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