radio/src/telemetry/frsky_sport.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 struct FrSkySportSensor {
  24   const uint16_t firstId;
  25   const uint16_t lastId;
  26   const uint8_t subId;
  27   const char * name;
  28   const TelemetryUnit unit;
  29   const uint8_t prec;
  30 };
  31
  32 const FrSkySportSensor sportSensors[] = {
  33   { RSSI_ID, RSSI_ID, 0, ZSTR_RSSI, UNIT_DB, 0 },
  34   { ADC1_ID, ADC1_ID, 0, ZSTR_A1, UNIT_VOLTS, 1 },
  35   { ADC2_ID, ADC2_ID, 0, ZSTR_A2, UNIT_VOLTS, 1 },
  36   { A3_FIRST_ID, A3_LAST_ID, 0, ZSTR_A3, UNIT_VOLTS, 2 },
  37   { A4_FIRST_ID, A4_LAST_ID, 0, ZSTR_A4, UNIT_VOLTS, 2 },
  38   { BATT_ID, BATT_ID, 0, ZSTR_BATT, UNIT_VOLTS, 1 },
  39   { R9_PWR_ID, R9_PWR_ID, 0, ZSTR_R9PW, UNIT_MILLIWATTS, 0 },
  40   { T1_FIRST_ID, T1_LAST_ID, 0, ZSTR_TEMP1, UNIT_CELSIUS, 0 },
  41   { T2_FIRST_ID, T2_LAST_ID, 0, ZSTR_TEMP2, UNIT_CELSIUS, 0 },
  42   { RPM_FIRST_ID, RPM_LAST_ID, 0, ZSTR_RPM, UNIT_RPMS, 0 },
  43   { FUEL_FIRST_ID, FUEL_LAST_ID, 0, ZSTR_FUEL, UNIT_PERCENT, 0 },
  44   { ALT_FIRST_ID, ALT_LAST_ID, 0, ZSTR_ALT, UNIT_METERS, 2 },
  45   { VARIO_FIRST_ID, VARIO_LAST_ID, 0, ZSTR_VSPD, UNIT_METERS_PER_SECOND, 2 },
  46   { ACCX_FIRST_ID, ACCX_LAST_ID, 0, ZSTR_ACCX, UNIT_G, 2 },
  47   { ACCY_FIRST_ID, ACCY_LAST_ID, 0, ZSTR_ACCY, UNIT_G, 2 },
  48   { ACCZ_FIRST_ID, ACCZ_LAST_ID, 0, ZSTR_ACCZ, UNIT_G, 2 },
  49   { CURR_FIRST_ID, CURR_LAST_ID, 0, ZSTR_CURR, UNIT_AMPS, 1 },
  50   { VFAS_FIRST_ID, VFAS_LAST_ID, 0, ZSTR_VFAS, UNIT_VOLTS, 2 },
  51   { AIR_SPEED_FIRST_ID, AIR_SPEED_LAST_ID, 0, ZSTR_ASPD, UNIT_KTS, 1 },
  52   { GPS_SPEED_FIRST_ID, GPS_SPEED_LAST_ID, 0, ZSTR_GSPD, UNIT_KTS, 3 },
  53   { CELLS_FIRST_ID, CELLS_LAST_ID, 0, ZSTR_CELLS, UNIT_CELLS, 2 },
  54   { GPS_ALT_FIRST_ID, GPS_ALT_LAST_ID, 0, ZSTR_GPSALT, UNIT_METERS, 2 },
  55   { GPS_TIME_DATE_FIRST_ID, GPS_TIME_DATE_LAST_ID, 0, ZSTR_GPSDATETIME, UNIT_DATETIME, 0 },
  56   { GPS_LONG_LATI_FIRST_ID, GPS_LONG_LATI_LAST_ID, 0, ZSTR_GPS, UNIT_GPS, 0 },
  57   { FUEL_QTY_FIRST_ID, FUEL_QTY_LAST_ID, 0, ZSTR_FUEL, UNIT_MILLILITERS, 2 },
  58   { GPS_COURS_FIRST_ID, GPS_COURS_LAST_ID, 0, ZSTR_HDG, UNIT_DEGREE, 2 },
  59   { RBOX_BATT1_FIRST_ID, RBOX_BATT1_LAST_ID, 0, ZSTR_BATT1_VOLTAGE, UNIT_VOLTS, 3 },
  60   { RBOX_BATT2_FIRST_ID, RBOX_BATT2_LAST_ID, 0, ZSTR_BATT2_VOLTAGE, UNIT_VOLTS, 3 },
  61   { RBOX_BATT1_FIRST_ID, RBOX_BATT1_LAST_ID, 1, ZSTR_BATT1_CURRENT, UNIT_AMPS, 2 },
  62   { RBOX_BATT2_FIRST_ID, RBOX_BATT2_LAST_ID, 1, ZSTR_BATT2_CURRENT, UNIT_AMPS, 2 },
  63   { RBOX_CNSP_FIRST_ID, RBOX_CNSP_LAST_ID, 0, ZSTR_BATT1_CONSUMPTION, UNIT_MAH, 0 },
  64   { RBOX_CNSP_FIRST_ID, RBOX_CNSP_LAST_ID, 1, ZSTR_BATT2_CONSUMPTION, UNIT_MAH, 0 },
  65   { RBOX_STATE_FIRST_ID, RBOX_STATE_LAST_ID, 0, ZSTR_CHANS_STATE, UNIT_BITFIELD, 0 },
  66   { RBOX_STATE_FIRST_ID, RBOX_STATE_LAST_ID, 1, ZSTR_RB_STATE, UNIT_BITFIELD, 0 },
  67   { SD1_FIRST_ID, SD1_LAST_ID, 0, ZSTR_SD1_CHANNEL, UNIT_RAW, 0 },
  68   { ESC_POWER_FIRST_ID, ESC_POWER_LAST_ID, 0, ZSTR_ESC_VOLTAGE, UNIT_VOLTS, 2 },
  69   { ESC_POWER_FIRST_ID, ESC_POWER_LAST_ID, 1, ZSTR_ESC_CURRENT, UNIT_AMPS, 2 },
