src/main/telemetry/telemetry.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 <stddef.h>
  22 #include <stdbool.h>
  23 #include <stdint.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_TELEMETRY
  28
  29 #include "common/utils.h"
  30 #include "common/unit.h"
  31
  32 #include "pg/pg.h"
  33 #include "pg/pg_ids.h"
  34 #include "pg/rx.h"
  35
  36 #include "drivers/timer.h"
  37 #include "drivers/serial.h"
  38 #include "drivers/serial_softserial.h"
  39
  40 #include "io/serial.h"
  41
  42 #include "config/config.h"
  43 #include "fc/rc_modes.h"
  44 #include "fc/runtime_config.h"
  45
  46 #include "msp/msp_serial.h"
  47
  48 #include "rx/rx.h"
  49
  50 #include "telemetry/telemetry.h"
  51 #include "telemetry/frsky_hub.h"
  52 #include "telemetry/hott.h"
  53 #include "telemetry/smartport.h"
  54 #include "telemetry/ltm.h"
  55 #include "telemetry/jetiexbus.h"
  56 #include "telemetry/mavlink.h"
  57 #include "telemetry/crsf.h"
  58 #include "telemetry/ghst.h"
  59 #include "telemetry/srxl.h"
  60 #include "telemetry/ibus.h"
  61 #include "telemetry/msp_shared.h"
  62
  63 PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 5);
  64
  65 PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
  66     .telemetry_inverted = false,
  67     .halfDuplex = 1,
  68     .gpsNoFixLatitude = 0,
  69     .gpsNoFixLongitude = 0,
  70     .frsky_coordinate_format = FRSKY_FORMAT_DMS,
  71     .frsky_unit = UNIT_METRIC,
  72     .frsky_vfas_precision = 0,
  73     .hottAlarmSoundInterval = 5,
  74     .pidValuesAsTelemetry = 0,
  75     .report_cell_voltage = false,
  76     .flysky_sensors = {
  77             IBUS_SENSOR_TYPE_TEMPERATURE,
  78             IBUS_SENSOR_TYPE_RPM_FLYSKY,
  79             IBUS_SENSOR_TYPE_EXTERNAL_VOLTAGE
  80     },
  81     .disabledSensors = ESC_SENSOR_ALL | SENSOR_CAP_USED,
  82     .mavlink_mah_as_heading_divisor = 0,
  83 );
  84
  85 void telemetryInit(void)
  86 {
  87 #ifdef USE_TELEMETRY_FRSKY_HUB
  88     initFrSkyHubTelemetry();
  89 #endif
  90 #ifdef USE_TELEMETRY_HOTT
  91     initHoTTTelemetry();
  92 #endif
  93 #ifdef USE_TELEMETRY_SMARTPORT
  94     initSmartPortTelemetry();
  95 #endif
  96 #ifdef USE_TELEMETRY_LTM
  97     initLtmTelemetry();
  98 #endif
  99 #ifdef USE_TELEMETRY_JETIEXBUS
 100     initJetiExBusTelemetry();
 101 #endif
 102 #ifdef USE_TELEMETRY_MAVLINK
 103     initMAVLinkTelemetry();
 104 #endif
 105 #ifdef USE_TELEMETRY_GHST
 106     initGhstTelemetry();
 107 #endif
 108 #ifdef USE_TELEMETRY_CRSF
 109     initCrsfTelemetry();
 110 #if defined(USE_MSP_OVER_TELEMETRY)
 111     initCrsfMspBuffer();
 112 #endif
 113 #endif
 114 #ifdef USE_TELEMETRY_SRXL
 115     initSrxlTelemetry();
 116 #endif
 117 #ifdef USE_TELEMETRY_IBUS
 118     initIbusTelemetry();
 119 #endif
 120 #if defined(USE_MSP_OVER_TELEMETRY)
 121     initSharedMsp();
 122 #endif
 123
 124     telemetryCheckState();
 125 }
 126
 127 bool telemetryDetermineEnabledState(portSharing_e portSharing)
 128 {
 129     bool enabled = portSharing == PORTSHARING_NOT_SHARED;
 130
 131     if (portSharing == PORTSHARING_SHARED) {
 132         if (isModeActivationConditionPresent(BOXTELEMETRY))
 133             enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
