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sync this with MultiType enum from mw.h -const char *mixerNames[] = { +const char * const mixerNames[] = { "TRI", "QUADP", "QUADX", "BI", "GIMBAL", "Y6", "HEX6", "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX", @@ -38,7 +38,7 @@ const char *mixerNames[] = { }; // sync this with AvailableFeatures enum from board.h -const char *featureNames[] = { +const char * const featureNames[] = { "PPM", "VBAT", "INFLIGHT_ACC_CAL", "SPEKTRUM", "MOTOR_STOP", "SERVO_TILT", "GYRO_SMOOTHING", "LED_RING", "GPS", "FAILSAFE", "SONAR", "TELEMETRY", @@ -46,12 +46,12 @@ const char *featureNames[] = { }; // sync this with AvailableSensors enum from board.h -const char *sensorNames[] = { +const char * const sensorNames[] = { "ACC", "BARO", "MAG", "SONAR", "GPS", NULL }; // -const char *accNames[] = { +const char * const accNames[] = { "", "ADXL345", "MPU6050", "MMA845x", NULL }; diff --git a/src/gps.c b/src/gps.c index 07f3367a4..c6aaa320a 100644 --- a/src/gps.c +++ b/src/gps.c @@ -5,13 +5,13 @@ #define sq(x) ((x)*(x)) #endif -uint32_t init_speed[5] = { 9600, 19200, 38400, 57600, 115200 }; +const uint32_t init_speed[5] = { 9600, 19200, 38400, 57600, 115200 }; static void GPS_NewData(uint16_t c); static void GPS_set_pids(void); static void gpsPrint(const char *str); -static const char *gpsInitStrings[] = { +static const char * const gpsInitStrings[] = { "$PUBX,41,1,0003,0001,19200,0*23\r\n", // UBX0..3 "$PUBX,41,1,0003,0001,38400,0*26\r\n", "$PUBX,41,1,0003,0001,57600,0*2D\r\n", diff --git a/src/telemetry.c b/src/telemetry.c index 5c9e502cf..dc5f81440 100644 --- a/src/telemetry.c +++ b/src/telemetry.c @@ -4,49 +4,101 @@ #include "board.h" #include "mw.h" -#define CYCLETIME 200 +#define CYCLETIME 125 + +#define PROTOCOL_HEADER 0x5E +#define PROTOCOL_TAIL 0x5E + +// Data Ids (bp = before decimal point; af = after decimal point) +// Official data IDs +#define ID_GPS_ALTIDUTE_BP 0x01 +#define ID_GPS_ALTIDUTE_AP 0x09 +#define ID_TEMPRATURE1 0x02 +#define ID_RPM 0x03 +#define ID_FUEL_LEVEL 0x04 +#define ID_TEMPRATURE2 0x05 +#define ID_VOLT 0x06 +#define ID_ALTITUDE_BP 0x10 +#define ID_ALTITUDE_AP 0x21 +#define ID_GPS_SPEED_BP 0x11 +#define ID_GPS_SPEED_AP 0x19 +#define ID_LONGITUDE_BP 0x12 +#define ID_LONGITUDE_AP 0x1A +#define ID_E_W 0x22 +#define ID_LATITUDE_BP 0x13 +#define ID_LATITUDE_AP 0x1B +#define ID_N_S 0x23 +#define ID_COURSE_BP 0x14 +#define ID_COURSE_AP 0x1C +#define ID_DATE_MONTH 0x15 +#define ID_YEAR 0x16 +#define ID_HOUR_MINUTE 0x17 +#define ID_SECOND 0x18 +#define ID_ACC_X 0x24 +#define ID_ACC_Y 0x25 +#define ID_ACC_Z 0x26 +#define ID_VOLTAGE_AMP_BP 0x3A +#define ID_VOLTAGE_AMP_AP 0x3B +#define ID_CURRENT 0x28 +// User defined data IDs +#define ID_GYRO_X 0x40 +#define ID_GYRO_Y 0x41 +#define ID_GYRO_Z 0x42 static void sendDataHead(uint8_t id) { - uartWrite(0x5E); + uartWrite(PROTOCOL_HEADER); uartWrite(id); } static void sendTelemetryTail(void) { - uartWrite(0x5E); + uartWrite(PROTOCOL_TAIL); +} + +static void