radio/src/telemetry/frsky.h

   1 /*
   2  * Copyright (C) OpenTX
   3  *
   4  * Based on code named
   5  *   th9x - http://code.google.com/p/th9x
   6  *   er9x - http://code.google.com/p/er9x
   7  *   gruvin9x - http://code.google.com/p/gruvin9x
   8  *
   9  * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
  10  *
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License version 2 as
  13  * published by the Free Software Foundation.
  14  *
  15  * This program is distributed in the hope that it will be useful,
  16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  18  * GNU General Public License for more details.
  19  */
  20
  21 #ifndef _FRSKY_H_
  22 #define _FRSKY_H_
  23
  24 #include "../definitions.h"
  25 #include "telemetry_holders.h"
  26 #include "../io/frsky_pxx2.h"
  27
  28 // Receive buffer state machine state enum
  29 enum FrSkyDataState {
  30   STATE_DATA_IDLE,
  31   STATE_DATA_START,
  32   STATE_DATA_IN_FRAME,
  33   STATE_DATA_XOR,
  34 };
  35
  36 #define FRSKY_SPORT_BAUDRATE      57600
  37
  38 #define FRSKY_D_BAUDRATE          9600
  39
  40 #define FRSKY_SPORT_PACKET_SIZE   9
  41
  42 // Enumerate FrSky packet codes
  43 #define LINKPKT                   0xfe
  44 #define USRPKT                    0xfd
  45 #define A11PKT                    0xfc
  46 #define A12PKT                    0xfb
  47 #define A21PKT                    0xfa
  48 #define A22PKT                    0xf9
  49 #define ALRM_REQUEST              0xf8
  50 #define RSSI1PKT                  0xf7
  51 #define RSSI2PKT                  0xf6
  52 #define RSSI_REQUEST              0xf1
  53
  54 // FrSky PRIM IDs (1 byte)
  55 #define DATA_FRAME                0x10
  56
  57 // FrSky old DATA IDs (1 byte)
  58 #define GPS_ALT_BP_ID             0x01
  59 #define TEMP1_ID                  0x02
  60 #define RPM_ID                    0x03
  61 #define FUEL_ID                   0x04
  62 #define TEMP2_ID                  0x05
  63 #define VOLTS_ID                  0x06
  64 #define GPS_ALT_AP_ID             0x09
  65 #define BARO_ALT_BP_ID            0x10
  66 #define GPS_SPEED_BP_ID           0x11
  67 #define GPS_LONG_BP_ID            0x12
  68 #define GPS_LAT_BP_ID             0x13
  69 #define GPS_COURS_BP_ID           0x14
  70 #define GPS_DAY_MONTH_ID          0x15
  71 #define GPS_YEAR_ID               0x16
  72 #define GPS_HOUR_MIN_ID           0x17
  73 #define GPS_SEC_ID                0x18
  74 #define GPS_SPEED_AP_ID           0x19
  75 #define GPS_LONG_AP_ID            0x1A
  76 #define GPS_LAT_AP_ID             0x1B
  77 #define GPS_COURS_AP_ID           0x1C
  78 #define BARO_ALT_AP_ID            0x21
  79 #define GPS_LONG_EW_ID            0x22
  80 #define GPS_LAT_NS_ID             0x23
  81 #define ACCEL_X_ID                0x24
  82 #define ACCEL_Y_ID                0x25
  83 #define ACCEL_Z_ID                0x26
  84 #define CURRENT_ID                0x28
  85 #define VARIO_ID                  0x30
  86 #define VFAS_ID                   0x39
  87 #define VOLTS_BP_ID               0x3A
  88 #define VOLTS_AP_ID               0x3B
  89 #define FRSKY_LAST_ID             0x3F
  90 #define D_RSSI_ID                 0xF0
  91 #define D_A1_ID                   0xF1
  92 #define D_A2_ID                   0xF2
  93
  94 #define VFAS_D_HIPREC_OFFSET      2000
  95
  96 // FrSky new DATA IDs (2 bytes)
  97 #define ALT_FIRST_ID              0x0100
  98 #define ALT_LAST_ID               0x010f
  99 #define VARIO_FIRST_ID            0x0110
 100 #define VARIO_LAST_ID             0x011f
 101 #define CURR_FIRST_ID             0x0200
