gomaomao/DIY-Multiprotocol-TX-Module
1
0
Fork 0
mirror of https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git synced 2026-01-09 01:23:20 +00:00
Code Issues Projects Releases Wiki Activity

Bayang: add PID to telemetry

Browse Source
This commit is contained in:
Pascal Langer
2021-02-03 19:44:59 +01:00
parent 43d969f962
commit c866d07743
4 changed files with 32 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
Multiprotocol/Bayang_nrf24l01.ino
View File

@@ -218,7 +218,7 @@ static void __attribute__((unused)) BAYANG_check_rx(void)
for (uint8_t i=1; i < BAYANG_PACKET_SIZE-1; i++)
check += packet[i];
// decode data , check sum is ok as well, since there is no crc
if (packet[0] == 0x85 && packet[14] == check)
if (packet[0] == 0x85 && packet[14] == check && telemetry_link == 0)
{
// uncompensated battery volts*100/2
v_lipo1 = (packet[3]<<7) + (packet[4]>>1);
@@ -230,9 +230,32 @@ static void __attribute__((unused)) BAYANG_check_rx(void)
//Flags
//uint8_t flags = packet[3] >> 3;
// battery low: flags & 1
#if defined HUB_TELEMETRY
// Multiplexed P, I, D values in packet[8] and packet[9].
// The two most significant bits specify which term is sent.
// Remaining 14 bits represent the value: 0 .. 16383 telemetry_in_buffer[6] = 4;
telemetry_in_buffer[6] = 0x04;
telemetry_in_buffer[7] = 0x00;
telemetry_in_buffer[8] = 0x5E;
telemetry_in_buffer[9] = 0x24+(packet[8]>>6); //0x24 = ACCEL_X_ID, so ACCEL_X_ID=P, ACCEL_Y_ID=I, ACCEL_Z_ID=D
uint8_t pos=11;
telemetry_in_buffer[10] = packet[9];
if(telemetry_in_buffer[10] == 0x5D || telemetry_in_buffer[10] == 0x5E)
{// Byte stuffing... I'm not sure if we really care about these 2 values, may be it would be simpler and shorter to just send the value above or below.
telemetry_in_buffer[11] = telemetry_in_buffer[10] ^ 0x60;
telemetry_in_buffer[10] = 0x5D;
telemetry_in_buffer[6]++;
pos++;
}
telemetry_in_buffer[pos] = packet[8] & 0x3F;
#endif
telemetry_counter++;
if(telemetry_lost==0)
telemetry_link=1;
#if defined HUB_TELEMETRY
telemetry_link=3;
#else
telemetry_link=1;
#endif
}
}
NRF24L01_SetTxRxMode(TXRX_OFF);
@@ -367,4 +390,4 @@ uint16_t initBAYANG(void)
return BAYANG_INITIAL_WAIT+BAYANG_PACKET_PERIOD;
}
#endif
#endif