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ibus_shared.c
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ibus_shared.c
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#include "telemetry/ibus_shared.h"
#if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_IBUS)
#include "common/maths.h"
#include "common/axis.h"
#include "drivers/serial.h"
#include "fc/fc_core.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "scheduler/scheduler.h"
#include "io/serial.h"
#include "sensors/barometer.h"
#include "sensors/temperature.h"
#include "sensors/acceleration.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"
#include "sensors/pitotmeter.h"
#include "flight/imu.h"
#include "flight/failsafe.h"
#include "navigation/navigation.h"
#include "telemetry/ibus.h"
#include "telemetry/telemetry.h"
#include "fc/config.h"
#include "config/feature.h"
#include "io/gps.h"
#define IBUS_TEMPERATURE_OFFSET (0x0190)
typedef uint8_t ibusAddress_t;
typedef enum {
IBUS_COMMAND_DISCOVER_SENSOR = 0x80,
IBUS_COMMAND_SENSOR_TYPE = 0x90,
IBUS_COMMAND_MEASUREMENT = 0xA0
} ibusCommand_e;
typedef struct IBUS_SENSOR {
uint8_t type;
uint8_t size;
uint8_t value;
} IBUS_SENSOR;
static IBUS_SENSOR SENSOR_ADDRESS_TYPE_LOOKUP[] = {
{.type = IBUS_MEAS_TYPE_INTERNAL_VOLTAGE, .size = 2, .value = IBUS_MEAS_VALUE_NONE }, // Address 0, sensor 1, not usable since it is reserved for internal voltage
{.type = IBUS_MEAS_TYPE_EXTERNAL_VOLTAGE, .size = 2, .value = IBUS_MEAS_VALUE_EXTERNAL_VOLTAGE }, // Address 1 ,sensor 2, VBAT
{.type = IBUS_MEAS_TYPE_TEMPERATURE, .size = 2, .value = IBUS_MEAS_VALUE_TEMPERATURE }, // Address 2, sensor 3, Baro/Gyro Temp
{.type = IBUS_MEAS_TYPE_RPM, .size = 2, .value = IBUS_MEAS_VALUE_STATUS }, // Address 3, sensor 4, Status AS RPM
{.type = IBUS_MEAS_TYPE_RPM, .size = 2, .value = IBUS_MEAS_VALUE_ACC_Z }, // Address 4, sensor 5, MAG_COURSE in deg AS RPM
{.type = IBUS_MEAS_TYPE_EXTERNAL_VOLTAGE, .size = 2, .value = IBUS_MEAS_VALUE_CURRENT }, // Address 5, sensor 6, Current in A AS ExtV
{.type = IBUS_MEAS_TYPE_EXTERNAL_VOLTAGE, .size = 2, .value = IBUS_MEAS_VALUE_ALT }, // Address 6, sensor 7, Baro Alt in cm AS ExtV
{.type = IBUS_MEAS_TYPE_RPM, .size = 2, .value = IBUS_MEAS_VALUE_HEADING }, // Address 7, sensor 8, HOME_DIR in deg AS RPM
{.type = IBUS_MEAS_TYPE_RPM, .size = 2, .value = IBUS_MEAS_VALUE_DIST }, // Address 8, sensor 9, HOME_DIST in m AS RPM
{.type = IBUS_MEAS_TYPE_RPM, .size = 2, .value = IBUS_MEAS_VALUE_COG }, // Address 9, sensor 10,GPS_COURSE in deg AS RPM
{.type = IBUS_MEAS_TYPE_RPM, .size = 2, .value = IBUS_MEAS_VALUE_GALT }, // Address 10,sensor 11,GPS_ALT in m AS RPM (ALT m)
{.type = IBUS_MEAS_TYPE_RPM, .size = 2, .value = IBUS_MEAS_VALUE_GPS_LAT2 }, // Address 11,sensor 12,GPS_LAT2 AS RPM 5678 (-12.3456789 N)
{.type = IBUS_MEAS_TYPE_RPM, .size = 2, .value = IBUS_MEAS_VALUE_GPS_LON2 }, // Address 12,sensor 13,GPS_LON2 AS RPM 6789 (-123.4567890 E)
{.type = IBUS_MEAS_TYPE_EXTERNAL_VOLTAGE, .size = 2, .value = IBUS_MEAS_VALUE_GPS_LAT1 }, // Address 13,sensor 14,GPS_LAT1 AS ExtV -12.45 (-12.3456789 N)
{.type = IBUS_MEAS_TYPE_EXTERNAL_VOLTAGE, .size = 2, .value = IBUS_MEAS_VALUE_GPS_LON1 }, // Address 14,sensor 15,GPS_LON1 AS ExtV -123.45 (-123.4567890 E)
{.type = IBUS_MEAS_TYPE_RPM, .size = 2, .value = IBUS_MEAS_VALUE_SPE } // Address 15,sensor 16,GPS_SPEED in km/h AS RPM (SPE km\h)