 102 #define CURR_LAST_ID              0x020f
 103 #define VFAS_FIRST_ID             0x0210
 104 #define VFAS_LAST_ID              0x021f
 105 #define CELLS_FIRST_ID            0x0300
 106 #define CELLS_LAST_ID             0x030f
 107 #define T1_FIRST_ID               0x0400
 108 #define T1_LAST_ID                0x040f
 109 #define T2_FIRST_ID               0x0410
 110 #define T2_LAST_ID                0x041f
 111 #define RPM_FIRST_ID              0x0500
 112 #define RPM_LAST_ID               0x050f
 113 #define FUEL_FIRST_ID             0x0600
 114 #define FUEL_LAST_ID              0x060f
 115 #define ACCX_FIRST_ID             0x0700
 116 #define ACCX_LAST_ID              0x070f
 117 #define ACCY_FIRST_ID             0x0710
 118 #define ACCY_LAST_ID              0x071f
 119 #define ACCZ_FIRST_ID             0x0720
 120 #define ACCZ_LAST_ID              0x072f
 121 #define GPS_LONG_LATI_FIRST_ID    0x0800
 122 #define GPS_LONG_LATI_LAST_ID     0x080f
 123 #define GPS_ALT_FIRST_ID          0x0820
 124 #define GPS_ALT_LAST_ID           0x082f
 125 #define GPS_SPEED_FIRST_ID        0x0830
 126 #define GPS_SPEED_LAST_ID         0x083f
 127 #define GPS_COURS_FIRST_ID        0x0840
 128 #define GPS_COURS_LAST_ID         0x084f
 129 #define GPS_TIME_DATE_FIRST_ID    0x0850
 130 #define GPS_TIME_DATE_LAST_ID     0x085f
 131 #define A3_FIRST_ID               0x0900
 132 #define A3_LAST_ID                0x090f
 133 #define A4_FIRST_ID               0x0910
 134 #define A4_LAST_ID                0x091f
 135 #define AIR_SPEED_FIRST_ID        0x0a00
 136 #define AIR_SPEED_LAST_ID         0x0a0f
 137 #define RBOX_BATT1_FIRST_ID       0x0b00
 138 #define RBOX_BATT1_LAST_ID        0x0b0f
 139 #define RBOX_BATT2_FIRST_ID       0x0b10
 140 #define RBOX_BATT2_LAST_ID        0x0b1f
 141 #define RBOX_STATE_FIRST_ID       0x0b20
 142 #define RBOX_STATE_LAST_ID        0x0b2f
 143 #define RBOX_CNSP_FIRST_ID        0x0b30
 144 #define RBOX_CNSP_LAST_ID         0x0b3f
 145 #define SD1_FIRST_ID              0x0b40
 146 #define SD1_LAST_ID               0x0b4f
 147 #define ESC_POWER_FIRST_ID        0x0b50
 148 #define ESC_POWER_LAST_ID         0x0b5f
 149 #define ESC_RPM_CONS_FIRST_ID     0x0b60
 150 #define ESC_RPM_CONS_LAST_ID      0x0b6f
 151 #define ESC_TEMPERATURE_FIRST_ID  0x0b70
 152 #define ESC_TEMPERATURE_LAST_ID   0x0b7f
 153 #define X8R_FIRST_ID              0x0c20
 154 #define X8R_LAST_ID               0x0c2f
 155 #define S6R_FIRST_ID              0x0c30
 156 #define S6R_LAST_ID               0x0c3f
 157 #define GASSUIT_TEMP1_FIRST_ID    0x0d00
 158 #define GASSUIT_TEMP1_LAST_ID     0x0d0f
 159 #define GASSUIT_TEMP2_FIRST_ID    0x0d10
 160 #define GASSUIT_TEMP2_LAST_ID     0x0d1f
 161 #define GASSUIT_SPEED_FIRST_ID    0x0d20
 162 #define GASSUIT_SPEED_LAST_ID     0x0d2f
 163 #define GASSUIT_RES_VOL_FIRST_ID  0x0d30
 164 #define GASSUIT_RES_VOL_LAST_ID   0x0d3f
 165 #define GASSUIT_RES_PERC_FIRST_ID 0x0d40
 166 #define GASSUIT_RES_PERC_LAST_ID  0x0d4f
 167 #define GASSUIT_FLOW_FIRST_ID     0x0d50
 168 #define GASSUIT_FLOW_LAST_ID      0x0d5f
 169 #define GASSUIT_MAX_FLOW_FIRST_ID 0x0d60
 170 #define GASSUIT_MAX_FLOW_LAST_ID  0x0d6f
 171 #define GASSUIT_AVG_FLOW_FIRST_ID 0x0d70
 172 #define GASSUIT_AVG_FLOW_LAST_ID  0x0d7f
 173 #define SBEC_POWER_FIRST_ID       0x0e50
 174 #define SBEC_POWER_LAST_ID        0x0e5f
 175 #define DIY_FIRST_ID              0x5100
 176 #define DIY_LAST_ID               0x52ff
 177 #define DIY_STREAM_FIRST_ID       0x5000
 178 #define DIY_STREAM_LAST_ID        0x50ff
 179 #define FACT_TEST_ID              0xf000
 180 #define RSSI_ID                   0xf101
