src/main/telemetry/srxl.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <math.h>
  22 #include <stdbool.h>
  23 #include <stdint.h>
  24 #include <stdlib.h>
  25 #include <string.h>
  26
  27 #include "platform.h"
  28
  29 #if defined(USE_TELEMETRY_SRXL)
  30
  31 #include "build/version.h"
  32
  33 #include "cms/cms.h"
  34
  35 #include "common/crc.h"
  36 #include "common/streambuf.h"
  37 #include "common/utils.h"
  38
  39 #include "config/config.h"
  40 #include "config/feature.h"
  41
  42 #include "drivers/dshot.h"
  43 #include "drivers/vtx_common.h"
  44
  45 #include "fc/rc_controls.h"
  46 #include "fc/runtime_config.h"
  47
  48 #include "flight/imu.h"
  49 #include "flight/mixer.h"
  50
  51 #include "io/displayport_srxl.h"
  52 #include "io/gps.h"
  53 #include "io/serial.h"
  54 #include "io/vtx_smartaudio.h"
  55 #include "io/vtx_tramp.h"
  56
  57 #include "pg/rx.h"
  58 #include "pg/motor.h"
  59
  60 #include "rx/rx.h"
  61 #include "rx/spektrum.h"
  62 #include "io/spektrum_vtx_control.h"
  63 #include "rx/srxl2.h"
  64
  65 #include "sensors/adcinternal.h"
  66 #include "sensors/battery.h"
  67 #include "sensors/esc_sensor.h"
  68
  69 #include "telemetry/telemetry.h"
  70
  71 #include "srxl.h"
  72
  73 #define SRXL_ADDRESS_FIRST          0xA5
  74 #define SRXL_ADDRESS_SECOND         0x80
  75 #define SRXL_PACKET_LENGTH          0x15
  76
  77 #define SRXL_FRAMETYPE_TELE_QOS     0x7F
  78 #define SRXL_FRAMETYPE_TELE_RPM     0x7E
  79 #define SRXL_FRAMETYPE_POWERBOX     0x0A
  80 #define SRXL_FRAMETYPE_TELE_FP_MAH  0x34
  81 #define TELE_DEVICE_VTX             0x0D   // Video Transmitter Status
  82 #define SRXL_FRAMETYPE_SID          0x00
  83 #define SRXL_FRAMETYPE_GPS_LOC      0x16   // GPS Location Data (Eagle Tree)
  84 #define SRXL_FRAMETYPE_GPS_STAT     0x17
  85
  86 static bool srxlTelemetryEnabled;
  87 static bool srxl2 = false;
  88 static uint8_t srxlFrame[SRXL_FRAME_SIZE_MAX];
  89
  90 static void srxlInitializeFrame(sbuf_t *dst)
  91 {
  92     if (srxl2) {
  93 #if defined(USE_SERIALRX_SRXL2)
  94       srxl2InitializeFrame(dst);
  95 #endif
  96     } else {
  97         dst->ptr = srxlFrame;
  98         dst->end = ARRAYEND(srxlFrame);
  99
 100         sbufWriteU8(dst, SRXL_ADDRESS_FIRST);
 101         sbufWriteU8(dst, SRXL_ADDRESS_SECOND);
 102         sbufWriteU8(dst, SRXL_PACKET_LENGTH);
 103     }
 104 }
 105
 106 static void srxlFinalize(sbuf_t *dst)
 107 {
 108     if (srxl2) {
 109 #if defined(USE_SERIALRX_SRXL2)
 110       srxl2FinalizeFrame(dst);
 111 #endif
 112     } else {
 113         crc16_ccitt_sbuf_append(dst, &srxlFrame[3]); // start at byte 3, since CRC does not include device address and packet length
 114         sbufSwitchToReader(dst, srxlFrame);
 115         // write the telemetry frame to the receiver.
 116         srxlRxWriteTelemetryData(sbufPtr(dst), sbufBytesRemaining(dst));
 117     }
 118 }
 119
 120 /*
 121 SRXL frame has the structure:
 122 <0xA5><0x80><Length><16-byte telemetry packet><2 Byte CRC of payload>
 123 The <Length> shall be 0x15 (length of the 16-byte telemetry packet + overhead).
 124 */
 125
 126 /*
 127 typedef struct
 128 {
 129     UINT8 identifier; // Source device = 0x7F
 130     UINT8 sID; // Secondary ID
 131     UINT16 A;
 132     UINT16 B;
 133     UINT16 L;
 134     UINT16 R;
 135     UINT16 F;
 136     UINT16 H;
 137     UINT16 rxVoltage; // Volts, 0.01V increments
 138 } STRU_TELE_QOS;
 139 */
 140
 141 #define STRU_TELE_QOS_EMPTY_FIELDS_COUNT 14
 142 #define STRU_TELE_QOS_EMPTY_FIELDS_VALUE 0xff
 143
 144 bool srxlFrameQos(sbuf_t *dst, timeUs_t currentTimeUs)
 145 {
 146     UNUSED(currentTimeUs);
 147
 148     sbufWriteU8(dst, SRXL_FRAMETYPE_TELE_QOS);
 149     sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 150
 151     sbufFill(dst, STRU_TELE_QOS_EMPTY_FIELDS_VALUE, STRU_TELE_QOS_EMPTY_FIELDS_COUNT); // Clear remainder
 152
 153     // Mandatory frame, send it unconditionally.
