Add Jeti Ex Bus receiver with telemetry capabilities
This commit is contained in:
Thomas Miric
borisbstyle
parent
7bef1db230
commit
bf8c3c88bc
1
Makefile
1
Makefile
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@ -315,6 +315,7 @@ COMMON_SRC = build_config.c \
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rx/spektrum.c \
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rx/spektrum.c \
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rx/xbus.c \
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rx/xbus.c \
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rx/ibus.c \
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rx/ibus.c \
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rx/jetiexbus.c \
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sensors/acceleration.c \
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sensors/acceleration.c \
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sensors/battery.c \
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sensors/battery.c \
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sensors/boardalignment.c \
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sensors/boardalignment.c \
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@ -361,7 +361,8 @@ static const char * const lookupTableSerialRX[] = {
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"SUMH",
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"SUMH",
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"XB-B",
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"XB-B",
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"XB-B-RJ01",
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"XB-B-RJ01",
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"IBUS"
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"IBUS",
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"JETIEXBUS"
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};
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};
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static const char * const lookupTableGyroLpf[] = {
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static const char * const lookupTableGyroLpf[] = {
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@ -0,0 +1,591 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight 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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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*
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* Authors:
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* Thomas Miric - marv-t
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*
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* Jeti EX Bus Communication Protocol:
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* http://www.jetimodel.com/en/show-file/642/
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*
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* JETI Telemetry Communication Protocol:
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* http://www.jetimodel.com/en/show-file/26/
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*
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* Following restrictions:
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* Communication speed: 125000 bps
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* Number of channels: 16
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*
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* Connect as follows:
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* Jeti EX Bus -> Serial RX (connect directly)
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* Serial TX -> Resistor(2k4) ->Serial RX
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* In jeti pdf it is different, but if the resistor breaks, the receiver continues to operate.
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*
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*/
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#include <stdbool.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "build_config.h"
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#include "drivers/system.h"
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#include "drivers/serial.h"
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#include "drivers/serial_uart.h"
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#include "io/serial.h"
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#include "rx/jetiexbus.h"
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#ifdef TELEMETRY
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#include <string.h>
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#include "sensors/sensors.h"
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#include "sensors/battery.h"
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#include "sensors/barometer.h"
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#include "telemetry/telemetry.h"
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#endif //TELEMETRY
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#include "rx/rx.h"
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//
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// Serial driver for Jeti EX Bus receiver
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//
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#define JETIEXBUS_BAUDRATE 125000 // EX Bus 125000; EX Bus HS 250000 not supported
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#define JETIEXBUS_OPTIONS (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO | SERIAL_NOT_INVERTED )
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#define JETIEXBUS_MIN_FRAME_GAP 1
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#define JETIEXBUS_CHANNEL_COUNT 16 // most Jeti TX transmit 16 channels
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#define JETIEXBUS_MIN_FRAME_SIZE 8
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#define JETIEXBUS_HEADER_LEN 6
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#define JETIEXBUS_CRC_LEN 2
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#define JETIEXBUS_MAX_FRAME_SIZE (JETIEXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + JETIEXBUS_CRC_LEN)
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#define JETIEXBUS_FRAME_OFFSET (JETIEXBUS_MAX_FRAME_SIZE)
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#define JETIEXBUS_MAX_REQUESTFRAME_SIZE 8
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#define JETIEXBUS_START_CHANNEL_FRAME (0x3E)
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#define JETIEXBUS_START_REQUEST_FRAME (0x3D)
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#define EXBUS_CHANNELDATA (0x3E03) // Frame contains channeldata
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#define EXBUS_CHANNELDATA_TELEMETRY_REQUEST (0x3E01) // Frame contains channeldata, but with a request for data
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enum {
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EXBUS_STATE_ZERO = 0,
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EXBUS_STATE_IN_PROGRESS,
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EXBUS_STATE_RECEIVED,
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EXBUS_STATE_PROCESSED
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};
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enum {
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EXBUS_TRANS_ZERO = 0,