  70   { ESC_RPM_CONS_FIRST_ID, ESC_RPM_CONS_LAST_ID, 0, ZSTR_ESC_RPM, UNIT_RPMS, 0 },
  71   { ESC_RPM_CONS_FIRST_ID, ESC_RPM_CONS_LAST_ID, 1, ZSTR_ESC_CONSUMPTION, UNIT_MAH, 0 },
  72   { ESC_TEMPERATURE_FIRST_ID, ESC_TEMPERATURE_LAST_ID, 0, ZSTR_ESC_TEMP, UNIT_CELSIUS, 0 },
  73   { GASSUIT_TEMP1_FIRST_ID, GASSUIT_TEMP1_LAST_ID, 0, ZSTR_GASSUIT_TEMP1, UNIT_CELSIUS, 0 },
  74   { GASSUIT_TEMP2_FIRST_ID, GASSUIT_TEMP2_LAST_ID, 0, ZSTR_GASSUIT_TEMP2, UNIT_CELSIUS, 0 },
  75   { GASSUIT_SPEED_FIRST_ID, GASSUIT_SPEED_LAST_ID, 0, ZSTR_GASSUIT_RPM, UNIT_RPMS, 0 },
  76   { GASSUIT_RES_VOL_FIRST_ID, GASSUIT_RES_VOL_LAST_ID, 0, ZSTR_GASSUIT_RES_VOL, UNIT_MILLILITERS, 0 },
  77   { GASSUIT_RES_PERC_FIRST_ID, GASSUIT_RES_PERC_LAST_ID, 0, ZSTR_GASSUIT_RES_PERC, UNIT_PERCENT, 0 },
  78   { GASSUIT_FLOW_FIRST_ID, GASSUIT_FLOW_LAST_ID, 0, ZSTR_GASSUIT_FLOW, UNIT_MILLILITERS_PER_MINUTE, 0 },
  79   { GASSUIT_MAX_FLOW_FIRST_ID, GASSUIT_MAX_FLOW_LAST_ID, 0, ZSTR_GASSUIT_MAX_FLOW, UNIT_MILLILITERS_PER_MINUTE, 0 },
  80   { GASSUIT_AVG_FLOW_FIRST_ID, GASSUIT_AVG_FLOW_LAST_ID, 0, ZSTR_GASSUIT_AVG_FLOW, UNIT_MILLILITERS_PER_MINUTE, 0 },
  81   { SBEC_POWER_FIRST_ID, SBEC_POWER_LAST_ID, 0, ZSTR_SBEC_VOLTAGE, UNIT_VOLTS, 2 },
  82   { SBEC_POWER_FIRST_ID, SBEC_POWER_LAST_ID, 1, ZSTR_SBEC_CURRENT, UNIT_AMPS, 2 },
  83   { 0, 0, 0, NULL, UNIT_RAW, 0 } // sentinel
  84 };
  85
  86 const FrSkySportSensor * getFrSkySportSensor(uint16_t id, uint8_t subId=0)
  87 {
  88   for (const FrSkySportSensor * sensor = sportSensors; sensor->firstId; sensor++) {
  89     if (id >= sensor->firstId && id <= sensor->lastId && subId == sensor->subId) {
  90       return sensor;
  91     }
  92   }
  93   return nullptr;
  94 }
  95
  96 bool checkSportPacket(const uint8_t * packet)
  97 {
  98   short crc = 0;
  99   for (int i=1; i<FRSKY_SPORT_PACKET_SIZE; ++i) {
 100     crc += packet[i]; // 0-1FE
 101     crc += crc >> 8;  // 0-1FF
 102     crc &= 0x00ff;    // 0-FF
 103   }
 104   // TRACE("crc: 0x%02x", crc);
 105   return (crc == 0x00ff);
 106 }
 107
 108 #define SPORT_DATA_U8(packet)   (packet[4])
 109 #define SPORT_DATA_S32(packet)  (*((int32_t *)(packet+4)))
 110 #define SPORT_DATA_U32(packet)  (*((uint32_t *)(packet+4)))
 111 #define HUB_DATA_U16(packet)    (*((uint16_t *)(packet+4)))
 112
 113 uint16_t servosState;
 114 uint16_t rboxState;
 115
 116 void sportProcessTelemetryPacket(uint16_t id, uint8_t subId, uint8_t instance, uint32_t data, TelemetryUnit unit=UNIT_RAW)
 117 {
 118   const FrSkySportSensor * sensor = getFrSkySportSensor(id, subId);
 119   uint8_t precision = 0;
 120   if (sensor) {
 121     if (unit == UNIT_RAW)
 122       unit = sensor->unit;
 123     precision = sensor->prec;
 124   }
 125   if (unit == UNIT_CELLS) {
 126     uint8_t cellsCount = (data & 0xF0) >> 4;
 127     uint8_t cellIndex = (data & 0x0F);
 128     uint32_t mask = (cellsCount << 24) + (cellIndex << 16);
 129     setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_SPORT, id, subId, instance, mask + (((data & 0x000FFF00) >> 8) / 5), unit, precision);
 130     if (cellIndex+1 < cellsCount) {
 131       mask += (1 << 16);
