src/main/telemetry/telemetry.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stddef.h>
  19 #include <stdbool.h>
  20 #include <stdint.h>
  21
  22 #include "platform.h"
  23
  24 #ifdef TELEMETRY
  25
  26 #include "common/utils.h"
  27
  28 #include "config/parameter_group.h"
  29 #include "config/parameter_group_ids.h"
  30
  31 #include "drivers/timer.h"
  32 #include "drivers/serial.h"
  33 #include "drivers/serial_softserial.h"
  34
  35 #include "io/serial.h"
  36
  37 #include "fc/config.h"
  38 #include "fc/rc_controls.h"
  39 #include "fc/runtime_config.h"
  40
  41 #include "msp/msp_serial.h"
  42
  43 #include "rx/rx.h"
  44
  45 #include "telemetry/telemetry.h"
  46 #include "telemetry/frsky.h"
  47 #include "telemetry/hott.h"
  48 #include "telemetry/smartport.h"
  49 #include "telemetry/ltm.h"
  50 #include "telemetry/jetiexbus.h"
  51 #include "telemetry/mavlink.h"
  52 #include "telemetry/crsf.h"
  53 #include "telemetry/srxl.h"
  54 #include "telemetry/ibus.h"
  55
  56
  57 PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0);
  58
  59 #if defined(STM32F3)
  60 #define TELEMETRY_DEFAULT_INVERSION 1
  61 #else
  62 #define TELEMETRY_DEFAULT_INVERSION 0
  63 #endif
  64
  65 PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
  66     .telemetry_inversion = TELEMETRY_DEFAULT_INVERSION,
  67     .halfDuplex = 1,
  68     .telemetry_switch = 0,
  69     .gpsNoFixLatitude = 0,
  70     .gpsNoFixLongitude = 0,
  71     .frsky_coordinate_format = FRSKY_FORMAT_DMS,
  72     .frsky_unit = FRSKY_UNIT_METRICS,
  73     .frsky_vfas_precision = 0,
  74     .frsky_vfas_cell_voltage = 0,
  75     .hottAlarmSoundInterval = 5,
  76     .pidValuesAsTelemetry = 0,
  77     .report_cell_voltage = false
  78 );
  79
  80 void telemetryInit(void)
  81 {
  82 #ifdef TELEMETRY_FRSKY
  83     initFrSkyTelemetry();
  84 #endif
  85 #ifdef TELEMETRY_HOTT
  86     initHoTTTelemetry();
  87 #endif
  88 #ifdef TELEMETRY_SMARTPORT
  89     initSmartPortTelemetry();
  90 #endif
  91 #ifdef TELEMETRY_LTM
  92     initLtmTelemetry();
  93 #endif
  94 #ifdef TELEMETRY_JETIEXBUS
  95     initJetiExBusTelemetry();
  96 #endif
  97 #ifdef TELEMETRY_MAVLINK
  98     initMAVLinkTelemetry();
  99 #endif
 100 #ifdef TELEMETRY_CRSF
 101     initCrsfTelemetry();
 102 #endif
 103 #ifdef TELEMETRY_SRXL
 104     initSrxlTelemetry();
 105 #endif
 106 #ifdef TELEMETRY_IBUS
 107     initIbusTelemetry();
 108 #endif
 109
 110     telemetryCheckState();
 111 }
 112
 113 bool telemetryDetermineEnabledState(portSharing_e portSharing)
 114 {
 115     bool enabled = portSharing == PORTSHARING_NOT_SHARED;
 116
 117     if (portSharing == PORTSHARING_SHARED) {
 118         if (telemetryConfig()->telemetry_switch)
 119             enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
 120         else
 121             enabled = ARMING_FLAG(ARMED);
 122     }
 123
 124     return enabled;
 125 }
 126
 127 bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
 128 {
 129     if (portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK) {
 130         return true;
 131     }
 132 #ifdef TELEMETRY_IBUS
 133     if (   portConfig->functionMask & FUNCTION_TELEMETRY_IBUS
 134         && portConfig->functionMask & FUNCTION_RX_SERIAL
 135         && rxConfig()->serialrx_provider == SERIALRX_IBUS) {
 136         // IBUS serial RX & telemetry
 137         return true;
 138     }
 139 #endif
 140     return false;
 141 }
 142
 143 serialPort_t *telemetrySharedPort = NULL;
 144
 145 void telemetryCheckState(void)
 146 {
 147 #ifdef TELEMETRY_FRSKY
 148     checkFrSkyTelemetryState();
 149 #endif
 150 #ifdef TELEMETRY_HOTT
 151     checkHoTTTelemetryState();
 152 #endif
 153 #ifdef TELEMETRY_SMARTPORT
 154     checkSmartPortTelemetryState();
 155 #endif
 156 #ifdef TELEMETRY_LTM
 157     checkLtmTelemetryState();
 158 #endif
 159 #ifdef TELEMETRY_JETIEXBUS
 160     checkJetiExBusTelemetryState();
 161 #endif
 162 #ifdef TELEMETRY_MAVLINK
 163     checkMAVLinkTelemetryState();
 164 #endif
 165 #ifdef TELEMETRY_CRSF
 166     checkCrsfTelemetryState();
 167 #endif
 168 #ifdef TELEMETRY_SRXL
 169     checkSrxlTelemetryState();
 170 #endif
 171 #ifdef TELEMETRY_IBUS
 172     checkIbusTelemetryState();
 173 #endif
 174 }
 175
 176 void telemetryProcess(uint32_t currentTime)
 177 {
 178 #ifdef TELEMETRY_FRSKY
 179     handleFrSkyTelemetry();
 180 #endif
 181 #ifdef TELEMETRY_HOTT
 182     handleHoTTTelemetry(currentTime);
 183 #else
 184     UNUSED(currentTime);
 185 #endif
 186 #ifdef TELEMETRY_SMARTPORT
 187     handleSmartPortTelemetry();
 188 #endif
 189 #ifdef TELEMETRY_LTM
 190     handleLtmTelemetry();
 191 #endif
 192 #ifdef TELEMETRY_JETIEXBUS
 193     handleJetiExBusTelemetry();
 194 #endif
 195 #ifdef TELEMETRY_MAVLINK
 196     handleMAVLinkTelemetry();
 197 #endif
 198 #ifdef TELEMETRY_CRSF
 199     handleCrsfTelemetry(currentTime);
 200 #endif
 201 #ifdef TELEMETRY_SRXL
 202     handleSrxlTelemetry(currentTime);
 203 #endif
 204 #ifdef TELEMETRY_IBUS
 205     handleIbusTelemetry();
 206 #endif
 207 }
 208
 209 #define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_SMARTPORT)
 210
 211 void releaseSharedTelemetryPorts(void) {
 212     serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
 213     while (sharedPort) {
 214         mspSerialReleasePortIfAllocated(sharedPort);
 215         sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
 216     }
 217 }
 218 #endif