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EXBUS_TRANS_RX_READY,
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EXBUS_TRANS_RX,
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EXBUS_TRANS_TX_READY,
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EXBUS_TRANS_TX
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};
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enum exBusHeader_e {
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EXBUS_HEADER_SYNC = 0,
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EXBUS_HEADER_REQ,
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EXBUS_HEADER_MSG_LEN,
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EXBUS_HEADER_PACKET_ID,
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EXBUS_HEADER_DATA_ID,
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EXBUS_HEADER_SUBLEN,
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EXBUS_HEADER_DATA
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};
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#ifdef TELEMETRY
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enum exTelHeader_e {
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EXTEL_HEADER_SYNC = 0,
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EXTEL_HEADER_TYPE_LEN,
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EXTEL_HEADER_USN_LB,
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EXTEL_HEADER_USN_HB,
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EXTEL_HEADER_LSN_LB,
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EXTEL_HEADER_LSN_HB,
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EXTEL_HEADER_RES,
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EXTEL_HEADER_ID,
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EXTEL_HEADER_DATA
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};
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enum exDataType_e {
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EX_TYPE_6b = 0, // int6_t Data type 6b (-31 ¸31)
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EX_TYPE_14b = 1, // int14_t Data type 14b (-8191 ¸8191)
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EX_TYPE_22b = 4, // int22_t Data type 22b (-2097151 ¸2097151)
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EX_TYPE_DT = 5, // int22_t Special data type – time and date
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EX_TYPE_30b = 8, // int30_t Data type 30b (-536870911 ¸536870911)
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EX_TYPE_GPS = 9 // int30_t Special data type – GPS coordinates: lo/hi minute - lo/hi degree.
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};
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typedef struct exBusSensor_s{
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const char *name;
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const char *unit;
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int32_t value;
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const uint8_t exDataType;
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const uint32_t decimals;
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} exBusSensor_t;
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#define SETMASK(decimals, bytes) (decimals<<((bytes*8)-3))
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#define RESETMASK(bytes) (~(3 << ((bytes*8)-3)))
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const uint32_t resetMask[]={ RESETMASK(1), RESETMASK(2), RESETMASK(3), RESETMASK(4) };
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// list of telemetry messages
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// after 15 sensors must be a new Header : "CF-Dev 1.12 S2"
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exBusSensor_t jetiExSensors[] = {
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{ "CF-Dev 1.12 S1", "", 0, 0, 0 },
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{ "Voltage", "V", 0, EX_TYPE_14b, SETMASK(1,2) },
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{ "Current", "A", 0, EX_TYPE_14b, SETMASK(2,2) },
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{ "Altitude", "m", 0, EX_TYPE_14b, SETMASK(1,2) },
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{ "Capacity", "mAh", 0, EX_TYPE_14b, SETMASK(0,2) }
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};
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// after 15 sensors a new enum value to be set: EX_NEW_SENSOR = 17
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enum exSensors_e {
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EX_VOLTAGE = 1,
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EX_CURRENT,
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EX_ALTITUDE,
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EX_CAPACITY
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};
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#define JETI_EX_SENSOR_COUNT (sizeof(jetiExSensors) / sizeof(exBusSensor_t))
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#endif //TELEMETRY
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static serialPort_t *jetiExBusPort;
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static serialPortConfig_t *portConfig;
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static uint8_t jetiExBusFrameState = EXBUS_STATE_ZERO;
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static uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
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static uint8_t jetiExBusFramePosition;
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static uint8_t jetiExBusFrameLength;
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// Use max values for ram areas
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static uint8_t jetiExBusSerialFrame[JETIEXBUS_MAX_FRAME_SIZE+JETIEXBUS_MAX_REQUESTFRAME_SIZE];
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static uint8_t *jetiExBusFrame;
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static uint16_t jetiExBusChannelData[JETIEXBUS_CHANNEL_COUNT];
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static void jetiExBusDataReceive(uint16_t c);
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static uint16_t jetiExBusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
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#ifdef TELEMETRY
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static uint8_t jetiExBusTelemetryFrame[JETIEXBUS_MAX_FRAME_SIZE];
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static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
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static uint8_t *jetiExTelemetry=&jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
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static void sendJetiExBusTelemetry(uint8_t packetID);
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uint8_t updateCRC8( uint8_t crc, uint8_t data );
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uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen);
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#endif //TELEMETRY
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uint16_t updateCRC16( uint16_t crc, uint8_t data );
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uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen);
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bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
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{