 181 #define ADC1_ID                   0xf102
 182 #define ADC2_ID                   0xf103
 183 #define BATT_ID                   0xf104
 184 #define RAS_ID                    0xf105
 185 #define XJT_VERSION_ID            0xf106
 186 #define R9_PWR_ID                 0xf107
 187 #define SP2UART_A_ID              0xfd00
 188 #define SP2UART_B_ID              0xfd01
 189 #define FUEL_QTY_FIRST_ID         0x0a10
 190 #define FUEL_QTY_LAST_ID          0x0a1f
 191
 192 // Default sensor data IDs (Physical IDs + CRC)
 193 #define DATA_ID_VARIO             0x00 // 0
 194 #define DATA_ID_FLVSS             0xA1 // 1
 195 #define DATA_ID_FAS               0x22 // 2
 196 #define DATA_ID_GPS               0x83 // 3
 197 #define DATA_ID_RPM               0xE4 // 4
 198 #define DATA_ID_SP2UH             0x45 // 5
 199 #define DATA_ID_SP2UR             0xC6 // 6
 200
 201 inline bool IS_HIDDEN_TELEMETRY_VALUE(uint16_t id)
 202 {
 203   return (id == SP2UART_A_ID) || (id == SP2UART_B_ID) || (id == XJT_VERSION_ID) || (id == RAS_ID) || (id == FACT_TEST_ID);
 204 }
 205
 206 class TelemetryData {
 207   public:
 208     TelemetryExpiringDecorator<TelemetryValue> swrInternal;
 209     TelemetryExpiringDecorator<TelemetryValue> swrExternal;
 210     TelemetryFilterDecorator<TelemetryValue> rssi;
 211     uint16_t xjtVersion;
 212     uint8_t varioHighPrecision:1;
 213     uint8_t telemetryValid:3;
 214     uint8_t spare:4;
 215
 216     void setSwr(uint8_t module, uint8_t value)
 217     {
 218       if (module == 0)
 219         swrInternal.set(value);
 220       else
 221         swrExternal.set(value);
 222     }
 223
 224     void clear()
 225     {
 226       memset(this, 0, sizeof(*this));
 227     }
 228 };
 229
 230 extern TelemetryData telemetryData;
 231
 232 inline uint8_t TELEMETRY_RSSI()
 233 {
 234   return telemetryData.rssi.value();
 235 }
 236
 237 constexpr uint8_t START_STOP = 0x7E;
 238 constexpr uint8_t BYTE_STUFF = 0x7D;
 239 constexpr uint8_t STUFF_MASK = 0x20;
 240
 241 typedef enum {
 242   TS_IDLE = 0,  // waiting for 0x5e frame marker
 243   TS_DATA_ID,   // waiting for dataID
 244   TS_DATA_LOW,  // waiting for data low byte
 245   TS_DATA_HIGH, // waiting for data high byte
 246   TS_XOR = 0x80 // decode stuffed byte
 247 } TS_STATE;
 248
 249 // FrSky D Telemetry Protocol
 250 void processHubPacket(uint8_t id, int16_t value);
 251 void frskyDProcessPacket(const uint8_t *packet);
 252
 253 // FrSky S.PORT Telemetry Protocol
 254 void sportProcessTelemetryPacket(const uint8_t * packet);
 255 void sportProcessTelemetryPacketWithoutCrc(uint8_t origin, const uint8_t * packet);
 256
 257 void telemetryWakeup();
 258 void telemetryReset();
 259
 260 extern uint8_t telemetryProtocol;
 261 void telemetryInit(uint8_t protocol);
 262
 263 void telemetryInterrupt10ms();
 264
 265 bool pushFrskyTelemetryData(uint8_t data); // returns true when end of frame detected
 266 void processFrskyTelemetryData(uint8_t data);
 267
 268 #if defined(NO_RAS)
 269 inline bool isRasValueValid()
 270 {
 271   return false;
 272 }
 273 #elif defined(PXX2)
 274 inline bool isRasValueValid()
 275 {
 276   return true;
 277 }
 278 #elif defined(PCBX10)
 279 inline bool isRasValueValid()
 280 {
 281   return false;
 282 }
 283 #elif defined(PCBX9DP) || defined(PCBX9E)
 284 inline bool isRasValueValid()
 285 {
 286   return telemetryData.xjtVersion != 0x0000 && telemetryData.xjtVersion != 0x00ff;
 287 }
 288 #else
 289 inline bool isRasValueValid()
 290 {
 291   return false;
 292 }
 293 #endif
 294
 295 constexpr uint8_t FRSKY_BAD_ANTENNA_THRESHOLD = 0x33;
 296
 297 #endif // _FRSKY_H_