 154     return true;
 155 }
 156
 157
 158 /*
 159 typedef struct
 160 {
 161     UINT8 identifier; // Source device = 0x7E
 162     UINT8 sID; // Secondary ID
 163     UINT16 microseconds; // microseconds between pulse leading edges
 164     UINT16 volts; // 0.01V increments
 165     INT16 temperature; // degrees F
 166     INT8 dBm_A, // Average signal for A antenna in dBm
 167     INT8 dBm_B; // Average signal for B antenna in dBm.
 168     // If only 1 antenna, set B = A
 169 } STRU_TELE_RPM;
 170 */
 171
 172 #define STRU_TELE_RPM_EMPTY_FIELDS_COUNT 8
 173 #define STRU_TELE_RPM_EMPTY_FIELDS_VALUE 0xff
 174
 175 #define SPEKTRUM_RPM_UNUSED 0xffff
 176 #define SPEKTRUM_TEMP_UNUSED 0x7fff
 177 #define MICROSEC_PER_MINUTE 60000000
 178
 179 //Original range of 1 - 65534 uSec gives an RPM range of 915 - 60000000rpm, 60MegaRPM
 180 #define SPEKTRUM_MIN_RPM 999      // Min RPM to show the user, indicating RPM is really below 999
 181 #define SPEKTRUM_MAX_RPM 60000000
 182
 183 uint16_t getMotorAveragePeriod(void)
 184 {
 185
 186 #if defined( USE_ESC_SENSOR_TELEMETRY) || defined( USE_DSHOT_TELEMETRY)
 187     uint32_t rpm = 0;
 188     uint16_t period_us = SPEKTRUM_RPM_UNUSED;
 189
 190 #if defined( USE_ESC_SENSOR_TELEMETRY)
 191     escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
 192     if (escData != NULL) {
 193         rpm = escData->rpm;
 194     }
 195 #endif
 196
 197 #if defined(USE_DSHOT_TELEMETRY)
 198     // Calculate this way when no rpm from esc data
 199     if (useDshotTelemetry && rpm == 0) {
 200         rpm = lrintf(getDshotRpmAverage());
 201     }
 202 #endif
 203
 204     if (rpm > SPEKTRUM_MIN_RPM && rpm < SPEKTRUM_MAX_RPM) {
 205         period_us = MICROSEC_PER_MINUTE / rpm; // revs/minute -> microSeconds
 206     } else {
 207         period_us = MICROSEC_PER_MINUTE / SPEKTRUM_MIN_RPM;
 208     }
 209
 210     return period_us;
 211 #else
 212     return SPEKTRUM_RPM_UNUSED;
 213 #endif
 214 }
 215
 216 bool srxlFrameRpm(sbuf_t *dst, timeUs_t currentTimeUs)
 217 {
 218     int16_t coreTemp = SPEKTRUM_TEMP_UNUSED;
 219 #if defined(USE_ADC_INTERNAL)
 220     coreTemp = getCoreTemperatureCelsius();
 221     coreTemp = coreTemp * 9 / 5 + 32; // C -> F
 222 #endif
 223
 224     UNUSED(currentTimeUs);
 225
 226     sbufWriteU8(dst, SRXL_FRAMETYPE_TELE_RPM);
 227     sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 228     sbufWriteU16BigEndian(dst, getMotorAveragePeriod());    // pulse leading edges
 229     if (telemetryConfig()->report_cell_voltage) {
 230         sbufWriteU16BigEndian(dst, getBatteryAverageCellVoltage()); // Cell voltage is in units of 0.01V
 231     } else {
 232         sbufWriteU16BigEndian(dst, getBatteryVoltage());   // vbat is in units of 0.01V
 233     }
 234     sbufWriteU16BigEndian(dst, coreTemp);                   // temperature
 235     sbufFill(dst, STRU_TELE_RPM_EMPTY_FIELDS_VALUE, STRU_TELE_RPM_EMPTY_FIELDS_COUNT);
 236
 237     // Mandatory frame, send it unconditionally.