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UNUSED(rxConfig);
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if (callback) {
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*callback = jetiExBusReadRawRC;
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}
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rxRuntimeConfig->channelCount = JETIEXBUS_CHANNEL_COUNT;
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jetiExBusFramePosition = 0;
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jetiExBusFrameLength = JETIEXBUS_MAX_FRAME_SIZE;
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portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
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if (!portConfig) {
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return false;
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}
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jetiExBusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, jetiExBusDataReceive, JETIEXBUS_BAUDRATE, MODE_RXTX, JETIEXBUS_OPTIONS );
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serialSetMode(jetiExBusPort, MODE_RX);
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return jetiExBusPort != NULL;
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}
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// Jeti Ex Bus crc calculations for single byte
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uint16_t updateCRC16( uint16_t crc, uint8_t data )
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{
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uint16_t ret_val;
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data ^= (uint8_t)(crc) & (uint8_t)(0xFF);
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data ^= data << 4;
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ret_val = ((((uint16_t)data << 8) | ((crc & 0xFF00) >> 8))
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^ (uint8_t)(data >> 4)
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^ ((uint16_t)data << 3));
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return ret_val;
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}
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// Jeti Ex Bus crc calculations for a frame
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uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen)
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{
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uint16_t crc16_data=0;
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uint8_t mlen=0;
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while(mlen<msgLen) {
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crc16_data = updateCRC16(crc16_data, pt[mlen]);
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mlen++;
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}
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return(crc16_data);
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}
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#ifdef TELEMETRY
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// Jeti Ex Telemetry crc calculations for single byte
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uint8_t updateCRC8( uint8_t crc, uint8_t data )
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{
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uint8_t crc_u;
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crc_u = crc;
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crc_u ^= data;
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for (uint8_t i = 0; i < 8; i++) {
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crc_u = ( crc_u & 0x80 ) ? 0x07 ^ ( crc_u << 1 ) : ( crc_u << 1 );
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}
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return crc_u;
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}
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// Jeti Ex Telemetry crc calculations for a frame
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uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
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{
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uint8_t crc8_data=0;
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uint8_t mlen=0;
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for (mlen=0;mlen < msgLen; mlen++) {
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crc8_data = updateCRC8(crc8_data, pt[mlen]);
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}
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return(crc8_data);
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}
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#endif //TELEMETRY
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void jetiExBusDecodeFrame(uint8_t *pFrame)
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{
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uint16_t value;
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uint8_t frameAddr;
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// Decode header
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switch (((uint16_t)jetiExBusFrame[EXBUS_HEADER_SYNC] << 8) + ((uint16_t)jetiExBusFrame[EXBUS_HEADER_REQ])){
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case EXBUS_CHANNELDATA_TELEMETRY_REQUEST: // not specified yet
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case EXBUS_CHANNELDATA:
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for (uint8_t i = 0; i < JETIEXBUS_CHANNEL_COUNT; i++) {
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frameAddr = JETIEXBUS_HEADER_LEN + i * 2;
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value = ((uint16_t)pFrame[frameAddr+1]) << 8;
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value += (uint16_t)pFrame[frameAddr];
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// Convert to internal format
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jetiExBusChannelData[i] = value>>3;
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}
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break;
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}
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}
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void jetiExBusFrameReset(void)
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{
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jetiExBusFramePosition = 0;
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jetiExBusFrameLength = JETIEXBUS_MAX_FRAME_SIZE;
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}
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/*
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supported:
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0x3E 0x01 LEN Packet_ID 0x31 SUB_LEN Data_array CRC16 // Channeldata with telemetrie request (second byte 0x01)
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0x3E 0x03 LEN Packet_ID 0x31 SUB_LEN Data_array CRC16 // Channeldata forbids answering (second byte 0x03)
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0x3D 0x01 0x08 Packet_ID 0x3A 0x00 CRC16 // Telemetrierequest EX telemetry (fifth byte 0x3A)
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other messages - not supported:
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0x3D 0x01 0x09 Packet_ID 0x3B 0x01 0xF0 CRC16 // Jetibox request (fifth byte 0x3B)
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...