};
static serialPort_t *ibusSerialPort = NULL;
static uint8_t transmitIbusPacket(uint8_t ibusPacket[static IBUS_MIN_LEN], size_t packetLength) {
uint16_t checksum = ibusCalculateChecksum(ibusPacket, packetLength);
ibusPacket[packetLength - IBUS_CHECKSUM_SIZE] = (checksum & 0xFF);
ibusPacket[packetLength - IBUS_CHECKSUM_SIZE + 1] = (checksum >> 8);
for (size_t i = 0; i < packetLength; i++) {
serialWrite(ibusSerialPort, ibusPacket[i]);
}
return packetLength;
}
static uint8_t sendIbusCommand(ibusAddress_t address) {
uint8_t sendBuffer[] = { 0x04, IBUS_COMMAND_DISCOVER_SENSOR | address, 0x00, 0x00 };
return transmitIbusPacket(sendBuffer, sizeof sendBuffer);
}
static uint8_t sendIbusSensorType(ibusAddress_t address) {
uint8_t sendBuffer[] = { 0x06, IBUS_COMMAND_SENSOR_TYPE | address, SENSOR_ADDRESS_TYPE_LOOKUP[address].type, SENSOR_ADDRESS_TYPE_LOOKUP[address].size, 0x0, 0x0 };
return transmitIbusPacket(sendBuffer, sizeof sendBuffer);
}
static uint8_t sendIbusMeasurement2(ibusAddress_t address, uint16_t measurement) {
uint8_t sendBuffer[] = { 0x06, IBUS_COMMAND_MEASUREMENT | address, measurement & 0xFF, (measurement >> 8) & 0xFF, 0x0, 0x0 };
return transmitIbusPacket(sendBuffer, sizeof sendBuffer);
}
static uint8_t sendIbusMeasurement4(ibusAddress_t address, int32_t measurement) {
uint8_t sendBuffer[] = { 0x08, IBUS_COMMAND_MEASUREMENT | address,
measurement & 0xFF, (measurement >> 8) & 0xFF, (measurement >> 16) & 0xFF, (measurement >> 24) & 0xFF,
0x0, 0x0 };
return transmitIbusPacket(sendBuffer, sizeof sendBuffer);
}
static bool isCommand(ibusCommand_e expected, uint8_t ibusPacket[static IBUS_MIN_LEN]) {
return (ibusPacket[1] & 0xF0) == expected;
}
static ibusAddress_t getAddress(uint8_t ibusPacket[static IBUS_MIN_LEN]) {
return (ibusPacket[1] & 0x0F);
}
// MANUAL, ACRO, AIR, ANGLE, HRZN, ALTHOLD, POSHOLD, RTH, WP, CRUISE, LAUNCH, FAILSAFE
static uint8_t flightModeToIBusTelemetryMode1[FLM_COUNT] = { 0, 1, 1, 3, 2, 5, 6, 7, 4, 4, 8, 9 };
static uint8_t flightModeToIBusTelemetryMode2[FLM_COUNT] = { 5, 1, 1, 0, 7, 2, 8, 6, 3, 3, 4, 9 };
static uint8_t dispatchMeasurementRequest(ibusAddress_t address) {
#if defined(USE_GPS)
uint8_t fix = 0;
if (sensors(SENSOR_GPS)) {
if (gpsSol.fixType == GPS_NO_FIX) fix = 1;
else if (gpsSol.fixType == GPS_FIX_2D) fix = 2;
else if (gpsSol.fixType == GPS_FIX_3D) fix = 3;
}
#endif
if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_TEMPERATURE) { //BARO_TEMP\GYRO_TEMP
int16_t temperature;
const bool temp_valid = sensors(SENSOR_BARO) ? getBaroTemperature(&temperature) : getIMUTemperature(&temperature);
if (!temp_valid || (temperature < -400)) temperature = -400; // Minimum reported temperature is -40°C
return sendIbusMeasurement2(address, (uint16_t)(temperature + IBUS_TEMPERATURE_OFFSET));
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_RPM) {
return sendIbusMeasurement2(address, (uint16_t) (rcCommand[THROTTLE]));
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_EXTERNAL_VOLTAGE) { //VBAT
if (telemetryConfig()->report_cell_voltage) {
return sendIbusMeasurement2(address, getBatteryAverageCellVoltage());
} else {
return sendIbusMeasurement2(address, getBatteryVoltage());
}
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_CURRENT) { //CURR in 10*mA, 1 = 10 mA
if (isAmperageConfigured()) return sendIbusMeasurement2(address, (uint16_t) getAmperage()); //int32_t