 132       setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_SPORT, id, subId, instance, mask + (((data & 0xFFF00000) >> 20) / 5), unit, precision);
 133     }
 134   }
 135   else {
 136     setTelemetryValue(PROTOCOL_TELEMETRY_FRSKY_SPORT, id, subId, instance, data, unit, precision);
 137   }
 138 }
 139
 140 void sportProcessTelemetryPacket(const uint8_t * packet)
 141 {
 142   if (!checkSportPacket(packet)) {
 143     TRACE("sportProcessTelemetryPacket(): checksum error ");
 144     DUMP(packet, FRSKY_SPORT_PACKET_SIZE);
 145     return;
 146   }
 147
 148   sportProcessTelemetryPacketWithoutCrc(TELEMETRY_ENDPOINT_SPORT, packet);
 149 }
 150
 151 void sportProcessTelemetryPacketWithoutCrc(uint8_t origin, const uint8_t * packet)
 152 {
 153   uint8_t physicalId = packet[0] & 0x1F;
 154   uint8_t primId = packet[1];
 155   uint16_t dataId = *((uint16_t *)(packet+2));
 156   uint32_t data = SPORT_DATA_S32(packet);
 157
 158 #if defined(BLUETOOTH)
 159   if (g_eeGeneral.bluetoothMode == BLUETOOTH_TELEMETRY && bluetooth.state == BLUETOOTH_STATE_CONNECTED) {
 160     bluetooth.forwardTelemetry(packet);
 161   }
 162 #endif
 163
 164   if (primId == DATA_FRAME) {
 165     uint8_t originMask;
 166     if (origin == TELEMETRY_ENDPOINT_SPORT) {
 167       originMask = 0x04;
 168     }
 169     else {
 170       uint8_t moduleIndex = (origin >> 2);
 171       originMask = 0x01 << moduleIndex;
 172     }
 173     uint8_t instance = physicalId + (origin << 5);
 174     if (dataId == RSSI_ID) {
 175       data = SPORT_DATA_U8(packet);
 176       if (data > 0) {
 177         telemetryStreaming = TELEMETRY_TIMEOUT10ms; // reset counter only if valid packets are being detected
 178         telemetryData.telemetryValid |= originMask;
 179       }
 180       else {
 181         telemetryData.telemetryValid &= ~originMask;
 182         // one module may send RSSI(0) while the other is still streaming
 183         // in this case we don't want to update telemetryData.rssi
 184         return;
 185       }
 186       if (g_model.rssiSource) {
 187         TelemetrySensor * sensor = &g_model.telemetrySensors[g_model.rssiSource - 1];
 188         if (sensor->isSameInstance(PROTOCOL_TELEMETRY_FRSKY_SPORT, instance)) {
 189           telemetryData.rssi.set(data);
 190         }
 191       }
 192       else {
 193         telemetryData.rssi.set(data);
 194       }
 195     }
 196     else if (dataId == R9_PWR_ID) {
 197       uint32_t r9pwr[] = {100, 200, 500, 1000};
 198       data = r9pwr[SPORT_DATA_U8(packet) & 0x03];
 199     }
 200     else if (dataId == XJT_VERSION_ID) {
 201       telemetryData.xjtVersion = HUB_DATA_U16(packet);
 202       if (!isRasValueValid()) {
 203         telemetryData.setSwr(origin >> 2, 0);
 204       }
 205     }
 206     else if (dataId == RAS_ID) {
 207       if (isRasValueValid()) {
 208         telemetryData.setSwr(origin >> 2, SPORT_DATA_U8(packet));
 209       }
 210     }
 211
 212     // here we discard the frame if it comes from an origin which has RSSI = 0 (RxBt and RSSI are sent in a loop by the module in some situations)
 213     if (TELEMETRY_STREAMING() && (telemetryData.telemetryValid & originMask)/* because when Rx is OFF it happens that some old A1/A2 values are sent from the XJT module*/) {