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*/
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// Receive ISR callback
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static void jetiExBusDataReceive(uint16_t c)
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{
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uint32_t now;
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static uint32_t jetiExBusTimeLast = 0;
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static uint32_t jetiExBusTimeInterval;
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static uint16_t crc = 0;
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// Check if we shall reset frame position due to time
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now = millis();
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jetiExBusTimeInterval = now - jetiExBusTimeLast;
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jetiExBusTimeLast = now;
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if (jetiExBusTimeInterval > JETIEXBUS_MIN_FRAME_GAP) {
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jetiExBusFrameReset();
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jetiExBusFrameState = EXBUS_STATE_ZERO;
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jetiExBusRequestState = EXBUS_STATE_ZERO;
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}
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// Check if we shall start a frame?
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if (jetiExBusFramePosition == 0) {
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switch(c){
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case JETIEXBUS_START_CHANNEL_FRAME:
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||||||
|
jetiExBusFrameState = EXBUS_STATE_IN_PROGRESS;
|
||||||
|
jetiExBusFrame = &jetiExBusSerialFrame[0];
|
||||||
|
break;
|
||||||
|
|
||||||
|
case JETIEXBUS_START_REQUEST_FRAME:
|
||||||
|
jetiExBusRequestState = EXBUS_STATE_IN_PROGRESS;
|
||||||
|
jetiExBusFrame = &jetiExBusSerialFrame[JETIEXBUS_MAX_FRAME_SIZE];
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
crc = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Store in frame copy
|
||||||
|
jetiExBusFrame[jetiExBusFramePosition] = (uint8_t)c;
|
||||||
|
crc = updateCRC16(crc, (uint8_t)c);
|
||||||
|
jetiExBusFramePosition++;
|
||||||
|
|
||||||
|
// Check the header for the messagelength
|
||||||
|
if (jetiExBusFramePosition==JETIEXBUS_HEADER_LEN) {
|
||||||
|
if ((jetiExBusFrame[EXBUS_HEADER_MSG_LEN]<=JETIEXBUS_MAX_FRAME_SIZE) && (jetiExBusFrame[EXBUS_HEADER_MSG_LEN]>=JETIEXBUS_MIN_FRAME_SIZE)) {
|
||||||
|
jetiExBusFrameLength = jetiExBusFrame[EXBUS_HEADER_MSG_LEN];
|
||||||
|
} else {
|
||||||
|
jetiExBusFrameReset(); // not a valid frame
|
||||||
|
jetiExBusFrameState = EXBUS_STATE_ZERO;
|
||||||
|
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Done?
|
||||||
|
if (jetiExBusFrameLength == jetiExBusFramePosition) {
|
||||||
|
if (crc == 0){
|
||||||
|
if (jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS) jetiExBusFrameState = EXBUS_STATE_RECEIVED;
|
||||||
|
if (jetiExBusRequestState == EXBUS_STATE_IN_PROGRESS) jetiExBusRequestState = EXBUS_STATE_RECEIVED;
|
||||||
|
}
|
||||||
|
jetiExBusFrameReset();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Indicate time to read a frame from the data...