 238     return true;
 239 }
 240
 241 #if defined(USE_GPS)
 242
 243 // From Frsky implementation
 244 static void GPStoDDDMM_MMMM(int32_t mwiigps, gpsCoordinateDDDMMmmmm_t *result)
 245 {
 246     int32_t absgps, deg, min;
 247     absgps = abs(mwiigps);
 248     deg = absgps / GPS_DEGREES_DIVIDER;
 249     absgps = (absgps - deg * GPS_DEGREES_DIVIDER) * 60;     // absgps = Minutes left * 10^7
 250     min = absgps / GPS_DEGREES_DIVIDER;                     // minutes left
 251     result->dddmm = deg * 100 + min;
 252     result->mmmm = (absgps - min * GPS_DEGREES_DIVIDER) / 1000;
 253 }
 254
 255 // BCD conversion
 256 static uint32_t dec2bcd(uint16_t dec)
 257 {
 258     uint32_t result = 0;
 259     uint8_t counter = 0;
 260
 261     while (dec) {
 262         result |= (dec % 10) << counter * 4;
 263         counter++;
 264         dec /= 10;
 265     }
 266     return result;
 267 }
 268
 269 /*
 270 typedef struct
 271 {
 272     UINT8    identifier;    // Source device = 0x16
 273     UINT8    sID;           // Secondary ID
 274     UINT16   altitudeLow;   // BCD, meters, format 3.1 (Low order of altitude)
 275     UINT32   latitude;      // BCD, format 4.4, Degrees * 100 + minutes, less than 100 degrees
 276     UINT32   longitude;     // BCD, format 4.4 , Degrees * 100 + minutes, flag indicates > 99 degrees
 277     UINT16   course;        // BCD, 3.1
 278     UINT8    HDOP;          // BCD, format 1.1
 279     UINT8    GPSflags;      // see definitions below
 280 } STRU_TELE_GPS_LOC;
 281 */
 282
 283 // GPS flags definitions
 284 #define GPS_FLAGS_IS_NORTH_BIT              0x01
 285 #define GPS_FLAGS_IS_EAST_BIT               0x02
 286 #define GPS_FLAGS_LONGITUDE_GREATER_99_BIT  0x04
 287 #define GPS_FLAGS_GPS_FIX_VALID_BIT         0x08
 288 #define GPS_FLAGS_GPS_DATA_RECEIVED_BIT     0x10
 289 #define GPS_FLAGS_3D_FIX_BIT                0x20
 290 #define GPS_FLAGS_NEGATIVE_ALT_BIT          0x80
 291
 292 bool srxlFrameGpsLoc(sbuf_t *dst, timeUs_t currentTimeUs)
 293 {
 294     UNUSED(currentTimeUs);
 295     gpsCoordinateDDDMMmmmm_t coordinate;
 296     uint32_t latitudeBcd, longitudeBcd, altitudeLo;
 297     uint16_t altitudeLoBcd, groundCourseBcd, hdop;
 298     uint8_t hdopBcd, gpsFlags;
 299
 300     if (!featureIsEnabled(FEATURE_GPS) || !STATE(GPS_FIX) || gpsSol.numSat < GPS_MIN_SAT_COUNT) {
 301         return false;
 302     }
 303
 304     // lattitude
 305     GPStoDDDMM_MMMM(gpsSol.llh.lat, &coordinate);
 306     latitudeBcd  = (dec2bcd(coordinate.dddmm) << 16) | dec2bcd(coordinate.mmmm);
 307
 308     // longitude
 309     GPStoDDDMM_MMMM(gpsSol.llh.lon, &coordinate);
 310     longitudeBcd = (dec2bcd(coordinate.dddmm) << 16) | dec2bcd(coordinate.mmmm);
 311
 312     // altitude (low order)
 313     altitudeLo = abs(gpsSol.llh.altCm) / 10;
 314     altitudeLoBcd = dec2bcd(altitudeLo % 100000);
 315
 316     // Ground course
 317     groundCourseBcd = dec2bcd(gpsSol.groundCourse);
 318
 319     // HDOP
 320     hdop = gpsSol.dop.hdop / 10;
 321     hdop = (hdop > 99) ? 99 : hdop;
 322     hdopBcd = dec2bcd(hdop);
 323
 324     // flags
 325     gpsFlags = GPS_FLAGS_GPS_DATA_RECEIVED_BIT | GPS_FLAGS_GPS_FIX_VALID_BIT | GPS_FLAGS_3D_FIX_BIT;
 326     gpsFlags |= (gpsSol.llh.lat > 0) ? GPS_FLAGS_IS_NORTH_BIT : 0;
 327     gpsFlags |= (gpsSol.llh.lon > 0) ? GPS_FLAGS_IS_EAST_BIT : 0;
 328     gpsFlags |= (gpsSol.llh.altCm < 0) ? GPS_FLAGS_NEGATIVE_ALT_BIT : 0;
 329     gpsFlags |= (gpsSol.llh.lon / GPS_DEGREES_DIVIDER > 99) ? GPS_FLAGS_LONGITUDE_GREATER_99_BIT : 0;
 330
 331     // SRXL frame
 332     sbufWriteU8(dst, SRXL_FRAMETYPE_GPS_LOC);