else return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_FUEL) { //capacity in mAh
if (isAmperageConfigured()) return sendIbusMeasurement2(address, (uint16_t) getMAhDrawn()); //int32_t
else return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_CLIMB) {
return sendIbusMeasurement2(address, (int16_t) (getEstimatedActualVelocity(Z))); //
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_ACC_Z) { //MAG_COURSE 0-360*, 0=north
return sendIbusMeasurement2(address, (uint16_t) (attitude.values.yaw * 10)); //in ddeg -> cdeg, 1ddeg = 10cdeg
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_ACC_Y) { //PITCH in
return sendIbusMeasurement2(address, (uint16_t) (-attitude.values.pitch * 10)); //in ddeg -> cdeg, 1ddeg = 10cdeg
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_ACC_X) { //ROLL in
return sendIbusMeasurement2(address, (uint16_t) (attitude.values.roll * 10)); //in ddeg -> cdeg, 1ddeg = 10cdeg
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_VSPEED) { //Speed cm/s
#ifdef USE_PITOT
if (sensors(SENSOR_PITOT)) return sendIbusMeasurement2(address, (uint16_t)getAirspeedEstimate()); //int32_t
else
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_ARMED) { //motorArmed
if ((telemetryConfig()->ibusTelemetryType & 0x7F) < 8) {
return sendIbusMeasurement2(address, ARMING_FLAG(ARMED) ? 0 : 1);
} else {
return sendIbusMeasurement2(address, ARMING_FLAG(ARMED) ? 1 : 0);
}
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_MODE) {
uint16_t flightMode = flightModeToIBusTelemetryMode2[getFlightModeForTelemetry()];
return sendIbusMeasurement2(address, flightMode);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_PRES) { //PRESSURE in dPa -> 9876 is 987.6 hPa
if (sensors(SENSOR_BARO)) return sendIbusMeasurement2(address, (int16_t) (baro.baroPressure / 10)); //int32_t
else return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_ALT) { //BARO_ALT in cm => m
if (sensors(SENSOR_BARO)) return sendIbusMeasurement2(address, (uint16_t) baro.BaroAlt); //int32_t
else return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_ALT4) { //BARO_ALT //In cm => m
if (sensors(SENSOR_BARO)) return sendIbusMeasurement4(address, (int32_t) baro.BaroAlt); //int32_t
else return sendIbusMeasurement4(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_STATUS) { //STATUS sat num AS #0, FIX AS 0, HDOP AS 0, Mode AS 0
uint16_t status = flightModeToIBusTelemetryMode1[getFlightModeForTelemetry()];
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) {
status += gpsSol.numSat * 1000;
status += fix * 100;
if (STATE(GPS_FIX_HOME)) status += 500;
status += constrain(gpsSol.hdop / 1000, 0, 9) * 10;
}
#endif
return sendIbusMeasurement2(address, status);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_HEADING) { //HOME_DIR 0-360deg
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) GPS_directionToHome); else //int16_t
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_DIST) { //HOME_DIST in m
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) GPS_distanceToHome); else //uint16_t
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_SPE) { //GPS_SPEED in cm/s => km/h, 1cm/s = 0.036 km/h
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) gpsSol.groundSpeed * 36 / 100); else //int16_t
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_SPEED) {//SPEED in cm/s