|
||||||
|
uint8_t jetiExBusFrameStatus(void)
|
||||||
|
{
|
||||||
|
if (jetiExBusFrameState == EXBUS_STATE_RECEIVED) {
|
||||||
|
jetiExBusDecodeFrame(&jetiExBusSerialFrame[0]);
|
||||||
|
jetiExBusFrameState = EXBUS_STATE_ZERO;
|
||||||
|
} else {
|
||||||
|
return SERIAL_RX_FRAME_PENDING;
|
||||||
|
}
|
||||||
|
return SERIAL_RX_FRAME_COMPLETE;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
static uint16_t jetiExBusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
|
||||||
|
{
|
||||||
|
if (chan >= rxRuntimeConfig->channelCount) return 0;
|
||||||
|
|
||||||
|
return (jetiExBusChannelData[chan]);
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef TELEMETRY
|
||||||
|
/*
|
||||||
|
-----------------------------------------------
|
||||||
|
Jeti Ex Bus Telemetry
|
||||||
|
-----------------------------------------------
|
||||||
|
*/
|
||||||
|
void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *Sensor)
|
||||||
|
{
|
||||||
|
uint8_t labelLength = strlen(Sensor->name);
|
||||||
|
uint8_t unitLength = strlen(Sensor->unit);
|
||||||
|
|
||||||
|
jetiExTelemetry[EXTEL_HEADER_LSN_LB] = messageID & 0xF0;
|
||||||
|
|
||||||
|
exMessage[EXTEL_HEADER_TYPE_LEN] = 8 + labelLength + unitLength; // 7 header, 1 CRC, label & unit
|
||||||
|
exMessage[EXTEL_HEADER_ID] = messageID & 0x0F; // ExMessage ID
|
||||||
|
exMessage[EXTEL_HEADER_DATA] = (labelLength << 3) + unitLength;
|
||||||
|
|
||||||
|
memcpy(&exMessage[EXTEL_HEADER_DATA + 1], Sensor->name, labelLength);
|
||||||
|
memcpy(&exMessage[EXTEL_HEADER_DATA + 1 + labelLength], Sensor->unit, unitLength);
|
||||||
|
|
||||||
|
exMessage[exMessage[EXTEL_HEADER_TYPE_LEN] + 1] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], exMessage[EXTEL_HEADER_TYPE_LEN]);
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart)
|
||||||
|
{
|
||||||
|
if ((itemStart % 16) == 0) itemStart++;
|
||||||
|
|
||||||
|
uint8_t lastItem=itemStart + 5;
|
||||||
|
|
||||||
|
if (lastItem > JETI_EX_SENSOR_COUNT) lastItem = JETI_EX_SENSOR_COUNT;
|
||||||
|
|
||||||
|
jetiExTelemetry[EXTEL_HEADER_LSN_LB] = itemStart & 0xF0;
|
||||||
|
|
||||||
|
if (itemStart>JETI_EX_SENSOR_COUNT) return 0;
|
||||||
|
|
||||||
|
uint8_t byteCount = 0;
|
||||||
|
uint8_t valueByteCount = 0;
|
||||||
|
|
||||||
|
for (uint8_t item=itemStart; item < lastItem; item++){
|
||||||
|
|
||||||
|
switch(jetiExSensors[item].exDataType) {
|
||||||
|
|
||||||
|
case EX_TYPE_6b:
|
||||||
|
byteCount = 1;
|
||||||
|
break;
|
||||||
|
case EX_TYPE_14b:
|
||||||
|
byteCount = 2;
|
||||||
|
break;
|
||||||
|
case EX_TYPE_22b:
|
||||||
|
case EX_TYPE_DT:
|
||||||
|
byteCount = 3;
|
||||||
|
break;
|
||||||
|
case EX_TYPE_30b:
|
||||||
|
case EX_TYPE_GPS:
|
||||||
|
byteCount = 4;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
exMessage[EXTEL_HEADER_ID + valueByteCount] = ((item & 0xF) << 4) + jetiExSensors[item].exDataType;
|
||||||
|
|
||||||
|
|
||||||
|
uint32_t value = jetiExSensors[item].value;
|
||||||
|