 333     sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 334     sbufWriteU16(dst, altitudeLoBcd);
 335     sbufWriteU32(dst, latitudeBcd);
 336     sbufWriteU32(dst, longitudeBcd);
 337     sbufWriteU16(dst, groundCourseBcd);
 338     sbufWriteU8(dst, hdopBcd);
 339     sbufWriteU8(dst, gpsFlags);
 340
 341     return true;
 342 }
 343
 344 /*
 345 typedef struct
 346 {
 347    UINT8   identifier;                      // Source device = 0x17
 348    UINT8   sID;                             // Secondary ID
 349    UINT16  speed;                           // BCD, knots, format 3.1
 350    UINT32  UTC;                             // BCD, format HH:MM:SS.S, format 6.1
 351    UINT8   numSats;                         // BCD, 0-99
 352    UINT8   altitudeHigh;                    // BCD, meters, format 2.0 (High bits alt)
 353 } STRU_TELE_GPS_STAT;
 354 */
 355
 356 #define STRU_TELE_GPS_STAT_EMPTY_FIELDS_VALUE 0xff
 357 #define STRU_TELE_GPS_STAT_EMPTY_FIELDS_COUNT 6
 358 #define SPEKTRUM_TIME_UNKNOWN 0xFFFFFFFF
 359
 360 bool srxlFrameGpsStat(sbuf_t *dst, timeUs_t currentTimeUs)
 361 {
 362     UNUSED(currentTimeUs);
 363     uint32_t timeBcd;
 364     uint16_t speedKnotsBcd, speedTmp;
 365     uint8_t numSatBcd, altitudeHighBcd;
 366     bool timeProvided = false;
 367
 368     if (!featureIsEnabled(FEATURE_GPS) || !STATE(GPS_FIX) || gpsSol.numSat < GPS_MIN_SAT_COUNT) {
 369         return false;
 370     }
 371
 372     // Number of sats and altitude (high bits)
 373     numSatBcd = (gpsSol.numSat > 99) ? dec2bcd(99) : dec2bcd(gpsSol.numSat);
 374     altitudeHighBcd = dec2bcd(gpsSol.llh.altCm / 100000);
 375
 376     // Speed (knots)
 377     speedTmp = gpsSol.groundSpeed * 1944 / 1000;
 378     speedKnotsBcd = (speedTmp > 9999) ? dec2bcd(9999) : dec2bcd(speedTmp);
 379
 380 #ifdef USE_RTC_TIME
 381     dateTime_t dt;
 382     // RTC
 383     if (rtcHasTime()) {
 384         rtcGetDateTime(&dt);
 385         timeBcd = dec2bcd(dt.hours);
 386         timeBcd = timeBcd << 8;
 387         timeBcd = timeBcd | dec2bcd(dt.minutes);
 388         timeBcd = timeBcd << 8;
 389         timeBcd = timeBcd | dec2bcd(dt.seconds);
 390         timeBcd = timeBcd << 4;
 391         timeBcd = timeBcd | dec2bcd(dt.millis / 100);
 392         timeProvided = true;
 393     }
 394 #endif
 395     timeBcd = (timeProvided) ? timeBcd : SPEKTRUM_TIME_UNKNOWN;
 396
 397     // SRXL frame
 398     sbufWriteU8(dst, SRXL_FRAMETYPE_GPS_STAT);
 399     sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 400     sbufWriteU16(dst, speedKnotsBcd);
 401     sbufWriteU32(dst, timeBcd);
 402     sbufWriteU8(dst, numSatBcd);
 403     sbufWriteU8(dst, altitudeHighBcd);
 404     sbufFill(dst, STRU_TELE_GPS_STAT_EMPTY_FIELDS_VALUE, STRU_TELE_GPS_STAT_EMPTY_FIELDS_COUNT);
 405
 406     return true;
 407 }
 408
 409 #endif
 410
 411 /*
 412 typedef struct
 413 {
 414     UINT8   identifier;     // Source device = 0x34
 415     UINT8   sID;            // Secondary ID
 416     INT16   current_A;      // Instantaneous current, 0.1A (0-3276.8A)
 417     INT16   chargeUsed_A;   // Integrated mAh used, 1mAh (0-32.766Ah)
 418     UINT16  temp_A;         // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
 419     INT16   current_B;      // Instantaneous current, 0.1A (0-3276.8A)
 420     INT16   chargeUsed_B;   // Integrated mAh used, 1mAh (0-32.766Ah)
 421     UINT16  temp_B;         // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
 422     UINT16  spare;          // Not used
 423 } STRU_TELE_FP_MAH;
 424 */
 425 #define STRU_TELE_FP_EMPTY_FIELDS_COUNT 2