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) gpsSol.groundSpeed); //int16_t
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_COG) { //GPS_COURSE (0-360deg, 0=north)
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) (gpsSol.groundCourse / 10)); else //int16_t
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_GPS_STATUS) { //GPS_STATUS fix sat
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (((uint16_t)fix)<<8) + gpsSol.numSat); else //uint8_t, uint8_t
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_GPS_LAT) { //4byte
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement4(address, (int32_t)gpsSol.llh.lat); else //int32_t
#endif
return sendIbusMeasurement4(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_GPS_LON) { //4byte
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement4(address, (int32_t)gpsSol.llh.lon); else //int32_t
#endif
return sendIbusMeasurement4(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_GPS_LAT1) { //GPS_LAT1 //Lattitude * 1e+7
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) (gpsSol.llh.lat / 100000)); else
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_GPS_LON1) { //GPS_LON1 //Longitude * 1e+7
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) (gpsSol.llh.lon / 100000)); else
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_GPS_LAT2) { //GPS_LAT2 //Lattitude * 1e+7
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) ((gpsSol.llh.lat % 100000)/10));
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_GPS_LON2) { //GPS_LON2 //Longitude * 1e+7
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) ((gpsSol.llh.lon % 100000)/10)); else
#endif
return sendIbusMeasurement2(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_GALT4) { //GPS_ALT //In cm => m
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement4(address, (int32_t) (gpsSol.llh.alt)); else //int32_t
#endif
return sendIbusMeasurement4(address, 0);
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_GALT) { //GPS_ALT //In cm => m
#if defined(USE_GPS)
if (sensors(SENSOR_GPS)) return sendIbusMeasurement2(address, (uint16_t) (gpsSol.llh.alt / 100)); else //int32_t
#endif
return sendIbusMeasurement2(address, 0);
}
else return 0;
}
uint8_t respondToIbusRequest(uint8_t ibusPacket[static IBUS_RX_BUF_LEN]) {
ibusAddress_t returnAddress = getAddress(ibusPacket);
if (returnAddress < sizeof SENSOR_ADDRESS_TYPE_LOOKUP) {
if (isCommand(IBUS_COMMAND_DISCOVER_SENSOR, ibusPacket)) {
return sendIbusCommand(returnAddress);
} else if (isCommand(IBUS_COMMAND_SENSOR_TYPE, ibusPacket)) {
return sendIbusSensorType(returnAddress);
} else if (isCommand(IBUS_COMMAND_MEASUREMENT, ibusPacket)) {
return dispatchMeasurementRequest(returnAddress);
}
}
return 0;
}
void initSharedIbusTelemetry(serialPort_t *port) {
ibusSerialPort = port;
}
void changeTypeIbusTelemetry(uint8_t id, uint8_t type, uint8_t value) {
SENSOR_ADDRESS_TYPE_LOOKUP[id].type = type;
SENSOR_ADDRESS_TYPE_LOOKUP[id].value = value;
if (value == IBUS_MEAS_VALUE_GPS) SENSOR_ADDRESS_TYPE_LOOKUP[id].size = 14;
else if (value == IBUS_MEAS_VALUE_GPS_LAT || value == IBUS_MEAS_VALUE_GPS_LON || value == IBUS_MEAS_VALUE_ALT4 || value == IBUS_MEAS_VALUE_GALT4)
SENSOR_ADDRESS_TYPE_LOOKUP[id].size = 4;
else SENSOR_ADDRESS_TYPE_LOOKUP[id].size = 2;
}
#endif //defined(USE_TELEMETRY) && defined(USE_TELEMETRY_IBUS)