OVERHEAD)
|
||||
#define EXBUS_MAX_REQUEST_BUFFER_SIZE (EXBUS_OVERHEAD + EXTEL_MAX_LEN)
|
||||
|
||||
enum exTelHeader_e {
|
||||
EXTEL_HEADER_SYNC = 0,
|
||||
EXTEL_HEADER_TYPE_LEN,
|
||||
EXTEL_HEADER_USN_LB,
|
||||
EXTEL_HEADER_USN_HB,
|
||||
EXTEL_HEADER_LSN_LB,
|
||||
EXTEL_HEADER_LSN_HB,
|
||||
EXTEL_HEADER_RES,
|
||||
EXTEL_HEADER_ID,
|
||||
EXTEL_HEADER_DATA
|
||||
};
|
||||
|
||||
enum exDataType_e {
|
||||
EX_TYPE_6b = 0, // int6_t Data type 6b (-31 ¸31)
|
||||
EX_TYPE_14b = 1, // int14_t Data type 14b (-8191 ¸8191)
|
||||
EX_TYPE_22b = 4, // int22_t Data type 22b (-2097151 ¸2097151)
|
||||
EX_TYPE_DT = 5, // int22_t Special data type – time and date
|
||||
EX_TYPE_30b = 8, // int30_t Data type 30b (-536870911 ¸536870911)
|
||||
EX_TYPE_GPS = 9 // int30_t Special data type – GPS coordinates: lo/hi minute - lo/hi degree.
|
||||
};
|
||||
|
||||
const uint8_t exDataTypeLen[]={
|
||||
[EX_TYPE_6b] = 1,
|
||||
[EX_TYPE_14b] = 2,
|
||||
[EX_TYPE_22b] = 3,
|
||||
[EX_TYPE_DT] = 3,
|
||||
[EX_TYPE_30b] = 4,
|
||||
[EX_TYPE_GPS] = 4
|
||||
};
|
||||
|
||||
typedef struct exBusSensor_s{
|
||||
const char *label;
|
||||
const char *unit;
|
||||
int32_t value;
|
||||
const uint8_t exDataType;
|
||||
const uint8_t decimals;
|
||||
} exBusSensor_t;
|
||||
|
||||
#define DECIMAL_MASK(decimals) (decimals << 5)
|
||||
|
||||
// list of telemetry messages
|
||||
// after every 15 sensors a new header has to be inserted (e.g. "CF-Dev 1.12 S2")
|
||||
exBusSensor_t jetiExSensors[] = {
|
||||
{ "CF-Dev 1.12 S1", "", 0, 0, 0 }, // device descripton
|
||||
{ "Voltage", "V", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
|
||||
{ "Current", "A", 0, EX_TYPE_14b, DECIMAL_MASK(2) },
|
||||
{ "Altitude", "m", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
|
||||
{ "Capacity", "mAh", 0, EX_TYPE_22b, DECIMAL_MASK(0) },
|
||||
{ "frames lost", " ", 0, EX_TYPE_22b, DECIMAL_MASK(0) }, // for debug only
|
||||
{ "time Diff", "us", 0, EX_TYPE_14b, DECIMAL_MASK(0) } // for debug only
|
||||
};
|
||||
|
||||
|
||||
// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
|
||||
enum exSensors_e {
|
||||
EX_VOLTAGE = 1,
|
||||
EX_CURRENT,
|
||||
EX_ALTITUDE,
|
||||
EX_CAPACITY,
|
||||
EX_FRAMES_LOST, // for debug only
|
||||
EX_TIME_DIFF // for debug only
|
||||
};
|
||||
serialPort_t *jetiExBusPort;
|
||||
|
||||
#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
|
||||
#endif //TELEMETRY
|
||||
|
||||
static serialPort_t *jetiExBusPort;
|
||||
|
||||
static uint32_t jetiTimeStampRequest = 0;
|
||||
