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Bayang: add PID to telemetry

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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
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29
Multiprotocol/Bayang_nrf24l01.ino
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@ -218,7 +218,7 @@ static void __attribute__((unused)) BAYANG_check_rx(void)
for (uint8_t i=1; i < BAYANG_PACKET_SIZE-1; i++) for (uint8_t i=1; i < BAYANG_PACKET_SIZE-1; i++)
check += packet[i]; check += packet[i];
// decode data , check sum is ok as well, since there is no crc // 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 // uncompensated battery volts*100/2
v_lipo1 = (packet[3]<<7) + (packet[4]>>1); v_lipo1 = (packet[3]<<7) + (packet[4]>>1);
@ -230,9 +230,32 @@ static void __attribute__((unused)) BAYANG_check_rx(void)
//Flags //Flags
//uint8_t flags = packet[3] >> 3; //uint8_t flags = packet[3] >> 3;
// battery low: flags & 1 // 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++; telemetry_counter++;
if(telemetry_lost==0) if(telemetry_lost==0)
telemetry_link=1; #if defined HUB_TELEMETRY
telemetry_link=3;
#else
telemetry_link=1;
#endif
} }
} }
NRF24L01_SetTxRxMode(TXRX_OFF); NRF24L01_SetTxRxMode(TXRX_OFF);
@ -367,4 +390,4 @@ uint16_t initBAYANG(void)
return BAYANG_INITIAL_WAIT+BAYANG_PACKET_PERIOD; return BAYANG_INITIAL_WAIT+BAYANG_PACKET_PERIOD;
} }
#endif #endif

2
Multiprotocol/Multiprotocol.h
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@ -19,7 +19,7 @@
#define VERSION_MAJOR 1 #define VERSION_MAJOR 1
#define VERSION_MINOR 3 #define VERSION_MINOR 3
#define VERSION_REVISION 2 #define VERSION_REVISION 2
#define VERSION_PATCH_LEVEL 25 #define VERSION_PATCH_LEVEL 26
//****************** //******************
// Protocols // Protocols

8
Multiprotocol/Telemetry.ino
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@ -535,7 +535,7 @@ void frsky_link_frame()
frame[1] = v_lipo1; frame[1] = v_lipo1;
frame[2] = v_lipo2; frame[2] = v_lipo2;
frame[3] = RX_RSSI; frame[3] = RX_RSSI;
telemetry_link=0; telemetry_link &= ~1 ; // Sent
} }
frame[4] = TX_RSSI; frame[4] = TX_RSSI;
frame[5] = RX_LQI; frame[5] = RX_LQI;
@ -563,7 +563,7 @@ void frsky_user_frame()
else else
{ {
frame[1]=telemetry_in_buffer[6]; // packet size frame[1]=telemetry_in_buffer[6]; // packet size
telemetry_link=0; // only 1 packet or processing second packet telemetry_link &= ~2; // only 1 packet or processing second packet
} }
frame[2] = telemetry_in_buffer[7]; frame[2] = telemetry_in_buffer[7];
for(uint8_t i=0;i<USER_MAX_BYTES;i++) for(uint8_t i=0;i<USER_MAX_BYTES;i++)
@ -578,7 +578,7 @@ void frsky_user_frame()
#endif #endif
} }
else else
telemetry_link=0; telemetry_link &= ~2;
} }
/* /*
HuB RX packets. HuB RX packets.
@ -958,7 +958,7 @@ void TelemetryUpdate()
return; return;
} }
#if defined HUB_TELEMETRY #if defined HUB_TELEMETRY
if((telemetry_link & 2) && protocol == PROTO_FRSKYD) if((telemetry_link & 2) && ( protocol == PROTO_FRSKYD || protocol == PROTO_BAYANG ) )
{ // FrSkyD { // FrSkyD
frsky_user_frame(); frsky_user_frame();
return; return;

2
Protocols_Details.md
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@ -910,7 +910,7 @@ Models: Eachine H8(C) mini, BayangToys X6/X7/X9, JJRC JJ850, Floureon H101 ...
Option=0 -> normal Bayang protocol Option=0 -> normal Bayang protocol
Option=1 -> enable telemetry with [Silverxxx firmware](https://github.com/silver13/H101-acro/tree/master). Value returned to the TX using FrSkyD Hub are RX RSSI, TX RSSI, A1=uncompensated battery voltage (set the ratio to 5.0 and adjust with offset), A2=compensated battery voltage (set the ratio to 5.0 and adjust with offset) Option=1 -> enable telemetry with [Silverxxx firmware](https://github.com/silver13/H101-acro/tree/master). Value returned to the TX using FrSkyD Hub are RX RSSI, TX RSSI, A1=uncompensated battery voltage (set the ratio to 5.0 and adjust with offset), A2=compensated battery voltage (set the ratio to 5.0 and adjust with offset) and if supported AccX=P, AccY=I, ACCZ=D
Option=2 -> enable analog aux channels with [NFE Silverware firmware](https://github.com/NotFastEnuf/NFE_Silverware). Two otherwise static bytes in the protocol overridden to add two 'analog' (non-binary) auxiliary channels. Option=2 -> enable analog aux channels with [NFE Silverware firmware](https://github.com/NotFastEnuf/NFE_Silverware). Two otherwise static bytes in the protocol overridden to add two 'analog' (non-binary) auxiliary channels.