if (jetiExSensors[item].value < 0) value &= resetMask[byteCount - 1];
|
||||||
|
value |= jetiExSensors[item].decimals;
|
||||||
|
|
||||||
|
uint8_t iCount = 0;
|
||||||
|
do {
|
||||||
|
exMessage[EXTEL_HEADER_DATA + valueByteCount + iCount] = value;
|
||||||
|
value = value>>8;
|
||||||
|
iCount++;
|
||||||
|
} while(iCount < byteCount);
|
||||||
|
|
||||||
|
valueByteCount += 1 + byteCount;
|
||||||
|
}
|
||||||
|
|
||||||
|
exMessage[EXTEL_HEADER_TYPE_LEN] = 0x46+valueByteCount;
|
||||||
|
exMessage[(exMessage[EXTEL_HEADER_TYPE_LEN] & 0x3F) + 1] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], (exMessage[EXTEL_HEADER_TYPE_LEN]&0x3F));
|
||||||
|
|
||||||
|
return lastItem;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t exBusID)
|
||||||
|
{
|
||||||
|
exBusMessage[EXBUS_HEADER_PACKET_ID] = exBusID;
|
||||||
|
exBusMessage[EXBUS_HEADER_SUBLEN] = (exMessage[EXTEL_HEADER_TYPE_LEN] & 0x3F) + 2; // +2: startbyte & CRC8
|
||||||
|
exBusMessage[EXBUS_HEADER_MSG_LEN] = 8 + exBusMessage[EXBUS_HEADER_SUBLEN];
|
||||||
|
|
||||||
|
uint16_t crc16 = calcCRC16(exBusMessage,exBusMessage[EXBUS_HEADER_MSG_LEN] - JETIEXBUS_CRC_LEN);
|
||||||
|
exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 2] = crc16;
|
||||||
|
exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 1] = crc16>>8;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void initJetiExBusTelemetry(telemetryConfig_t *initialTelemetryConfig)
|
||||||
|
{
|
||||||
|
UNUSED(initialTelemetryConfig);
|
||||||
|
|
||||||
|
// 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
|
||||||
|
jetiExTelemetry[EXTEL_HEADER_SYNC] = 0x9F; // Startbyte
|
||||||
|
jetiExTelemetry[EXTEL_HEADER_USN_LB] = 0x1E; // Serial Number 4 Byte
|
||||||
|
jetiExTelemetry[EXTEL_HEADER_USN_HB] = 0xA4;
|
||||||
|
jetiExTelemetry[EXTEL_HEADER_LSN_LB] = 0x00; // increment by telemetry count (%16) > only 15 values per device possible
|
||||||
|
jetiExTelemetry[EXTEL_HEADER_LSN_HB] = 0x00;
|
||||||
|
jetiExTelemetry[EXTEL_HEADER_RES] = 0x00; // Reserved by default 0x00
|
||||||
|
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void checkJetiExBusTelemetryState(void)
|
||||||
|
{
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
void handleJetiExBusTelemetry(void)
|
||||||
|
{
|
||||||
|
if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
|
||||||
|
jetiExSensors[EX_VOLTAGE].value = vbat;
|
||||||
|
jetiExSensors[EX_CURRENT].value = amperage;
|
||||||
|
jetiExSensors[EX_ALTITUDE].value = BaroAlt;
|
||||||
|
jetiExSensors[EX_CAPACITY].value = mAhDrawn;
|
||||||
|
// switch to TX mode
|
||||||
|
if (uartTotalRxBytesWaiting(jetiExBusPort) == 0) {
|
||||||
|
serialSetMode(jetiExBusPort, MODE_TX);
|
||||||
|
jetiExBusTransceiveState = EXBUS_TRANS_TX;
|
||||||
|
sendJetiExBusTelemetry(jetiExBusSerialFrame[JETIEXBUS_FRAME_OFFSET + EXBUS_HEADER_PACKET_ID]);
|
||||||
|
jetiExBusRequestState = EXBUS_STATE_PROCESSED;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// check the state if transmit is ready