uint32_t jetiTimeStampRequest = 0;
|
||||
|
||||
static uint8_t jetiExBusFramePosition;
|
||||
static uint8_t jetiExBusFrameLength;
|
||||
|
||||
static uint8_t jetiExBusFrameState = EXBUS_STATE_ZERO;
|
||||
static uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
|
||||
// Use max values for ram areas
|
||||
static uint8_t jetiExBusChannelFrame[EXBUS_MAX_CHANNEL_FRAME_SIZE];
|
||||
static uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE];
|
||||
uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE];
|
||||
|
||||
static uint16_t jetiExBusChannelData[JETIEXBUS_CHANNEL_COUNT];
|
||||
|
||||
#ifdef TELEMETRY
|
||||
|
||||
static uint8_t jetiExBusTelemetryFrame[40];
|
||||
static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
||||
static void sendJetiExBusTelemetry(uint8_t packetID);
|
||||
|
||||
uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen);
|
||||
|
||||
#endif //TELEMETRY
|
||||
|
||||
uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen);
|
||||
|
||||
|
||||
// Jeti Ex Bus CRC calculations for a frame
|
||||
uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen)
|
||||
uint16_t jetiExBusCalcCRC16(uint8_t *pt, uint8_t msgLen)
|
||||
{
|
||||
uint16_t crc16_data = 0;
|
||||
uint8_t data=0;
|
||||
|
@ -241,24 +106,6 @@ uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen)
|
|||
return(crc16_data);
|
||||
}
|
||||
|
||||
#ifdef TELEMETRY
|
||||
|
||||
|
||||
// Jeti Ex Telemetry CRC calculations for a frame
|
||||
uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
|
||||
{
|
||||
uint8_t crc=0;
|
||||
|
||||
for (uint8_t mlen = 0; mlen < msgLen; mlen++) {
|
||||
crc ^= pt[mlen];
|
||||
crc = crc ^ (crc << 1) ^ (crc << 2) ^ (0x0e090700 >> ((crc >> 3) & 0x18));
|
||||
}
|
||||
return(crc);
|
||||
}
|
||||
|
||||
#endif //TELEMETRY
|
||||
|
||||
|
||||
void jetiExBusDecodeChannelFrame(uint8_t *exBusFrame)
|
||||
{
|
||||
uint16_t value;
|
||||
|
@ -280,14 +127,12 @@ void jetiExBusDecodeChannelFrame(uint8_t *exBusFrame)
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
void jetiExBusFrameReset(void)
|
||||
{
|
||||
jetiExBusFramePosition = 0;
|
||||
jetiExBusFrameLength = EXBUS_MAX_CHANNEL_FRAME_SIZE;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
supported:
|
||||
0x3E 0x01 LEN Packet_ID 0x31 SUB_LEN Data_array CRC16 // Channel Data with telemetry request (2nd byte 0x01)
|
||||
|
@ -374,14 +219,13 @@ static void jetiExBusDataReceive(uint16_t c)
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
// Check if it is time to read a frame from the data...