 426 #define STRU_TELE_FP_EMPTY_FIELDS_VALUE 0xff
 427
 428 #define SPEKTRUM_AMPS_UNUSED 0x7fff
 429 #define SPEKTRUM_AMPH_UNUSED 0x7fff
 430
 431 #define FP_MAH_KEEPALIVE_TIME_OUT 2000000 // 2s
 432
 433 bool srxlFrameFlightPackCurrent(sbuf_t *dst, timeUs_t currentTimeUs)
 434 {
 435     uint16_t amps = getAmperage() / 10;
 436     uint16_t mah  = getMAhDrawn();
 437     static uint16_t sentAmps;
 438     static uint16_t sentMah;
 439     static timeUs_t lastTimeSentFPmAh = 0;
 440
 441     timeUs_t keepAlive = currentTimeUs - lastTimeSentFPmAh;
 442
 443     if ( amps != sentAmps ||
 444          mah != sentMah ||
 445          keepAlive > FP_MAH_KEEPALIVE_TIME_OUT ) {
 446
 447         sbufWriteU8(dst, SRXL_FRAMETYPE_TELE_FP_MAH);
 448         sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 449         sbufWriteU16(dst, amps);
 450         sbufWriteU16(dst, mah);
 451         sbufWriteU16(dst, SPEKTRUM_TEMP_UNUSED);            // temp A
 452         sbufWriteU16(dst, SPEKTRUM_AMPS_UNUSED);            // Amps B
 453         sbufWriteU16(dst, SPEKTRUM_AMPH_UNUSED);            // mAH B
 454         sbufWriteU16(dst, SPEKTRUM_TEMP_UNUSED);            // temp B
 455
 456         sbufFill(dst, STRU_TELE_FP_EMPTY_FIELDS_VALUE, STRU_TELE_FP_EMPTY_FIELDS_COUNT);
 457
 458         sentAmps = amps;
 459         sentMah = mah;
 460         lastTimeSentFPmAh = currentTimeUs;
 461         return true;
 462     }
 463     return false;
 464 }
 465
 466 #if defined(USE_SPEKTRUM_CMS_TELEMETRY) && defined(USE_CMS)
 467
 468 // Betaflight CMS using Spektrum Tx telemetry TEXT_GEN sensor as display.
 469
 470 #define SPEKTRUM_SRXL_DEVICE_TEXTGEN (0x0C)     // Text Generator
 471 #define SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS (9)   // Text Generator ROWS
 472 #define SPEKTRUM_SRXL_DEVICE_TEXTGEN_COLS (13)  // Text Generator COLS
 473
 474 /*
 475 typedef struct
 476 {
 477     UINT8       identifier;
 478     UINT8       sID;               // Secondary ID
 479     UINT8       lineNumber;        // Line number to display (0 = title, 1-8 for general, 254 = Refresh backlight, 255 = Erase all text on screen)
 480     char        text[13];          // 0-terminated text when < 13 chars
 481 } STRU_SPEKTRUM_SRXL_TEXTGEN;
 482 */
 483
 484 #if ( SPEKTRUM_SRXL_TEXTGEN_BUFFER_COLS > SPEKTRUM_SRXL_DEVICE_TEXTGEN_COLS )
 485 static char srxlTextBuff[SPEKTRUM_SRXL_TEXTGEN_BUFFER_ROWS][SPEKTRUM_SRXL_TEXTGEN_BUFFER_COLS];
 486 static bool lineSent[SPEKTRUM_SRXL_TEXTGEN_BUFFER_ROWS];
 487 #else
 488 static char srxlTextBuff[SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS][SPEKTRUM_SRXL_DEVICE_TEXTGEN_COLS];
 489 static bool lineSent[SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS];
 490 #endif
 491
 492 //**************************************************************************
 493 // API Running in external client task context. E.g. in the CMS task
 494 int spektrumTmTextGenPutChar(uint8_t col, uint8_t row, char c)
 495 {
 496     if (row < SPEKTRUM_SRXL_TEXTGEN_BUFFER_ROWS && col < SPEKTRUM_SRXL_TEXTGEN_BUFFER_COLS) {
 497       // Only update and force a tm transmision if something has actually changed.
 498         if (srxlTextBuff[row][col] != c) {
 499           srxlTextBuff[row][col] = c;
 500           lineSent[row] = false;
 501         }
 502     }
 503     return 0;
 504 }
 505 //**************************************************************************
 506
 507 bool srxlFrameText(sbuf_t *dst, timeUs_t currentTimeUs)
 508 {
 509     UNUSED(currentTimeUs);
 510     static uint8_t lineNo = 0;
 511     int lineCount = 0;
 512
 513     // Skip already sent lines...
