src/main/telemetry/ibus_shared.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "io/serial.h"
  21
  22 #define IBUS_TASK_PERIOD_US (500)
  23 #define IBUS_BAUDRATE      (115200)
  24 #define IBUS_CYCLE_TIME_MS (8)
  25 #define IBUS_CHECKSUM_SIZE (2)
  26 #define IBUS_MIN_LEN       (2 + IBUS_CHECKSUM_SIZE)
  27 #define IBUS_MAX_TX_LEN    (6)
  28 #define IBUS_MAX_RX_LEN    (4)
  29 #define IBUS_RX_BUF_LEN    (IBUS_MAX_RX_LEN)
  30
  31 #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_IBUS)
  32
  33 typedef enum {
  34     IBUS_MEAS_TYPE_INTERNAL_VOLTAGE = 0x00, //0 Internal Voltage
  35     IBUS_MEAS_TYPE_TEMPERATURE      = 0x01, //0 Temperature -##0.0 C, 0=-40.0 C, 400=0.0 C, 65535=6513.5 C
  36     IBUS_MEAS_TYPE_RPM              = 0x02, //0 Rotation RPM, ####0RPM, 0=0RPM, 65535=65535RPM
  37     IBUS_MEAS_TYPE_EXTERNAL_VOLTAGE = 0x03, //0 External Voltage, -##0.00V, 0=0.00V, 32767=327.67V, 32768=na, 32769=-327.67V, 65535=-0.01V
  38     IBUS_MEAS_TYPE_HEADING          = 0x04, //3
  39     IBUS_MEAS_TYPE_CURRENT          = 0x05, //3
  40     IBUS_MEAS_TYPE_CLIMB            = 0x06, //3
  41     IBUS_MEAS_TYPE_ACC_Z            = 0x07, //3
  42     IBUS_MEAS_TYPE_ACC_Y            = 0x08, //3
  43     IBUS_MEAS_TYPE_ACC_X            = 0x09, //3
  44     IBUS_MEAS_TYPE_VSPEED           = 0x0a, //3
  45     IBUS_MEAS_TYPE_SPEED            = 0x0b, //3
  46     IBUS_MEAS_TYPE_DIST             = 0x0c, //3
  47     IBUS_MEAS_TYPE_ARMED            = 0x0d,     //3
  48     IBUS_MEAS_TYPE_MODE             = 0x0e, //3
  49     //IBUS_MEAS_TYPE_RESERVED         = 0x0f, //3
  50     IBUS_MEAS_TYPE_PRES             = 0x41, // Pressure, not work
  51     //IBUS_MEAS_TYPE_ODO1             = 0x7c, // Odometer1, 0.0km, 0.0 only
  52     //IBUS_MEAS_TYPE_ODO2             = 0x7d, // Odometer2, 0.0km, 0.0 only
  53     IBUS_MEAS_TYPE_SPE              = 0x7e, //1 Speed km/h, ###0km/h, 0=0Km/h, 1000=100Km/h
  54     IBUS_MEAS_TYPE_COG              = 0x80, //3 2byte course deg * 100, 0.0..359.99
  55     IBUS_MEAS_TYPE_GPS_STATUS       = 0x81, //3 2byte special parse byte by byte
  56     IBUS_MEAS_TYPE_GPS_LON          = 0x82, //3 4byte signed WGS84 in deg * 1E7, format into %u?%02u'%02u
  57     IBUS_MEAS_TYPE_GPS_LAT          = 0x83, //3 4byte signed WGS84 in deg * 1E7
  58     IBUS_MEAS_TYPE_ALT              = 0x84, //3 2byte signed barometer alt
  59     IBUS_MEAS_TYPE_S85              = 0x85, //3
  60     IBUS_MEAS_TYPE_S86              = 0x86, //3
  61     IBUS_MEAS_TYPE_S87              = 0x87, //3
  62     IBUS_MEAS_TYPE_S88              = 0x88, //3
  63     IBUS_MEAS_TYPE_S89              = 0x89, //3
  64     IBUS_MEAS_TYPE_S8A              = 0x8A, //3
  65     IBUS_MEAS_TYPE_GALT             = 0xf9, //2 Altitude m, not work
  66     //IBUS_MEAS_TYPE_SNR              = 0xfa, //  SNR, not work
  67     //IBUS_MEAS_TYPE_NOISE            = 0xfb, //  Noise, not work
  68     //IBUS_MEAS_TYPE_RSSI             = 0xfc, //  RSSI, not work
  69     IBUS_MEAS_TYPE_GPS              = 0xfd //  1byte fix 1byte satellites 4byte LAT 4byte LON 4byte alt, return UNKNOWN sensor and no formating
  70     //IBUS_MEAS_TYPE_ERR              = 0xfe  //0 Error rate, #0%
  71 } ibusSensorType_e;
  72
  73 typedef enum {
  74     IBUS_MEAS_TYPE1_INTV             = 0x00,
  75     IBUS_MEAS_TYPE1_TEM              = 0x01,
  76     IBUS_MEAS_TYPE1_MOT              = 0x02,
  77     IBUS_MEAS_TYPE1_EXTV             = 0x03,
  78     IBUS_MEAS_TYPE1_CELL             = 0x04,
  79     IBUS_MEAS_TYPE1_BAT_CURR         = 0x05,
  80     IBUS_MEAS_TYPE1_FUEL             = 0x06,
  81     IBUS_MEAS_TYPE1_RPM              = 0x07,
  82     IBUS_MEAS_TYPE1_CMP_HEAD         = 0x08,
  83     IBUS_MEAS_TYPE1_CLIMB_RATE       = 0x09,
  84     IBUS_MEAS_TYPE1_COG              = 0x0a,
  85     IBUS_MEAS_TYPE1_GPS_STATUS       = 0x0b,
  86     IBUS_MEAS_TYPE1_ACC_X            = 0x0c,
  87     IBUS_MEAS_TYPE1_ACC_Y            = 0x0d,
  88     IBUS_MEAS_TYPE1_ACC_Z            = 0x0e,
  89     IBUS_MEAS_TYPE1_ROLL             = 0x0f,
  90     IBUS_MEAS_TYPE1_PITCH            = 0x10,
  91     IBUS_MEAS_TYPE1_YAW              = 0x11,
  92     IBUS_MEAS_TYPE1_VERTICAL_SPEED   = 0x12,
  93     IBUS_MEAS_TYPE1_GROUND_SPEED     = 0x13,
  94     IBUS_MEAS_TYPE1_GPS_DIST         = 0x14,
  95     IBUS_MEAS_TYPE1_ARMED            = 0x15,
  96     IBUS_MEAS_TYPE1_FLIGHT_MODE      = 0x16,
  97     IBUS_MEAS_TYPE1_PRES             = 0x41,
  98     //IBUS_MEAS_TYPE1_ODO1             = 0x7c,
  99     //IBUS_MEAS_TYPE1_ODO2             = 0x7d,
 100     IBUS_MEAS_TYPE1_SPE              = 0x7e,
 101     //IBUS_MEAS_TYPE1_TX_V             = 0x7f,
 102     IBUS_MEAS_TYPE1_GPS_LAT          = 0x80,
 103     IBUS_MEAS_TYPE1_GPS_LON          = 0x81,
 104     IBUS_MEAS_TYPE1_GPS_ALT          = 0x82,
 105     IBUS_MEAS_TYPE1_ALT              = 0x83,
 106     IBUS_MEAS_TYPE1_S84              = 0x84,
 107     IBUS_MEAS_TYPE1_S85              = 0x85,
 108     IBUS_MEAS_TYPE1_S86              = 0x86,
 109     IBUS_MEAS_TYPE1_S87              = 0x87,
 110     IBUS_MEAS_TYPE1_S88              = 0x88,
 111     IBUS_MEAS_TYPE1_S89              = 0x89,
 112     IBUS_MEAS_TYPE1_S8a              = 0x8a
 113     //IBUS_MEAS_TYPE1_SNR              = 0xfa,
 114     //IBUS_MEAS_TYPE1_NOISE            = 0xfb,
 115     //IBUS_MEAS_TYPE1_RSSI             = 0xfc,
 116     //IBUS_MEAS_TYPE1_ERR              = 0xfe
 117 } ibusSensorType1_e;
 118
 119 typedef enum {
 120     IBUS_MEAS_VALUE_NONE             = 0x00, //2
 121     IBUS_MEAS_VALUE_TEMPERATURE      = 0x01, //2
 122     IBUS_MEAS_VALUE_MOT              = 0x02, //2
 123     IBUS_MEAS_VALUE_EXTERNAL_VOLTAGE = 0x03, //2
 124     IBUS_MEAS_VALUE_CELL             = 0x04, //2
 125     IBUS_MEAS_VALUE_CURRENT          = 0x05, //2
 126     IBUS_MEAS_VALUE_FUEL             = 0x06, //2
 127     IBUS_MEAS_VALUE_RPM              = 0x07, //2
 128     IBUS_MEAS_VALUE_HEADING          = 0x08, //2
 129     IBUS_MEAS_VALUE_CLIMB            = 0x09, //2
 130     IBUS_MEAS_VALUE_COG              = 0x0a, //2
 131     IBUS_MEAS_VALUE_GPS_STATUS       = 0x0b, //2
 132     IBUS_MEAS_VALUE_ACC_X            = 0x0c, //2
 133     IBUS_MEAS_VALUE_ACC_Y            = 0x0d, //2
 134     IBUS_MEAS_VALUE_ACC_Z            = 0x0e, //2
 135     IBUS_MEAS_VALUE_ROLL             = 0x0f, //2
 136     IBUS_MEAS_VALUE_PITCH            = 0x10, //2
 137     IBUS_MEAS_VALUE_YAW              = 0x11, //2
 138     IBUS_MEAS_VALUE_VSPEED           = 0x12, //2
 139     IBUS_MEAS_VALUE_SPEED            = 0x13, //2
 140     IBUS_MEAS_VALUE_DIST             = 0x14, //2
 141     IBUS_MEAS_VALUE_ARMED            = 0x15, //2
 142     IBUS_MEAS_VALUE_MODE             = 0x16, //2
 143     IBUS_MEAS_VALUE_PRES             = 0x41, //2
 144     IBUS_MEAS_VALUE_SPE              = 0x7e, //2
 145     IBUS_MEAS_VALUE_GPS_LAT          = 0x80, //4
 146     IBUS_MEAS_VALUE_GPS_LON          = 0x81, //4
 147     IBUS_MEAS_VALUE_GALT4            = 0x82, //4
 148     IBUS_MEAS_VALUE_ALT4             = 0x83, //4
 149     IBUS_MEAS_VALUE_GALT             = 0x84, //2
 150     IBUS_MEAS_VALUE_ALT              = 0x85, //2
 151     IBUS_MEAS_VALUE_STATUS           = 0x87, //2
 152     IBUS_MEAS_VALUE_GPS_LAT1         = 0x88, //2
 153     IBUS_MEAS_VALUE_GPS_LON1         = 0x89, //2
 154     IBUS_MEAS_VALUE_GPS_LAT2         = 0x90, //2
 155     IBUS_MEAS_VALUE_GPS_LON2         = 0x91, //2
 156     IBUS_MEAS_VALUE_GPS              = 0xfd //14 1byte fix 1byte satellites 4byte LAT 4byte LON 4byte alt
 157 } ibusSensorValue_e;
 158
 159 uint8_t respondToIbusRequest(uint8_t ibusPacket[static IBUS_RX_BUF_LEN]);
 160 void initSharedIbusTelemetry(serialPort_t *port);
 161 void changeTypeIbusTelemetry(uint8_t id, uint8_t type, uint8_t value);
 162
 163 #endif //defined(USE_TELEMETRY) && defined(USE_TELEMETRY_IBUS)
 164
 165 bool ibusIsChecksumOkIa6b(const uint8_t *ibusPacket, const uint8_t length);
 166 uint16_t ibusCalculateChecksum(const uint8_t *ibusPacket, size_t packetLength);