|
||||
static uint8_t jetiExBusFrameStatus(void)
|
||||
{
|
||||
if (jetiExBusFrameState != EXBUS_STATE_RECEIVED)
|
||||
return RX_FRAME_PENDING;
|
||||
|
||||
if (calcCRC16(jetiExBusChannelFrame, jetiExBusChannelFrame[EXBUS_HEADER_MSG_LEN]) == 0) {
|
||||
if (jetiExBusCalcCRC16(jetiExBusChannelFrame, jetiExBusChannelFrame[EXBUS_HEADER_MSG_LEN]) == 0) {
|
||||
jetiExBusDecodeChannelFrame(jetiExBusChannelFrame);
|
||||
jetiExBusFrameState = EXBUS_STATE_ZERO;
|
||||
return RX_FRAME_COMPLETE;
|
||||
|
@ -391,7 +235,6 @@ static uint8_t jetiExBusFrameStatus(void)
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
static uint16_t jetiExBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
|
||||
{
|
||||
if (chan >= rxRuntimeConfig->channelCount)
|
||||
|
@ -400,190 +243,6 @@ static uint16_t jetiExBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uin
|
|||
return (jetiExBusChannelData[chan]);
|
||||
}
|
||||
|
||||
|
||||
#ifdef TELEMETRY
|
||||
/*
|
||||
-----------------------------------------------
|
||||
Jeti Ex Bus Telemetry
|
||||
-----------------------------------------------
|
||||
*/
|
||||
|
||||
void initJetiExBusTelemetry(void)
|
||||
{
|
||||
// Init Ex Bus Frame header
|
||||
jetiExBusTelemetryFrame[EXBUS_HEADER_SYNC] = 0x3B; // Startbytes
|
||||
jetiExBusTelemetryFrame[EXBUS_HEADER_REQ] = 0x01;
|
||||
jetiExBusTelemetryFrame[EXBUS_HEADER_DATA_ID] = 0x3A; // Ex Telemetry
|
||||
|
||||
|
||||
// Init Ex Telemetry header
|
||||
uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_SYNC] = 0x9F; // Startbyte
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_USN_LB] = 0x1E; // Serial Number 4 Byte
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_USN_HB] = 0xA4;
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_LSN_LB] = 0x00; // increment by telemetry count (%16) > only 15 values per device possible
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_LSN_HB] = 0x00;
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_RES] = 0x00; // reserved, by default 0x00
|
||||
}
|
||||
|
||||
void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
|
||||
{
|
||||
uint8_t labelLength = strlen(sensor->label);
|
||||
uint8_t unitLength = strlen(sensor->unit);
|
||||
|
||||
exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_OVERHEAD + labelLength + unitLength;
|
||||
exMessage[EXTEL_HEADER_LSN_LB] = messageID & 0xF0; // Device ID
|
||||
exMessage[EXTEL_HEADER_ID] = messageID & 0x0F; // Sensor ID (%16)
|
||||
exMessage[EXTEL_HEADER_DATA] = (labelLength << 3) + unitLength;
|
||||
|
||||
memcpy(&exMessage[EXTEL_HEADER_DATA + 1], sensor->label, labelLength);
|
||||
memcpy(&exMessage[EXTEL_HEADER_DATA + 1 + labelLength], sensor->unit, unitLength);
|
||||
|
||||
exMessage[exMessage[EXTEL_HEADER_TYPE_LEN] + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], exMessage[EXTEL_HEADER_TYPE_LEN]);
|
||||
}
|
||||
|
||||
|
||||
uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart)
|
||||
{
|
||||
uint8_t item = itemStart;
|
||||
uint8_t iCount;
|
||||
uint8_t messageSize;
|
||||
uint32_t sensorValue;
|
||||
|
||||
if ((item & 0x0F) == 0)
|
||||
item++;
|
||||
|
||||
if (item >= JETI_EX_SENSOR_COUNT)
|
||||
item = 1;
|
||||
|
||||
exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0; // Device ID
|
||||
uint8_t *p = &exMessage[EXTEL_HEADER_ID];
|
||||
|
||||
while (item <= (itemStart | 0x0F)) {
|
||||