 214       if ((dataId >> 8) == 0) {
 215         // The old FrSky IDs
 216         processHubPacket(dataId, HUB_DATA_U16(packet));
 217       }
 218       else if (!IS_HIDDEN_TELEMETRY_VALUE(dataId)) {
 219         if (dataId == ADC1_ID || dataId == ADC2_ID || dataId == BATT_ID || dataId == RAS_ID) {
 220           data = SPORT_DATA_U8(packet);
 221         }
 222
 223         if (dataId >= GPS_LONG_LATI_FIRST_ID && dataId <= GPS_LONG_LATI_LAST_ID) {
 224           int32_t value = (data & 0x3fffffff);
 225           if (data & (1 << 30))
 226             value = -value;
 227           value = (value * 5) / 3; // min/10000 => deg/1000000
 228           if (data & (1 << 31))
 229             sportProcessTelemetryPacket(dataId, 0, instance, value, UNIT_GPS_LONGITUDE);
 230           else
 231             sportProcessTelemetryPacket(dataId, 0, instance, value, UNIT_GPS_LATITUDE);
 232         }
 233         else if (dataId >= RBOX_BATT1_FIRST_ID && dataId <= RBOX_BATT2_LAST_ID) {
 234           sportProcessTelemetryPacket(dataId, 0, instance, data & 0xffff);
 235           sportProcessTelemetryPacket(dataId, 1, instance, data >> 16);
 236         }
 237         else if (dataId >= RBOX_CNSP_FIRST_ID && dataId <= RBOX_CNSP_LAST_ID) {
 238           sportProcessTelemetryPacket(dataId, 0, instance, data & 0xffff);
 239           sportProcessTelemetryPacket(dataId, 1, instance, data >> 16);
 240         }
 241         else if (dataId >= RBOX_STATE_FIRST_ID && dataId <= RBOX_STATE_LAST_ID) {
 242           bool static isRB10 = false;
 243           uint16_t newServosState;
 244
 245           if (servosState == 0 && (data & 0xff00) == 0xff00) {
 246             isRB10 = true;
 247           }
 248           if (isRB10) {
 249             newServosState = data & 0x00ff; // 8ch only RB10
 250           }
 251           else {
 252             newServosState = data & 0xffff;
 253           }
 254           if (newServosState != 0 && servosState == 0) {
 255             audioEvent(AU_SERVO_KO);
 256           }
 257           uint16_t newRboxState = data >> 16;
 258           if ((newRboxState & 0x07) && (rboxState & 0x07) == 0) {
 259             audioEvent(AU_RX_OVERLOAD);
 260           }
 261           servosState = newServosState;
 262           rboxState = newRboxState;
 263           sportProcessTelemetryPacket(dataId, 0, instance, servosState);
 264           sportProcessTelemetryPacket(dataId, 1, instance, rboxState);
 265         }
 266         else if (dataId >= ESC_POWER_FIRST_ID && dataId <= ESC_POWER_LAST_ID) {
 267           sportProcessTelemetryPacket(dataId, 0, instance, data & 0xffff);
 268           sportProcessTelemetryPacket(dataId, 1, instance, data >> 16);
 269         }
 270         else if (dataId >= ESC_RPM_CONS_FIRST_ID && dataId <= ESC_RPM_CONS_LAST_ID) {
 271           sportProcessTelemetryPacket(dataId, 0, instance, 100 * (data & 0xffff));
 272           sportProcessTelemetryPacket(dataId, 1, instance, data >> 16);
 273         }
 274         else if (dataId >= ESC_TEMPERATURE_FIRST_ID && dataId <= ESC_TEMPERATURE_LAST_ID) {
