////////////////////////////////////////////////////////////////// // // 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