radio/src/telemetry/frsky_d.cpp

   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 #include "opentx.h"
  22
  23 void parseTelemHubByte(uint8_t byte)
  24 {
  25   static int8_t structPos;
  26   static uint8_t lowByte;
  27   static TS_STATE state = TS_IDLE;
  28
  29   if (byte == 0x5e) {
  30     state = TS_DATA_ID;
  31     return;
  32   }
  33   if (state == TS_IDLE) {
  34     return;
  35   }
  36   if (state & TS_XOR) {
  37     byte = byte ^ 0x60;
  38     state = (TS_STATE)(state - TS_XOR);
  39   }
  40   else if (byte == 0x5d) {
  41     state = (TS_STATE)(state | TS_XOR);
  42     return;
  43   }
  44   if (state == TS_DATA_ID) {
  45     if (byte > 0x3f) {
  46       state = TS_IDLE;
  47     }
  48     else {
  49       structPos = byte;
  50       state = TS_DATA_LOW;
  51     }
  52     return;
  53   }
  54   if (state == TS_DATA_LOW) {
  55     lowByte = byte;
  56     state = TS_DATA_HIGH;
  57     return;
  58   }
  59
  60   state = TS_IDLE;
  61   processHubPacket(structPos, (byte << 8) + lowByte);
  62 }
  63
  64 void frskyDProcessPacket(const uint8_t *packet)
  65 {
  66   // What type of packet?
  67   switch (packet[0])
  68   {
  69     case LINKPKT: // A1/A2/RSSI values
  70     {
  71       setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_D, D_A1_ID, 0, 0, packet[1], UNIT_VOLTS, 0);
  72       setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_D, D_A2_ID, 0, 0, packet[2], UNIT_VOLTS, 0);
  73       setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_D, D_RSSI_ID, 0, 0, packet[3], UNIT_RAW, 0);
  74       telemetryData.rssi.set(packet[3]);
  75       telemetryStreaming = TELEMETRY_TIMEOUT10ms; // reset counter only if valid packets are being detected
  76       break;
  77     }
  78
  79     case USRPKT: // User Data packet
  80       uint8_t numBytes = 3 + (packet[1] & 0x07); // sanitize in case of data corruption leading to buffer overflow
  81       for (uint8_t i=3; i<numBytes; i++) {
  82         parseTelemHubByte(packet[i]);
  83       }
  84       break;
  85   }
  86 }
  87
  88 struct FrSkyDSensor {
  89   const uint8_t id;
  90   const char * name;
  91   const TelemetryUnit unit;
  92   const uint8_t prec;
  93 };
  94
  95 const FrSkyDSensor frskyDSensors[] = {
  96   { D_RSSI_ID, ZSTR_RSSI, UNIT_RAW, 0 },
  97   { D_A1_ID, ZSTR_A1, UNIT_VOLTS, 1 },
  98   { D_A2_ID, ZSTR_A2, UNIT_VOLTS, 1 },
  99   { RPM_ID, ZSTR_RPM, UNIT_RPMS, 0 },
 100   { FUEL_ID, ZSTR_FUEL, UNIT_PERCENT, 0 },
 101   { TEMP1_ID, ZSTR_TEMP1, UNIT_CELSIUS, 0 },
 102   { TEMP2_ID, ZSTR_TEMP2, UNIT_CELSIUS, 0 },
 103   { CURRENT_ID, ZSTR_CURR, UNIT_AMPS, 1 },
 104   { ACCEL_X_ID, ZSTR_ACCX, UNIT_G, 3 },
 105   { ACCEL_Y_ID, ZSTR_ACCY, UNIT_G, 3 },
 106   { ACCEL_Z_ID, ZSTR_ACCZ, UNIT_G, 3 },
 107   { VARIO_ID, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 2 },
 108   { VFAS_ID, ZSTR_VFAS, UNIT_VOLTS, 2 },
 109   { BARO_ALT_AP_ID, ZSTR_ALT, UNIT_METERS, 1 },   // we map hi precision vario into PREC1!
 110   { VOLTS_AP_ID, ZSTR_VFAS, UNIT_VOLTS, 2 },
 111   { GPS_SPEED_BP_ID, ZSTR_GSPD, UNIT_KTS, 0 },
 112   { GPS_COURS_BP_ID, ZSTR_HDG, UNIT_DEGREE, 0 },
 113   { VOLTS_ID, ZSTR_CELLS, UNIT_CELLS, 2 },
 114   { GPS_ALT_BP_ID, ZSTR_GPSALT, UNIT_METERS, 0 },
 115   { GPS_HOUR_MIN_ID, ZSTR_GPSDATETIME, UNIT_DATETIME, 0 },
 116   { GPS_LAT_AP_ID, ZSTR_GPS, UNIT_GPS, 0 },
 117   { 0, NULL, UNIT_RAW, 0 } // sentinel
 118 };
 119
 120 const FrSkyDSensor * getFrSkyDSensor(uint8_t id)
 121 {
 122   const FrSkyDSensor * result = NULL;
 123   for (const FrSkyDSensor * sensor = frskyDSensors; sensor->id; sensor++) {
 124     if (id == sensor->id) {
 125       result = sensor;
 126       break;
 127     }
 128   }
 129   return result;
 130 }
 131
 132 uint8_t lastId = 0;
 133 uint16_t lastBPValue = 0;
 134 uint16_t lastAPValue = 0;
 135
 136 int32_t getFrSkyDProtocolGPSValue(int32_t sign)
 137 {
 138   div_t qr = div(lastBPValue, 100);
 139   return sign * (((uint32_t) (qr.quot) * 1000000) + (((uint32_t) (qr.rem) * 10000 + lastAPValue) * 5) / 3);
 140 }
 141
 142 void processHubPacket(uint8_t id, int16_t value)
 143 {
 144   TelemetryUnit unit = UNIT_RAW;
 145   uint8_t precision = 0;
 146   int32_t data = value;
 147
 148   if (id > FRSKY_LAST_ID || id == GPS_SPEED_AP_ID || id == GPS_ALT_AP_ID || id == GPS_COURS_AP_ID) {
 149     return;
 150   }
 151
 152   if (id == GPS_LAT_BP_ID || id == GPS_LONG_BP_ID || id == BARO_ALT_BP_ID || id == VOLTS_BP_ID) {
 153     lastId = id;
 154     lastBPValue = value;
 155     return;
 156   }
 157
 158   if (id == GPS_LAT_AP_ID) {
 159     if (lastId == GPS_LAT_BP_ID) {
 160       lastId = id;
 161       lastAPValue = data;
 162     }
 163     return;
 164   }
 165   else if (id == GPS_LONG_AP_ID) {
 166     if (lastId == GPS_LONG_BP_ID) {
 167       lastId = id;
 168       lastAPValue = data;
 169     }
 170     return;
 171   }
 172   else if (id == GPS_LAT_NS_ID) {
 173     if (lastId == GPS_LAT_AP_ID) {
 174       id = GPS_LAT_AP_ID;
 175       unit = UNIT_GPS_LATITUDE;
 176       data = getFrSkyDProtocolGPSValue(value == 'N' ? 1 : -1);
 177     }
 178     else {
 179       return;
 180     }
 181   }
 182   else if (id == GPS_LONG_EW_ID) {
 183     if (lastId == GPS_LONG_AP_ID) {
 184       id = GPS_LAT_AP_ID;
 185       unit = UNIT_GPS_LONGITUDE;
 186       data = getFrSkyDProtocolGPSValue(value == 'E' ? 1 : -1);
 187     }
 188     else {
 189       return;
 190     }
 191   }
 192   else if (id == BARO_ALT_AP_ID) {
 193     if (lastId == BARO_ALT_BP_ID) {
 194       if (data > 9 || telemetryData.varioHighPrecision) {
 195         telemetryData.varioHighPrecision = true;
 196         data /= 10;    // map hi precision vario into low precision. Altitude is stored in 0.1m anyways
 197       }
 198       data = (int16_t)lastBPValue * 10 + (((int16_t)lastBPValue < 0) ? -data : data);
 199       unit = UNIT_METERS;
 200       precision = 1;
 201     }
 202     else {
 203       return;
 204     }
 205   }
 206   else if (id == VOLTS_AP_ID) {