*p++ = ((item & 0x0F) << 4) | jetiExSensors[item].exDataType; // Sensor ID (%16) | EX Data Type
|
||||
|
||||
sensorValue = jetiExSensors[item].value;
|
||||
iCount = exDataTypeLen[jetiExSensors[item].exDataType];
|
||||
while (iCount > 1) {
|
||||
*p++ = sensorValue;
|
||||
sensorValue = sensorValue >> 8;
|
||||
iCount--;
|
||||
}
|
||||
*p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals;
|
||||
|
||||
item++;
|
||||
if (item > JETI_EX_SENSOR_COUNT)
|
||||
break;
|
||||
if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1)
|
||||
break;
|
||||
}
|
||||
|
||||
messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
|
||||
exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_DATA_MSG | messageSize;
|
||||
exMessage[messageSize + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], messageSize);
|
||||
|
||||
return item; // return the next item
|
||||
}
|
||||
|
||||
|
||||
void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t packetID)
|
||||
{
|
||||
uint16_t crc16;
|
||||
|
||||
exBusMessage[EXBUS_HEADER_PACKET_ID] = packetID;
|
||||
exBusMessage[EXBUS_HEADER_SUBLEN] = (exMessage[EXTEL_HEADER_TYPE_LEN] & EXTEL_UNMASK_TYPE) + 2; // +2: startbyte & CRC8
|
||||
exBusMessage[EXBUS_HEADER_MSG_LEN] = EXBUS_OVERHEAD + exBusMessage[EXBUS_HEADER_SUBLEN];
|
||||
|
||||
crc16 = calcCRC16(exBusMessage, exBusMessage[EXBUS_HEADER_MSG_LEN] - EXBUS_CRC_LEN);
|
||||
exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 2] = crc16;
|
||||
exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 1] = crc16 >> 8;
|
||||
}
|
||||
|
||||
|
||||
void checkJetiExBusTelemetryState(void)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
void handleJetiExBusTelemetry(void)
|
||||
{
|
||||
static uint16_t framesLost = 0; // only for debug
|
||||
uint32_t timeDiff;
|
||||
// Check if we shall reset frame position due to time
|
||||
|
||||
if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
|
||||
|
||||
// to prevent timing issues from request to answer - max. 4ms
|
||||
timeDiff = micros() - jetiTimeStampRequest;
|
||||
|
||||
if (timeDiff > 3000) { // include reserved time
|
||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
framesLost++;
|
||||
return;
|
||||
}
|
||||
|
||||
if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (calcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
|
||||
jetiExSensors[EX_VOLTAGE].value = getBatteryVoltage();
|
||||
jetiExSensors[EX_CURRENT].value = getAmperage();
|
||||
jetiExSensors[EX_ALTITUDE].value = getEstimatedAltitude();
|
||||
jetiExSensors[EX_CAPACITY].value = getMAhDrawn();
|
||||
jetiExSensors[EX_FRAMES_LOST].value = framesLost;
|
||||
jetiExSensors[EX_TIME_DIFF].value = timeDiff;
|
||||
|
||||
// switch to TX mode
|
||||
if (uartTotalRxBytesWaiting(jetiExBusPort) == 0) {
|
||||
serialSetMode(jetiExBusPort, MODE_TX);
|
||||
jetiExBusTransceiveState = EXBUS_TRANS_TX;
|
||||
sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID]);
|
||||
jetiExBusRequestState = EXBUS_STATE_PROCESSED;
|
||||
}
|
||||
} else {
|
||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// check the state if transmit is ready
|
||||
if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
|
||||
if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
|
||||
serialSetMode(jetiExBusPort, MODE_RX);
|
||||
jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void sendJetiExBusTelemetry(uint8_t packetID)
|
||||
{
|
||||
static uint8_t sensorDescriptionCounter = 0;
