src/main/telemetry/ibus_shared.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 /*
  22  * The ibus_shared module implements the ibus telemetry packet handling
  23  * which is shared between the ibus serial rx and the ibus telemetry.
  24  *
  25  * There is only one 'user' active at any time, serial rx will open the
  26  * serial port if both functions are enabled at the same time
  27  */
  28
  29 #pragma once
  30
  31 #include "platform.h"
  32 #include "drivers/serial.h"
  33
  34 #define IBUS_CHECKSUM_SIZE (2)
  35 #define IBUS_SENSOR_COUNT 15
  36
  37 typedef enum {
  38     IBUS_SENSOR_TYPE_NONE             = 0x00,
  39     IBUS_SENSOR_TYPE_TEMPERATURE      = 0x01,
  40     IBUS_SENSOR_TYPE_RPM_FLYSKY       = 0x02,
  41     IBUS_SENSOR_TYPE_EXTERNAL_VOLTAGE = 0x03,
  42     IBUS_SENSOR_TYPE_CELL             = 0x04, // Avg Cell voltage
  43     IBUS_SENSOR_TYPE_BAT_CURR         = 0x05, // battery current A * 100
  44     IBUS_SENSOR_TYPE_FUEL             = 0x06, // remaining battery percentage / mah drawn otherwise or fuel level no unit!
  45     IBUS_SENSOR_TYPE_RPM              = 0x07, // throttle value / battery capacity
  46     IBUS_SENSOR_TYPE_CMP_HEAD         = 0x08, //Heading  0..360 deg, 0=north 2bytes
  47     IBUS_SENSOR_TYPE_CLIMB_RATE       = 0x09, //2 bytes m/s *100
  48     IBUS_SENSOR_TYPE_COG              = 0x0a, //2 bytes  Course over ground(NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. unknown max uint
  49     IBUS_SENSOR_TYPE_GPS_STATUS       = 0x0b, //2 bytes
  50     IBUS_SENSOR_TYPE_ACC_X            = 0x0c, //2 bytes m/s *100 signed
  51     IBUS_SENSOR_TYPE_ACC_Y            = 0x0d, //2 bytes m/s *100 signed
  52     IBUS_SENSOR_TYPE_ACC_Z            = 0x0e, //2 bytes m/s *100 signed
  53     IBUS_SENSOR_TYPE_ROLL             = 0x0f, //2 bytes deg *100 signed
  54     IBUS_SENSOR_TYPE_PITCH            = 0x10, //2 bytes deg *100 signed
  55     IBUS_SENSOR_TYPE_YAW              = 0x11, //2 bytes deg *100 signed
  56     IBUS_SENSOR_TYPE_VERTICAL_SPEED   = 0x12, //2 bytes m/s *100
  57     IBUS_SENSOR_TYPE_GROUND_SPEED     = 0x13, //2 bytes m/s *100 different unit than build-in sensor
  58     IBUS_SENSOR_TYPE_GPS_DIST         = 0x14, //2 bytes dist from home m unsigned
  59     IBUS_SENSOR_TYPE_ARMED            = 0x15, //2 bytes
  60     IBUS_SENSOR_TYPE_FLIGHT_MODE      = 0x16, //2 bytes
  61     IBUS_SENSOR_TYPE_PRES             = 0x41, // Pressure
  62     IBUS_SENSOR_TYPE_ODO1             = 0x7c, // Odometer1
  63     IBUS_SENSOR_TYPE_ODO2             = 0x7d, // Odometer2
  64     IBUS_SENSOR_TYPE_SPE              = 0x7e, // Speed 2bytes km/h
  65
  66     IBUS_SENSOR_TYPE_GPS_LAT          = 0x80, //4bytes signed WGS84 in degrees * 1E7
  67     IBUS_SENSOR_TYPE_GPS_LON          = 0x81, //4bytes signed WGS84 in degrees * 1E7
  68     IBUS_SENSOR_TYPE_GPS_ALT          = 0x82, //4bytes signed!!! GPS alt m*100
  69     IBUS_SENSOR_TYPE_ALT              = 0x83, //4bytes signed!!! Alt m*100
  70     IBUS_SENSOR_TYPE_ALT_MAX          = 0x84, //4bytes signed MaxAlt m*100
  71
  72     IBUS_SENSOR_TYPE_ALT_FLYSKY       = 0xf9, // Altitude 2 bytes signed in m
  73 #if defined(USE_TELEMETRY_IBUS_EXTENDED)
  74     IBUS_SENSOR_TYPE_GPS_FULL         = 0xfd,
  75     IBUS_SENSOR_TYPE_VOLT_FULL        = 0xf0,
  76     IBUS_SENSOR_TYPE_ACC_FULL         = 0xef,
  77 #endif //defined(TELEMETRY_IBUS_EXTENDED)
  78     IBUS_SENSOR_TYPE_UNKNOWN          = 0xff
  79 } ibusSensorType_e;
  80
  81 #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_IBUS)
  82
  83 uint8_t respondToIbusRequest(uint8_t const * const ibusPacket);
  84 void initSharedIbusTelemetry(serialPort_t * port);
  85
  86 #endif //defined(TELEMETRY) && defined(TELEMETRY_IBUS)
  87
  88
  89 bool isChecksumOkIa6b(const uint8_t *ibusPacket, const uint8_t length);