|
||||||
|
if (jetiExBusTransceiveState == EXBUS_TRANS_TX_READY) {
|
||||||
|
uartPort_t *s = (uartPort_t*)jetiExBusPort;
|
||||||
|
if (uartTotalTxBytesFree(jetiExBusPort) == (s->port.txBufferSize - 1)) { // workaround for isUartTransmitBufferEmpty()
|
||||||
|
serialSetMode(jetiExBusPort, MODE_RX);
|
||||||
|
jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
||||||
|
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void sendJetiExBusTelemetry(uint8_t packetID)
|
||||||
|
{
|
||||||
|
static uint8_t sensorDescriptionCounter = 0;
|
||||||
|
static uint8_t sensorValueCounter = 1;
|
||||||
|
static uint8_t requestLoop = 0;
|
||||||
|
|
||||||
|
|
||||||
|
if (requestLoop == 100){ //every n request send a name of a value
|
||||||
|
if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT ) sensorDescriptionCounter = 0;
|
||||||
|
|
||||||
|
createExTelemetrieTextMessage(jetiExTelemetry, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
|
||||||
|
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetry, packetID);
|
||||||
|
requestLoop = 0;
|
||||||
|
sensorDescriptionCounter++;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
if (sensorValueCounter >= JETI_EX_SENSOR_COUNT) sensorValueCounter = 1;
|
||||||
|
|
||||||
|
sensorValueCounter = createExTelemetrieValueMessage(jetiExTelemetry, sensorValueCounter);
|
||||||
|
createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetry, packetID);
|
||||||
|
}
|
||||||
|
|
||||||
|
for (uint8_t iCount = 0; iCount < jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]; iCount++) {
|
||||||
|
serialWrite(jetiExBusPort, jetiExBusTelemetryFrame[iCount]);
|
||||||
|
}
|
||||||
|
jetiExBusTransceiveState = EXBUS_TRANS_TX_READY;
|
||||||
|
requestLoop++;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif //TELEMETRY
|
||||||
|
|
@ -0,0 +1,35 @@
|
||||||
|
/*
|
||||||
|
* 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 "rx/rx.h"
|
||||||
|
|
||||||
|
bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
|
||||||
|
uint8_t jetiExBusFrameStatus(void);
|
||||||
|
|
||||||
|
|
||||||
|
#ifdef TELEMETRY
|
||||||
|
|
||||||
|
#include "telemetry/telemetry.h"
|
||||||
|
|
||||||
|
void initJetiExBusTelemetry(telemetryConfig_t *initialTelemetryConfig);
|
||||||
|
void checkJetiExBusTelemetryState(void);
|
||||||
|
void handleJetiExBusTelemetry(void);
|
||||||
|
|
||||||
|
#endif //TELEMETRY
|
||||||
|
|
@ -50,6 +50,7 @@
|
||||||
#include "rx/msp.h"
|
#include "rx/msp.h"
|
||||||
#include "rx/xbus.h"
|
#include "rx/xbus.h"
|
||||||
#include "rx/ibus.h"
|
#include "rx/ibus.h"
|
||||||
|
#include "rx/jetiexbus.h"
|
||||||
|
|
||||||
#include "rx/rx.h"
|
#include "rx/rx.h"
|
||||||
|
|
||||||
|
|
@ -240,6 +241,10 @@ void serialRxInit(rxConfig_t *rxConfig)
|
||||||
rxRefreshRate = 20000; // TODO - Verify speed
|
rxRefreshRate = 20000; // TODO - Verify speed
|
||||||
enabled = ibusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
|
enabled = ibusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