|
||||
static uint8_t sensorValueCounter = 1;
|
||||
static uint8_t requestLoop = 0;
|
||||
uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
|
||||
|
||||
if (requestLoop == 100) { //every nth request send the name of a value
|
||||
if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT )
|
||||
sensorDescriptionCounter = 0;
|
||||
|
||||
createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
|
||||
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
|
||||
|
||||
requestLoop = 0;
|
||||
sensorDescriptionCounter++;
|
||||
} else {
|
||||
sensorValueCounter = createExTelemetrieValueMessage(jetiExTelemetryFrame, sensorValueCounter);
|
||||
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
|
||||
}
|
||||
|
||||
for (uint8_t iCount = 0; iCount < jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]; iCount++) {
|
||||
serialWrite(jetiExBusPort, jetiExBusTelemetryFrame[iCount]);
|
||||
}
|
||||
jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
|
||||
requestLoop++;
|
||||
}
|
||||
#endif // TELEMETRY
|
||||
|
||||
bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
|
||||
{
|
||||
UNUSED(rxConfig);
|
||||
|
|
|
@ -17,4 +17,36 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#define EXBUS_HEADER_LEN 6
|
||||
#define EXBUS_CRC_LEN 2
|
||||
#define EXBUS_OVERHEAD (EXBUS_HEADER_LEN + EXBUS_CRC_LEN)
|
||||
#define EXBUS_MAX_CHANNEL_FRAME_SIZE (EXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + EXBUS_CRC_LEN)
|
||||
#define EXBUS_MAX_REQUEST_FRAME_SIZE 9
|
||||
|
||||
#define EXBUS_EX_REQUEST (0x3A)
|
||||
|
||||
enum exBusHeader_e {
|
||||
EXBUS_HEADER_SYNC = 0,
|
||||
EXBUS_HEADER_REQ,
|
||||
EXBUS_HEADER_MSG_LEN,
|
||||
EXBUS_HEADER_PACKET_ID,
|
||||
EXBUS_HEADER_DATA_ID,
|
||||
EXBUS_HEADER_SUBLEN,
|
||||
EXBUS_HEADER_DATA
|
||||
};
|
||||
|
||||
enum {
|
||||
EXBUS_STATE_ZERO = 0,
|
||||
EXBUS_STATE_IN_PROGRESS,
|
||||
EXBUS_STATE_RECEIVED,
|
||||
EXBUS_STATE_PROCESSED
|
||||
};
|
||||
|
||||
extern uint8_t jetiExBusRequestState;
|
||||
extern uint32_t jetiTimeStampRequest;
|
||||
extern uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE];
|
||||
struct serialPort_s;
|
||||
extern struct serialPort_s *jetiExBusPort;
|
||||
|
||||
uint16_t jetiExBusCalcCRC16(uint8_t *pt, uint8_t msgLen);
|
||||
bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
|
||||
|
|
|
@ -0,0 +1,330 @@
|
|||
/*
|
||||
* 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 SERIAL_RX
|
||||
#ifdef TELEMETRYx
|
||||
|
||||
#include "build/build_config.h"
|
||||
#include "build/debug.h"
|
||||
|
||||
#include "common/utils.h"
|
||||
|
||||
#include "drivers/serial.h"
|
||||
#include "drivers/serial_uart.h"
|
||||
#include "drivers/time.h"
|
||||
|
||||
#include "flight/altitude.h"
|
||||
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "rx/jetiexbus.h"
|
||||
|
||||
#include "sensors/battery.h"
|
||||
#include "sensors/sensors.h"
|
||||
|
||||
#include "telemetry/jetiexbus.h"
|
||||
#include "telemetry/telemetry.h"
|
||||
|
||||
|
||||
#define EXBUS_HEADER_LEN 6
|
||||
#define EXBUS_CRC_LEN 2
|
||||
#define EXBUS_OVERHEAD (EXBUS_HEADER_LEN + EXBUS_CRC_LEN)
|
||||
#define EXBUS_MAX_CHANNEL_FRAME_SIZE (EXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + EXBUS_CRC_LEN)
|
||||
#define EXBUS_MAX_REQUEST_FRAME_SIZE 9
|
||||
|
||||
#define EXTEL_DATA_MSG (0x40)
|
||||
#define EXTEL_UNMASK_TYPE (0x3F)
|
||||
#define EXTEL_SYNC_LEN 1
|