 514     while (lineSent[lineNo] &&
 515            lineCount < SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS) {
 516         lineNo = (lineNo + 1) % SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS;
 517         lineCount++;
 518     }
 519
 520     sbufWriteU8(dst, SPEKTRUM_SRXL_DEVICE_TEXTGEN);
 521     sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 522     sbufWriteU8(dst, lineNo);
 523     sbufWriteData(dst, srxlTextBuff[lineNo], SPEKTRUM_SRXL_DEVICE_TEXTGEN_COLS);
 524
 525     lineSent[lineNo] = true;
 526     lineNo = (lineNo + 1) % SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS;
 527
 528     // Always send something, Always one user frame after the two mandatory frames
 529     // I.e. All of the three frame prep routines QOS, RPM, TEXT should always return true
 530     // too keep the "Waltz" sequence intact.
 531     return true;
 532 }
 533 #endif
 534
 535 #if defined(USE_SPEKTRUM_VTX_TELEMETRY) && defined(USE_SPEKTRUM_VTX_CONTROL) && defined(USE_VTX_COMMON)
 536
 537 static uint8_t vtxDeviceType;
 538
 539 static void collectVtxTmData(spektrumVtx_t * vtx)
 540 {
 541     const vtxDevice_t *vtxDevice = vtxCommonDevice();
 542     vtxDeviceType = vtxCommonGetDeviceType(vtxDevice);
 543
 544     // Collect all data from VTX, if VTX is ready
 545     unsigned vtxStatus;
 546     if (vtxDevice == NULL || !(vtxCommonGetBandAndChannel(vtxDevice, &vtx->band, &vtx->channel) &&
 547            vtxCommonGetStatus(vtxDevice, &vtxStatus) &&
 548            vtxCommonGetPowerIndex(vtxDevice, &vtx->power)) )
 549         {
 550             vtx->band    = 0;
 551             vtx->channel = 0;
 552             vtx->power   = 0;
 553             vtx->pitMode = 0;
 554         } else {
 555             vtx->pitMode = (vtxStatus & VTX_STATUS_PIT_MODE) ? 1 : 0;
 556         }
 557
 558     vtx->powerValue = 0;
 559 #ifdef USE_SPEKTRUM_REGION_CODES
 560     vtx->region = SpektrumRegion;
 561 #else
 562     vtx->region = SPEKTRUM_VTX_REGION_NONE;
 563 #endif
 564 }
 565
 566 // Reverse lookup, device power index to Spektrum power range index.
 567 static void convertVtxPower(spektrumVtx_t * vtx)
 568     {
 569         uint8_t const * powerIndexTable = NULL;
 570
 571         vtxCommonLookupPowerValue(vtxCommonDevice(), vtx->power, &vtx->powerValue);
 572         switch (vtxDeviceType) {
 573
 574 #if defined(USE_VTX_TRAMP)
 575         case VTXDEV_TRAMP:
 576             powerIndexTable = vtxTrampPi;
 577             break;
 578 #endif
 579 #if defined(USE_VTX_SMARTAUDIO)
 580         case VTXDEV_SMARTAUDIO:
 581             powerIndexTable = vtxSaPi;
 582             break;
 583 #endif
 584 #if defined(USE_VTX_RTC6705)
 585         case VTXDEV_RTC6705:
 586             powerIndexTable = vtxRTC6705Pi;
 587             break;
 588 #endif
 589
 590         case VTXDEV_UNKNOWN:
 591         case VTXDEV_UNSUPPORTED:
 592         default:
 593           break;
 594
 595         }
 596
 597         if (powerIndexTable != NULL) {
 598             for (int i = 0; i < SPEKTRUM_VTX_POWER_COUNT; i++)
 599                 if (powerIndexTable[i] >= vtx->power) {
 600                     vtx->power = i;                                    // Translate device power index to Spektrum power index.
 601                     break;
 602                 }
 603         }
 604     }
 605
 606 static void convertVtxTmData(spektrumVtx_t * vtx)
 607 {
 608     // Convert from internal band indexes to Spektrum indexes
 609     for (int i = 0; i < SPEKTRUM_VTX_BAND_COUNT; i++) {
 610         if (spek2commonBand[i] == vtx->band) {
 611             vtx->band = i;
 612             break;
 613         }
 614     }
 615
 616     // De-bump channel no 1 based interally, 0-based in Spektrum.
 617     vtx->channel--;
 618
 619     // Convert Power index to Spektrum ranges, different per brand.