|
||||||
break;
|
break;
|
||||||
|
case SERIALRX_JETIEXBUS:
|
||||||
|
rxRefreshRate = 5500;
|
||||||
|
enabled = jetiExBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
|
||||||
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (!enabled) {
|
if (!enabled) {
|
||||||
|
|
@ -274,6 +279,8 @@ uint8_t serialRxFrameStatus(rxConfig_t *rxConfig)
|
||||||
return xBusFrameStatus();
|
return xBusFrameStatus();
|
||||||
case SERIALRX_IBUS:
|
case SERIALRX_IBUS:
|
||||||
return ibusFrameStatus();
|
return ibusFrameStatus();
|
||||||
|
case SERIALRX_JETIEXBUS:
|
||||||
|
return jetiExBusFrameStatus();
|
||||||
}
|
}
|
||||||
return SERIAL_RX_FRAME_PENDING;
|
return SERIAL_RX_FRAME_PENDING;
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -52,7 +52,8 @@ typedef enum {
|
||||||
SERIALRX_XBUS_MODE_B = 5,
|
SERIALRX_XBUS_MODE_B = 5,
|
||||||
SERIALRX_XBUS_MODE_B_RJ01 = 6,
|
SERIALRX_XBUS_MODE_B_RJ01 = 6,
|
||||||
SERIALRX_IBUS = 7,
|
SERIALRX_IBUS = 7,
|
||||||
SERIALRX_PROVIDER_MAX = SERIALRX_IBUS
|
SERIALRX_JETIEXBUS = 8,
|
||||||
|
SERIALRX_PROVIDER_MAX = SERIALRX_JETIEXBUS
|
||||||
} SerialRXType;
|
} SerialRXType;
|
||||||
|
|
||||||
#define SERIALRX_PROVIDER_COUNT (SERIALRX_PROVIDER_MAX + 1)
|
#define SERIALRX_PROVIDER_COUNT (SERIALRX_PROVIDER_MAX + 1)
|
||||||
|
|
|
||||||
|
|
@ -40,6 +40,7 @@
|
||||||
#include "telemetry/hott.h"
|
#include "telemetry/hott.h"
|
||||||
#include "telemetry/smartport.h"
|
#include "telemetry/smartport.h"
|
||||||
#include "telemetry/ltm.h"
|
#include "telemetry/ltm.h"
|
||||||
|
#include "rx/jetiexbus.h"
|
||||||
|
|
||||||
static telemetryConfig_t *telemetryConfig;
|
static telemetryConfig_t *telemetryConfig;
|
||||||
|
|
||||||
|
|
@ -54,6 +55,7 @@ void telemetryInit(void)
|
||||||
initHoTTTelemetry(telemetryConfig);
|
initHoTTTelemetry(telemetryConfig);
|
||||||
initSmartPortTelemetry(telemetryConfig);
|
initSmartPortTelemetry(telemetryConfig);
|
||||||
initLtmTelemetry(telemetryConfig);
|
initLtmTelemetry(telemetryConfig);
|
||||||
|
initJetiExBusTelemetry(telemetryConfig);
|
||||||
|
|
||||||
telemetryCheckState();
|
telemetryCheckState();
|
||||||
}
|
}
|
||||||
|
|
@ -78,6 +80,7 @@ void telemetryCheckState(void)
|
||||||
checkHoTTTelemetryState();
|
checkHoTTTelemetryState();
|
||||||
checkSmartPortTelemetryState();
|
checkSmartPortTelemetryState();
|
||||||
checkLtmTelemetryState();
|
checkLtmTelemetryState();
|
||||||
|
checkJetiExBusTelemetryState();
|
||||||
}
|
}
|
||||||
|
|
||||||
void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
|
void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
|
||||||
|
|
@ -86,6 +89,7 @@ void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
|
||||||
handleHoTTTelemetry();
|
handleHoTTTelemetry();
|
||||||
handleSmartPortTelemetry();
|
handleSmartPortTelemetry();
|
||||||
handleLtmTelemetry();
|
handleLtmTelemetry();
|
||||||
|
handleJetiExBusTelemetry();
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue