src/main/telemetry/sbus2.h

   1 /*
   2  * This file is part of INAV.
   3  *
   4  * INAV 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  * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18
  19 #pragma once
  20
  21 #include <stdint.h>
  22
  23 #include "platform.h"
  24
  25 #define SBUS2_TELEMETRY_PAYLOAD_SIZE 3
  26
  27 #define SBUS2_TELEMETRY_ITEM_SIZE   3
  28 #define SBUS2_TELEMETRY_SLOTS       8
  29 #define SBUS2_TELEMETRY_PAGES       4
  30 #define SBUS2_SLOT_COUNT            (SBUS2_TELEMETRY_PAGES * SBUS2_TELEMETRY_SLOTS)
  31
  32 #if defined(USE_TELEMETRY) && defined(USE_SBUS2_TELEMETRY)
  33
  34 // Information on SBUS2 sensors from: https://github.com/BrushlessPower/SBUS2-Telemetry/tree/master
  35 // Temperature:
  36 // Max 125C
  37 // value | 0x4000
  38 typedef struct sbus2_telemetry_temp_payload_s {
  39     uint8_t tempHigh; // temp | 0x4000; // 125c
  40     uint8_t tempLow;
  41 } __attribute__((packed)) sbsu2_telemetry_temp_payload_t;
  42
  43 // Temperature:
  44 // Max 200C
  45 // temp | 0x8000
  46 typedef struct sbus2_telemetry_temp200_payload_s {
  47     uint8_t tempLow; // temp | 0x8000; // 200c
  48     uint8_t tempHigh;
  49 } __attribute__((packed)) sbsu2_telemetry_temp200_payload_t;
  50
  51 // RPM:
  52 // (RPM / 6) max: 0xFFFF
  53 typedef struct sbus2_telemetry_rpm_payload_s {
  54     uint8_t rpmHigh; // RPM / 6, capped at 0xFFFF
  55     uint8_t rpmLow;
  56 } __attribute__((packed)) sbsu2_telemetry_rpm_payload_t;
  57
  58 // Voltage: 1 or 2 slots
  59 // 0x8000 = rx voltage?
  60 // max input: 0x1FFF
  61 typedef struct sbus2_telemetry_voltage_payload_s {
  62     uint8_t voltageHigh; // 2 slots // Voltage 1: value | 0x8000
  63     uint8_t voltageLow;  // max input value: 0x1FFF
  64 } __attribute__((packed)) sbsu2_telemetry_voltage_payload_t;
  65
  66 // Current
  67 // 3 frames
  68 // 1: current
  69 // Max input: 0x3FFF
  70 // input |= 0x4000
  71 // input &= 0x7FFF
  72 // 2: voltage
  73 // same as voltage frame. may not need ot be capped.
  74 // 3: Capacity
  75 typedef struct sbus2_telemetry_current_payload_s {
  76     uint8_t currentHigh;
  77     uint8_t currentLow;
  78 } __attribute__((packed)) sbsu2_telemetry_current_payload_t;
  79
  80 typedef struct sbus2_telemetry_capacity_payload_s {
  81     uint8_t capacityHigh;
  82     uint8_t capacityLow;
  83 } __attribute__((packed)) sbsu2_telemetry_capacity_payload_t;
  84
  85 // GPS
  86 // frames:
  87 // 1: Speed
  88 // 2: Altitude
  89 // 3: Vario
  90 // 4,5: LAT
  91 // 5,6: LON
  92
  93 typedef struct sbus2_telemetry_frame_s {
  94     uint8_t slotId;
  95     union
  96     {
  97         uint8_t data[2];
  98         sbsu2_telemetry_temp_payload_t temp125;
  99         sbsu2_telemetry_temp200_payload_t temp200;
 100         sbsu2_telemetry_rpm_payload_t rpm;
 101         sbsu2_telemetry_voltage_payload_t voltage;
 102         sbsu2_telemetry_current_payload_t current;
 103         sbsu2_telemetry_capacity_payload_t capacity;
 104     } payload;
 105 } __attribute__((packed)) sbus2_telemetry_frame_t;
 106
 107 extern const uint8_t Slot_ID[SBUS2_SLOT_COUNT];
 108 extern sbus2_telemetry_frame_t sbusTelemetryData[SBUS2_TELEMETRY_PAGES][SBUS2_TELEMETRY_SLOTS];
 109 extern uint8_t sbusTelemetryDataStatus[SBUS2_TELEMETRY_PAGES][SBUS2_TELEMETRY_SLOTS];
 110
 111 void handleSbus2Telemetry(timeUs_t currentTimeUs);
 112 #endif