 275           sportProcessTelemetryPacket(dataId, 0, instance, data & 0x00ff);
 276         }
 277         else if (dataId >= SBEC_POWER_FIRST_ID && dataId <= SBEC_POWER_LAST_ID) {
 278           sportProcessTelemetryPacket(dataId, 0, instance, (data & 0xffff) / 10);
 279           sportProcessTelemetryPacket(dataId, 1, instance, (data >> 16) / 10);
 280         }
 281         else if (dataId >= DIY_STREAM_FIRST_ID && dataId <= DIY_STREAM_LAST_ID) {
 282 #if defined(LUA)
 283           if (luaInputTelemetryFifo && luaInputTelemetryFifo->hasSpace(sizeof(SportTelemetryPacket))) {
 284             SportTelemetryPacket luaPacket;
 285             luaPacket.physicalId = physicalId;
 286             luaPacket.primId = primId;
 287             luaPacket.dataId = dataId;
 288             luaPacket.value = data;
 289             for (uint8_t i=0; i<sizeof(SportTelemetryPacket); i++) {
 290               luaInputTelemetryFifo->push(luaPacket.raw[i]);
 291             }
 292           }
 293 #endif
 294         }
 295         else {
 296           sportProcessTelemetryPacket(dataId, 0, instance, data);
 297         }
 298       }
 299     }
 300   }
 301 #if defined(LUA)
 302   else if (primId == 0x32) {
 303     if (luaInputTelemetryFifo && luaInputTelemetryFifo->hasSpace(sizeof(SportTelemetryPacket))) {
 304       SportTelemetryPacket luaPacket;
 305       luaPacket.physicalId = physicalId;
 306       luaPacket.primId = primId;
 307       luaPacket.dataId = dataId;
 308       luaPacket.value = data;
 309       for (uint8_t i=0; i<sizeof(SportTelemetryPacket); i++) {
 310         luaInputTelemetryFifo->push(luaPacket.raw[i]);
 311       }
 312     }
 313   }
 314 #endif
 315 }
 316
 317 void frskySportSetDefault(int index, uint16_t id, uint8_t subId, uint8_t instance)
 318 {
 319   TelemetrySensor & telemetrySensor = g_model.telemetrySensors[index];
 320
 321   telemetrySensor.id = id;
 322   telemetrySensor.subId = subId;
 323   telemetrySensor.instance = instance;
 324
 325   const FrSkySportSensor * sensor = getFrSkySportSensor(id, subId);
 326   if (sensor) {
 327     TelemetryUnit unit = sensor->unit;
 328     uint8_t prec = min<uint8_t>(2, sensor->prec);
 329     telemetrySensor.init(sensor->name, unit, prec);
 330     if (id >= ADC1_ID && id <= BATT_ID) {
 331       telemetrySensor.custom.ratio = 132;
 332       telemetrySensor.filter = 1;
 333     }
 334     else if (id >= CURR_FIRST_ID && id <= CURR_LAST_ID) {
 335       telemetrySensor.onlyPositive = 1;
 336     }
 337     else if (id >= ALT_FIRST_ID && id <= ALT_LAST_ID) {
 338       telemetrySensor.autoOffset = 1;
 339     }
 340     if (unit == UNIT_RPMS) {
 341       telemetrySensor.custom.ratio = 1;
 342       telemetrySensor.custom.offset = 1;
 343     }
 344     else if (unit == UNIT_METERS) {
 345       if (IS_IMPERIAL_ENABLE()) {
 346         telemetrySensor.unit = UNIT_FEET;
 347       }
 348     }
 349     else if (unit == UNIT_GPS_LATITUDE || unit == UNIT_GPS_LONGITUDE) {
 350       telemetrySensor.unit = UNIT_GPS;
 351     }
 352   }
 353   else {
 354     telemetrySensor.init(id);
 355   }
 356
 357   storageDirty(EE_MODEL);
 358 }