 620     convertVtxPower(vtx);
 621 }
 622
 623 /*
 624 typedef struct
 625 {
 626     UINT8               identifier;
 627     UINT8               sID;      // Secondary ID
 628     UINT8               band;     // VTX Band (0 = Fatshark, 1 = Raceband, 2 = E, 3 = B, 4 = A, 5-7 = Reserved)
 629     UINT8               channel;  // VTX Channel (0-7)
 630     UINT8               pit;      // Pit/Race mode (0 = Race, 1 = Pit). Race = (normal operating) mode. Pit = (reduced power) mode. When PIT is set, it overrides all other power settings
 631     UINT8               power;    // VTX Power (0 = Off, 1 = 1mw to 14mW, 2 = 15mW to 25mW, 3 = 26mW to 99mW, 4 = 100mW to 299mW, 5 = 300mW to 600mW, 6 = 601mW+, 7 = manual control)
 632     UINT16              powerDec; // VTX Power as a decimal 1mw/unit
 633     UINT8               region;   // Region (0 = USA, 1 = EU, 0xFF = N/A)
 634     UINT8               rfu[7];   // reserved
 635 } STRU_TELE_VTX;
 636 */
 637
 638 #define STRU_TELE_VTX_EMPTY_COUNT 7
 639 #define STRU_TELE_VTX_EMPTY_VALUE 0xff
 640
 641 #define VTX_KEEPALIVE_TIME_OUT 2000000 // uS
 642
 643 static bool srxlFrameVTX(sbuf_t *dst, timeUs_t currentTimeUs)
 644 {
 645     static timeUs_t lastTimeSentVtx = 0;
 646     static spektrumVtx_t vtxSent;
 647
 648     spektrumVtx_t vtx;
 649     collectVtxTmData(&vtx);
 650
 651     if ((vtxDeviceType != VTXDEV_UNKNOWN) && vtxDeviceType != VTXDEV_UNSUPPORTED) {
 652         convertVtxTmData(&vtx);
 653
 654         if ((memcmp(&vtxSent, &vtx, sizeof(spektrumVtx_t)) != 0) ||
 655             ((currentTimeUs - lastTimeSentVtx) > VTX_KEEPALIVE_TIME_OUT) ) {
 656             // Fill in the VTX tm structure
 657             sbufWriteU8(dst, TELE_DEVICE_VTX);
 658             sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 659             sbufWriteU8(dst,  vtx.band);
 660             sbufWriteU8(dst,  vtx.channel);
 661             sbufWriteU8(dst,  vtx.pitMode);
 662             sbufWriteU8(dst,  vtx.power);
 663             sbufWriteU16(dst, vtx.powerValue);
 664             sbufWriteU8(dst,  vtx.region);
 665
 666             sbufFill(dst, STRU_TELE_VTX_EMPTY_VALUE, STRU_TELE_VTX_EMPTY_COUNT);
 667
 668             memcpy(&vtxSent, &vtx, sizeof(spektrumVtx_t));
 669             lastTimeSentVtx = currentTimeUs;
 670             return true;
 671         }
 672     }
 673     return false;
 674 }
 675 #endif // USE_SPEKTRUM_VTX_TELEMETRY && USE_SPEKTRUM_VTX_CONTROL && USE_VTX_COMMON
 676
 677
 678 // Schedule array to decide how often each type of frame is sent
 679 // The frames are scheduled in sets of 3 frames, 2 mandatory and 1 user frame.
 680 // The user frame type is cycled for each set.
 681 // Example. QOS, RPM,.CURRENT, QOS, RPM, TEXT. QOS, RPM, CURRENT, etc etc
 682
 683 #define SRXL_SCHEDULE_MANDATORY_COUNT  2 // Mandatory QOS and RPM sensors
 684
 685 #define SRXL_FP_MAH_COUNT   1
 686
 687 #if defined(USE_GPS)
 688 #define SRXL_GPS_LOC_COUNT  1
 689 #define SRXL_GPS_STAT_COUNT 1
 690 #else
 691 #define SRXL_GPS_LOC_COUNT  0
 692 #define SRXL_GPS_STAT_COUNT 0
 693 #endif
 694
 695 #if defined(USE_SPEKTRUM_CMS_TELEMETRY) && defined(USE_CMS)
 696 #define SRXL_SCHEDULE_CMS_COUNT  1
 697 #else
 698 #define SRXL_SCHEDULE_CMS_COUNT  0
 699 #endif
 700
 701 #if defined(USE_SPEKTRUM_VTX_TELEMETRY) && defined(USE_SPEKTRUM_VTX_CONTROL) && defined(USE_VTX_COMMON)
 702 #define SRXL_VTX_TM_COUNT        1
 703 #else
 704 #define SRXL_VTX_TM_COUNT        0
 705 #endif
 706