||||
#define EXTEL_CRC_LEN 1
|
||||
#define EXTEL_HEADER_LEN 6
|
||||
#define EXTEL_MAX_LEN 29
|
||||
#define EXTEL_OVERHEAD (EXTEL_SYNC_LEN + EXTEL_HEADER_LEN + EXTEL_CRC_LEN)
|
||||
#define EXTEL_MAX_PAYLOAD (EXTEL_MAX_LEN - EXTEL_OVERHEAD)
|
||||
#define EXBUS_MAX_REQUEST_BUFFER_SIZE (EXBUS_OVERHEAD + EXTEL_MAX_LEN)
|
||||
|
||||
enum exTelHeader_e {
|
||||
EXTEL_HEADER_SYNC = 0,
|
||||
EXTEL_HEADER_TYPE_LEN,
|
||||
EXTEL_HEADER_USN_LB,
|
||||
EXTEL_HEADER_USN_HB,
|
||||
EXTEL_HEADER_LSN_LB,
|
||||
EXTEL_HEADER_LSN_HB,
|
||||
EXTEL_HEADER_RES,
|
||||
EXTEL_HEADER_ID,
|
||||
EXTEL_HEADER_DATA
|
||||
};
|
||||
|
||||
enum {
|
||||
EXBUS_TRANS_ZERO = 0,
|
||||
EXBUS_TRANS_RX_READY,
|
||||
EXBUS_TRANS_RX,
|
||||
EXBUS_TRANS_IS_TX_COMPLETED,
|
||||
EXBUS_TRANS_TX
|
||||
};
|
||||
|
||||
enum exDataType_e {
|
||||
EX_TYPE_6b = 0, // int6_t Data type 6b (-31 ¸31)
|
||||
EX_TYPE_14b = 1, // int14_t Data type 14b (-8191 ¸8191)
|
||||
EX_TYPE_22b = 4, // int22_t Data type 22b (-2097151 ¸2097151)
|
||||
EX_TYPE_DT = 5, // int22_t Special data type – time and date
|
||||
EX_TYPE_30b = 8, // int30_t Data type 30b (-536870911 ¸536870911)
|
||||
EX_TYPE_GPS = 9 // int30_t Special data type – GPS coordinates: lo/hi minute - lo/hi degree.
|
||||
};
|
||||
|
||||
const uint8_t exDataTypeLen[]={
|
||||
[EX_TYPE_6b] = 1,
|
||||
[EX_TYPE_14b] = 2,
|
||||
[EX_TYPE_22b] = 3,
|
||||
[EX_TYPE_DT] = 3,
|
||||
[EX_TYPE_30b] = 4,
|
||||
[EX_TYPE_GPS] = 4
|
||||
};
|
||||
|
||||
typedef struct exBusSensor_s{
|
||||
const char *label;
|
||||
const char *unit;
|
||||
int32_t value;
|
||||
const uint8_t exDataType;
|
||||
const uint8_t decimals;
|
||||
} exBusSensor_t;
|
||||
|
||||
#define DECIMAL_MASK(decimals) (decimals << 5)
|
||||
|
||||
// list of telemetry messages
|
||||
// after every 15 sensors a new header has to be inserted (e.g. "CF-Dev 1.12 S2")
|
||||
exBusSensor_t jetiExSensors[] = {
|
||||
{ "CF-Dev 1.12 S1", "", 0, 0, 0 }, // device descripton
|
||||
{ "Voltage", "V", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
|
||||
{ "Current", "A", 0, EX_TYPE_14b, DECIMAL_MASK(2) },
|
||||
{ "Altitude", "m", 0, EX_TYPE_14b, DECIMAL_MASK(1) },
|
||||
{ "Capacity", "mAh", 0, EX_TYPE_22b, DECIMAL_MASK(0) },
|
||||
{ "frames lost", " ", 0, EX_TYPE_22b, DECIMAL_MASK(0) }, // for debug only
|
||||
{ "time Diff", "us", 0, EX_TYPE_14b, DECIMAL_MASK(0) } // for debug only
|
||||
};
|
||||
|
||||
// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
|
||||
enum exSensors_e {
|
||||
EX_VOLTAGE = 1,
|
||||
EX_CURRENT,
|
||||
EX_ALTITUDE,
|
||||
EX_CAPACITY,
|
||||
EX_FRAMES_LOST, // for debug only
|
||||
EX_TIME_DIFF // for debug only
|
||||
};
|
||||
|
||||
#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
|
||||
|
||||
static uint8_t jetiExBusTelemetryFrame[40];
|
||||
static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
||||
static void sendJetiExBusTelemetry(uint8_t packetID);
|
||||
|
||||
// Jeti Ex Telemetry CRC calculations for a frame
|
||||
uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
|
||||
{
|
||||
uint8_t crc=0;
|
||||
|
||||
for (uint8_t mlen = 0; mlen < msgLen; mlen++) {
|
||||
crc ^= pt[mlen];
|
||||
crc = crc ^ (crc << 1) ^ (crc << 2) ^ (0x0e090700 >> ((crc >> 3) & 0x18));
|
||||
}
|
||||
return(crc);
|
||||
}
|
||||
/*
|
||||
-----------------------------------------------
|
||||
Jeti Ex Bus Telemetry
|
||||
-----------------------------------------------