 207     if (lastId == VOLTS_BP_ID) {
 208 #if defined(FAS_PROTOTYPE)
 209       data = lastBPValue * 100 + value * 10;
 210 #else
 211       data = ((lastBPValue * 100 + value * 10) * 210) / 110;
 212 #endif
 213       unit = UNIT_VOLTS;
 214       precision = 2;
 215     }
 216     else {
 217       return;
 218     }
 219   }
 220   else if (id == VOLTS_ID) {
 221     unit = UNIT_CELLS;
 222     uint32_t cellData = (uint32_t)data;
 223     data = ((cellData & 0x00F0) << 12) + (((((cellData & 0xFF00) >> 8) + ((cellData & 0x000F) << 8))) / 5);
 224   }
 225   else if (id == GPS_DAY_MONTH_ID) {
 226     id = GPS_HOUR_MIN_ID;
 227     unit = UNIT_DATETIME_DAY_MONTH;
 228   }
 229   else if (id == GPS_HOUR_MIN_ID) {
 230     unit = UNIT_DATETIME_HOUR_MIN;
 231   }
 232   else if (id == GPS_SEC_ID) {
 233     id = GPS_HOUR_MIN_ID;
 234     unit = UNIT_DATETIME_SEC;
 235   }
 236   else if (id == GPS_YEAR_ID) {
 237     id = GPS_HOUR_MIN_ID;
 238     unit = UNIT_DATETIME_YEAR;
 239   }
 240   else {
 241     const FrSkyDSensor * sensor = getFrSkyDSensor(id);
 242     if (sensor) {
 243       unit = sensor->unit;
 244       precision = sensor->prec;
 245     }
 246   }
 247   if (id == RPM_ID) {
 248     data = data * 60;
 249   }
 250   else if (id == VFAS_ID) {
 251     if (data >= VFAS_D_HIPREC_OFFSET) {
 252       // incoming value has a resolution of 0.01V and added offset of VFAS_D_HIPREC_OFFSET
 253       data -= VFAS_D_HIPREC_OFFSET;
 254     }
 255     else {
 256       // incoming value has a resolution of 0.1V
 257       data *= 10;
 258     }
 259   }
 260
 261   setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_D, id, 0, 0, data, unit, precision);
 262 }
 263
 264 void frskyDSetDefault(int index, uint16_t id)
 265 {
 266   TelemetrySensor & telemetrySensor = g_model.telemetrySensors[index];
 267
 268   telemetrySensor.id = id;
 269   telemetrySensor.instance = 0;
 270
 271   const FrSkyDSensor * sensor = getFrSkyDSensor(id);
 272   if (sensor) {
 273     TelemetryUnit unit = sensor->unit;
 274     uint8_t prec = min<uint8_t>(2, sensor->prec);
 275     telemetrySensor.init(sensor->name, unit, prec);
 276     if (id == D_RSSI_ID) {
 277       telemetrySensor.filter = 1;
 278       telemetrySensor.logs = true;
 279     }
 280     else if (id >= D_A1_ID && id <= D_A2_ID) {
 281       telemetrySensor.custom.ratio = 132;
 282       telemetrySensor.filter = 1;
 283     }
 284     else if (id == CURRENT_ID) {
 285       telemetrySensor.onlyPositive = 1;
 286     }
 287     else if (id == BARO_ALT_AP_ID) {
 288       telemetrySensor.autoOffset = 1;
 289     }
 290     if (unit == UNIT_RPMS) {
 291       telemetrySensor.custom.ratio = 1;
 292       telemetrySensor.custom.offset = 1;
 293     }
 294     else if (unit == UNIT_METERS) {
 295       if (IS_IMPERIAL_ENABLE()) {
 296         telemetrySensor.unit = UNIT_FEET;
 297       }
 298     }
 299   }
 300   else {
 301     telemetrySensor.init(id);
 302   }
 303
 304   storageDirty(EE_MODEL);
 305 }