serializeFrsky(uint8_t data) +{ + // take care of byte stuffing + if (data == 0x5e) { + uartWrite(0x5d); + uartWrite(0x3e); + } else if (data == 0x5d) { + uartWrite(0x5d); + uartWrite(0x3d); + } else + uartWrite(data); } static void serialize16(int16_t a) { uint8_t t; t = a; - uartWrite(t); + serializeFrsky(t); t = a >> 8 & 0xff; - uartWrite(t); + serializeFrsky(t); } static void sendAccel(void) { - uint8_t i; + int i; for (i = 0; i < 3; i++) { - sendDataHead(0x24 + i); + sendDataHead(ID_ACC_X + i); serialize16(((float)accSmooth[i] / acc_1G) * 1000); } } static void sendBaro(void) { - sendDataHead(0x10); + sendDataHead(ID_ALTITUDE_BP); serialize16(EstAlt / 100); - sendDataHead(0x21); + sendDataHead(ID_ALTITUDE_AP); serialize16(EstAlt % 100); } static void sendTemperature1(void) { - sendDataHead(0x02); + sendDataHead(ID_TEMPRATURE1); serialize16(telemTemperature1 / 10); } @@ -56,30 +108,50 @@ static void sendTime(void) uint8_t minutes = (seconds / 60) % 60; // if we fly for more than an hour, something's wrong anyway - sendDataHead(0x17); + sendDataHead(ID_HOUR_MINUTE); serialize16(minutes << 8); - sendDataHead(0x18); + sendDataHead(ID_SECOND); serialize16(seconds % 60); } static void sendGPS(void) { - sendDataHead(0x13); + sendDataHead(ID_LATITUDE_BP); serialize16(abs(GPS_coord[LAT]) / 100000); - sendDataHead(0x13 + 8); + sendDataHead(ID_LATITUDE_AP); serialize16((abs(GPS_coord[LAT]) / 100000) % 10000); - sendDataHead(0x1B + 8); + sendDataHead(ID_N_S); serialize16(GPS_coord[LAT] < 0 ? 'S' : 'N'); - sendDataHead(0x12); + sendDataHead(ID_LONGITUDE_BP); serialize16(abs(GPS_coord[LON]) / 100000); - sendDataHead(0x12 + 8); + sendDataHead(ID_LONGITUDE_AP); serialize16((abs(GPS_coord[LON]) / 100000) % 10000); - sendDataHead(0x1A + 8); + sendDataHead(ID_E_W); serialize16(GPS_coord[LON] < 0 ? 'W' : 'E'); } +static void sendVoltage(void) +{ + uint16_t voltage; + + voltage = (vbat * 110) / 21; + + sendDataHead(ID_VOLTAGE_AMP_BP); + serialize16(voltage / 100); + sendDataHead(ID_VOLTAGE_AMP_AP); + serialize16(((voltage % 100) + 5) / 10); +} + +static void sendHeading(void) +{ + sendDataHead(ID_COURSE_BP); + serialize16(heading); + sendDataHead(ID_COURSE_AP); + serialize16(0); +} + static bool telemetryEnabled = false; void initTelemetry(bool State) @@ -102,20 +174,26 @@ void sendTelemetry(void) lastCycleTime = millis(); cycleNum++; - // Frame 1: sent every 200ms + // Sent every 125ms sendAccel(); - sendBaro(); - sendTemperature1(); sendTelemetryTail(); - if ((cycleNum % 5) == 0) { // Frame 2: Sent every 1s - if (sensors(SENSOR_GPS)) { + if ((cycleNum % 4) == 0) { // Sent every 500ms + sendBaro(); + sendHeading(); + sendTelemetryTail(); + } + + if ((cycleNum % 8) == 0) { // Sent every 1s + sendTemperature1(); + if (feature(FEATURE_VBAT)) + sendVoltage(); + if (sensors(SENSOR_GPS)) sendGPS(); - sendTelemetryTail(); - } + sendTelemetryTail(); } - if (cycleNum == 25) { //Frame 3: Sent every 5s + if (cycleNum == 40) { //Frame 3: Sent every 5s cycleNum = 0; sendTime(); sendTelemetryTail();