|
||||
*/
|
||||
|
||||
void initJetiExBusTelemetry(void)
|
||||
{
|
||||
// Init Ex Bus Frame header
|
||||
jetiExBusTelemetryFrame[EXBUS_HEADER_SYNC] = 0x3B; // Startbytes
|
||||
jetiExBusTelemetryFrame[EXBUS_HEADER_REQ] = 0x01;
|
||||
jetiExBusTelemetryFrame[EXBUS_HEADER_DATA_ID] = 0x3A; // Ex Telemetry
|
||||
|
||||
|
||||
// Init Ex Telemetry header
|
||||
uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_SYNC] = 0x9F; // Startbyte
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_USN_LB] = 0x1E; // Serial Number 4 Byte
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_USN_HB] = 0xA4;
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_LSN_LB] = 0x00; // increment by telemetry count (%16) > only 15 values per device possible
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_LSN_HB] = 0x00;
|
||||
jetiExTelemetryFrame[EXTEL_HEADER_RES] = 0x00; // reserved, by default 0x00
|
||||
}
|
||||
|
||||
void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
|
||||
{
|
||||
uint8_t labelLength = strlen(sensor->label);
|
||||
uint8_t unitLength = strlen(sensor->unit);
|
||||
|
||||
exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_OVERHEAD + labelLength + unitLength;
|
||||
exMessage[EXTEL_HEADER_LSN_LB] = messageID & 0xF0; // Device ID
|
||||
exMessage[EXTEL_HEADER_ID] = messageID & 0x0F; // Sensor ID (%16)
|
||||
exMessage[EXTEL_HEADER_DATA] = (labelLength << 3) + unitLength;
|
||||
|
||||
memcpy(&exMessage[EXTEL_HEADER_DATA + 1], sensor->label, labelLength);
|
||||
memcpy(&exMessage[EXTEL_HEADER_DATA + 1 + labelLength], sensor->unit, unitLength);
|
||||
|
||||
exMessage[exMessage[EXTEL_HEADER_TYPE_LEN] + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], exMessage[EXTEL_HEADER_TYPE_LEN]);
|
||||
}
|
||||
|
||||
uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart)
|
||||
{
|
||||
uint8_t item = itemStart;
|
||||
uint8_t iCount;
|
||||
uint8_t messageSize;
|
||||
uint32_t sensorValue;
|
||||
|
||||
if ((item & 0x0F) == 0)
|
||||
item++;
|
||||
|
||||
if (item >= JETI_EX_SENSOR_COUNT)
|
||||
item = 1;
|
||||
|
||||
exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0; // Device ID
|
||||
uint8_t *p = &exMessage[EXTEL_HEADER_ID];
|
||||
|
||||
while (item <= (itemStart | 0x0F)) {
|
||||
*p++ = ((item & 0x0F) << 4) | jetiExSensors[item].exDataType; // Sensor ID (%16) | EX Data Type
|
||||
|
||||
sensorValue = jetiExSensors[item].value;
|
||||
iCount = exDataTypeLen[jetiExSensors[item].exDataType];
|
||||
while (iCount > 1) {
|
||||
*p++ = sensorValue;
|
||||
sensorValue = sensorValue >> 8;
|
||||
iCount--;
|
||||
}
|
||||
*p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals;
|
||||
|
||||
item++;
|
||||
if (item > JETI_EX_SENSOR_COUNT)
|
||||
break;
|
||||
if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1)
|
||||
break;
|
||||
}
|
||||
|
||||
messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
|
||||
exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_DATA_MSG | messageSize;
|
||||
exMessage[messageSize + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], messageSize);
|
||||
|
||||
return item; // return the next item
|
||||
}
|
||||
|
||||
void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t packetID)
|
||||
{
|
||||
uint16_t crc16;
|
||||
|
||||
exBusMessage[EXBUS_HEADER_PACKET_ID] = packetID;
|
||||
exBusMessage[EXBUS_HEADER_SUBLEN] = (exMessage[EXTEL_HEADER_TYPE_LEN] & EXTEL_UNMASK_TYPE) + 2; // +2: startbyte & CRC8