 707 #define SRXL_SCHEDULE_USER_COUNT (SRXL_FP_MAH_COUNT + SRXL_SCHEDULE_CMS_COUNT + SRXL_VTX_TM_COUNT + SRXL_GPS_LOC_COUNT + SRXL_GPS_STAT_COUNT)
 708 #define SRXL_SCHEDULE_COUNT_MAX  (SRXL_SCHEDULE_MANDATORY_COUNT + 1)
 709 #define SRXL_TOTAL_COUNT         (SRXL_SCHEDULE_MANDATORY_COUNT + SRXL_SCHEDULE_USER_COUNT)
 710
 711 typedef bool (*srxlScheduleFnPtr)(sbuf_t *dst, timeUs_t currentTimeUs);
 712
 713 const srxlScheduleFnPtr srxlScheduleFuncs[SRXL_TOTAL_COUNT] = {
 714     /* must send srxlFrameQos, Rpm and then alternating items of our own */
 715     srxlFrameQos,
 716     srxlFrameRpm,
 717     srxlFrameFlightPackCurrent,
 718 #if defined(USE_GPS)
 719     srxlFrameGpsStat,
 720     srxlFrameGpsLoc,
 721 #endif
 722 #if defined(USE_SPEKTRUM_VTX_TELEMETRY) && defined(USE_SPEKTRUM_VTX_CONTROL) && defined(USE_VTX_COMMON)
 723     srxlFrameVTX,
 724 #endif
 725 #if defined(USE_SPEKTRUM_CMS_TELEMETRY) && defined(USE_CMS)
 726     srxlFrameText,
 727 #endif
 728 };
 729
 730
 731 static void processSrxl(timeUs_t currentTimeUs)
 732 {
 733     static uint8_t srxlScheduleIndex = 0;
 734     static uint8_t srxlScheduleUserIndex = 0;
 735
 736     sbuf_t srxlPayloadBuf;
 737     sbuf_t *dst = &srxlPayloadBuf;
 738     srxlScheduleFnPtr srxlFnPtr;
 739
 740     if (srxlScheduleIndex < SRXL_SCHEDULE_MANDATORY_COUNT) {
 741         srxlFnPtr = srxlScheduleFuncs[srxlScheduleIndex];
 742     } else {
 743         srxlFnPtr = srxlScheduleFuncs[srxlScheduleIndex + srxlScheduleUserIndex];
 744         srxlScheduleUserIndex = (srxlScheduleUserIndex + 1) % SRXL_SCHEDULE_USER_COUNT;
 745
 746 #if defined(USE_SPEKTRUM_CMS_TELEMETRY) && defined(USE_CMS)
 747         // Boost CMS performance by sending nothing else but CMS Text frames when in a CMS menu.
 748         // Sideeffect, all other reports are still not sent if user leaves CMS without a proper EXIT.
 749         if (cmsInMenu &&
 750             (pCurrentDisplay == &srxlDisplayPort)) {
 751             srxlFnPtr = srxlFrameText;
 752         }
 753 #endif
 754
 755     }
 756
 757     if (srxlFnPtr) {
 758         srxlInitializeFrame(dst);
 759         if (srxlFnPtr(dst, currentTimeUs)) {
 760             srxlFinalize(dst);
 761         }
 762     }
 763     srxlScheduleIndex = (srxlScheduleIndex + 1) % SRXL_SCHEDULE_COUNT_MAX;
 764 }
 765
 766 void initSrxlTelemetry(void)
 767 {
 768     // check if there is a serial port open for SRXL telemetry (ie opened by the SRXL RX)
 769     // and feature is enabled, if so, set SRXL telemetry enabled
 770     if (srxlRxIsActive()) {
 771         srxlTelemetryEnabled = true;
 772         srxl2 = false;
 773 #if defined(USE_SERIALRX_SRXL2)
 774     } else if (srxl2RxIsActive()) {
 775         srxlTelemetryEnabled = true;
 776         srxl2 = true;
 777 #endif
 778     } else {
 779         srxlTelemetryEnabled = false;
 780         srxl2 = false;
 781     }
 782
 783 #if defined(USE_SPEKTRUM_CMS_TELEMETRY)
 784     if (srxlTelemetryEnabled) {
 785         srxlDisplayportRegister();
 786     }
 787 #endif
 788  }
 789
 790 bool checkSrxlTelemetryState(void)
 791 {
 792     return srxlTelemetryEnabled;
 793 }
 794
 795 /*
 796  * Called periodically by the scheduler
 797  */
 798 void handleSrxlTelemetry(timeUs_t currentTimeUs)
 799 {
 800   if (srxl2) {
 801 #if defined(USE_SERIALRX_SRXL2)
 802       if (srxl2TelemetryRequested()) {
 803           processSrxl(currentTimeUs);
 804       }
 805 #endif
 806   } else {
 807       if (srxlTelemetryBufferEmpty()) {
 808           processSrxl(currentTimeUs);
 809       }
 810   }
 811 }
 812 #endif