|
||||
exBusMessage[EXBUS_HEADER_MSG_LEN] = EXBUS_OVERHEAD + exBusMessage[EXBUS_HEADER_SUBLEN];
|
||||
|
||||
crc16 = jetiExBusCalcCRC16(exBusMessage, exBusMessage[EXBUS_HEADER_MSG_LEN] - EXBUS_CRC_LEN);
|
||||
exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 2] = crc16;
|
||||
exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 1] = crc16 >> 8;
|
||||
}
|
||||
|
||||
void checkJetiExBusTelemetryState(void)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
void handleJetiExBusTelemetry(void)
|
||||
{
|
||||
static uint16_t framesLost = 0; // only for debug
|
||||
uint32_t timeDiff;
|
||||
// Check if we shall reset frame position due to time
|
||||
|
||||
if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
|
||||
|
||||
// to prevent timing issues from request to answer - max. 4ms
|
||||
timeDiff = micros() - jetiTimeStampRequest;
|
||||
|
||||
if (timeDiff > 3000) { // include reserved time
|
||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
framesLost++;
|
||||
return;
|
||||
}
|
||||
|
||||
if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (jetiExBusCalcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
|
||||
jetiExSensors[EX_VOLTAGE].value = getBatteryVoltage();
|
||||
jetiExSensors[EX_CURRENT].value = getAmperage();
|
||||
jetiExSensors[EX_ALTITUDE].value = getEstimatedAltitude();
|
||||
jetiExSensors[EX_CAPACITY].value = getMAhDrawn();
|
||||
jetiExSensors[EX_FRAMES_LOST].value = framesLost;
|
||||
jetiExSensors[EX_TIME_DIFF].value = timeDiff;
|
||||
|
||||
// switch to TX mode
|
||||
if (uartTotalRxBytesWaiting(jetiExBusPort) == 0) {
|
||||
serialSetMode(jetiExBusPort, MODE_TX);
|
||||
jetiExBusTransceiveState = EXBUS_TRANS_TX;
|
||||
sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID]);
|
||||
jetiExBusRequestState = EXBUS_STATE_PROCESSED;
|
||||
}
|
||||
} else {
|
||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// check the state if transmit is ready
|
||||
if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
|
||||
if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
|
||||
serialSetMode(jetiExBusPort, MODE_RX);
|
||||
jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void sendJetiExBusTelemetry(uint8_t packetID)
|
||||
{
|
||||
static uint8_t sensorDescriptionCounter = 0;
|
||||
static uint8_t sensorValueCounter = 1;
|
||||
static uint8_t requestLoop = 0;
|
||||
uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
|
||||
|
||||
if (requestLoop == 100) { //every nth request send the name of a value
|
||||
if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT )
|
||||
sensorDescriptionCounter = 0;
|
||||
|
||||
createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
|
||||
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
|
||||
|
||||
requestLoop = 0;
|
||||
sensorDescriptionCounter++;
|
||||
} else {
|
||||
sensorValueCounter = createExTelemetrieValueMessage(jetiExTelemetryFrame, sensorValueCounter);
|
||||
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
|
||||
}
|
||||
|
||||
for (uint8_t iCount = 0; iCount < jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]; iCount++) {
|
||||
serialWrite(jetiExBusPort, jetiExBusTelemetryFrame[iCount]);
|
||||
}
|
||||
jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
|
||||
requestLoop++;
|
||||
}
|
||||
#endif // TELEMETRY
|
||||
#endif // SERIAL_RX
|
Loading…
Reference in New Issue