 134         else
 135             enabled = ARMING_FLAG(ARMED);
 136     }
 137
 138     return enabled;
 139 }
 140
 141 bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig, const SerialRXType serialrxProvider)
 142 {
 143     if (portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK &&
 144         (serialrxProvider == SERIALRX_SPEKTRUM1024 ||
 145         serialrxProvider == SERIALRX_SPEKTRUM2048 ||
 146         serialrxProvider == SERIALRX_SBUS ||
 147         serialrxProvider == SERIALRX_SUMD ||
 148         serialrxProvider == SERIALRX_SUMH ||
 149         serialrxProvider == SERIALRX_XBUS_MODE_B ||
 150         serialrxProvider == SERIALRX_XBUS_MODE_B_RJ01 ||
 151         serialrxProvider == SERIALRX_IBUS)) {
 152
 153         return true;
 154     }
 155 #ifdef USE_TELEMETRY_IBUS
 156     if (portConfig->functionMask & FUNCTION_TELEMETRY_IBUS
 157         && portConfig->functionMask & FUNCTION_RX_SERIAL
 158         && serialrxProvider == SERIALRX_IBUS) {
 159         // IBUS serial RX & telemetry
 160         return true;
 161     }
 162 #endif
 163 #if defined(USE_MSP_OVER_TELEMETRY) && defined(USE_VTX_MSP)
 164     if (portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & FUNCTION_VTX_MSP) {
 165         return true;
 166     }
 167 #endif
 168     return false;
 169 }
 170
 171 serialPort_t *telemetrySharedPort = NULL;
 172
 173 void telemetryCheckState(void)
 174 {
 175 #ifdef USE_TELEMETRY_FRSKY_HUB
 176     checkFrSkyHubTelemetryState();
 177 #endif
 178 #ifdef USE_TELEMETRY_HOTT
 179     checkHoTTTelemetryState();
 180 #endif
 181 #ifdef USE_TELEMETRY_SMARTPORT
 182     checkSmartPortTelemetryState();
 183 #endif
 184 #ifdef USE_TELEMETRY_LTM
 185     checkLtmTelemetryState();
 186 #endif
 187 #ifdef USE_TELEMETRY_JETIEXBUS
 188     checkJetiExBusTelemetryState();
 189 #endif
 190 #ifdef USE_TELEMETRY_MAVLINK
 191     checkMAVLinkTelemetryState();
 192 #endif
 193 #ifdef USE_TELEMETRY_CRSF
 194     checkCrsfTelemetryState();
 195 #endif
 196 #ifdef USE_TELEMETRY_GHST
 197     checkGhstTelemetryState();
 198 #endif
 199 #ifdef USE_TELEMETRY_SRXL
 200     checkSrxlTelemetryState();
 201 #endif
 202 #ifdef USE_TELEMETRY_IBUS
 203     checkIbusTelemetryState();
 204 #endif
 205 }
 206
 207 void telemetryProcess(uint32_t currentTime)
 208 {
 209 #ifdef USE_TELEMETRY_FRSKY_HUB
 210     handleFrSkyHubTelemetry(currentTime);
 211 #else
 212     UNUSED(currentTime);
 213 #endif
 214 #ifdef USE_TELEMETRY_HOTT
 215     handleHoTTTelemetry(currentTime);
 216 #else
 217     UNUSED(currentTime);
 218 #endif
 219 #ifdef USE_TELEMETRY_SMARTPORT
 220     handleSmartPortTelemetry();
 221 #endif
 222 #ifdef USE_TELEMETRY_LTM
 223     handleLtmTelemetry();
 224 #endif
 225 #ifdef USE_TELEMETRY_JETIEXBUS
 226     handleJetiExBusTelemetry();
 227 #endif
 228 #ifdef USE_TELEMETRY_MAVLINK
 229     handleMAVLinkTelemetry();
 230 #endif
 231 #ifdef USE_TELEMETRY_CRSF
 232     handleCrsfTelemetry(currentTime);
 233 #endif
 234 #ifdef USE_TELEMETRY_GHST
 235     handleGhstTelemetry(currentTime);
 236 #endif
 237 #ifdef USE_TELEMETRY_SRXL
 238     handleSrxlTelemetry(currentTime);
 239 #endif
 240 #ifdef USE_TELEMETRY_IBUS
 241     handleIbusTelemetry();
 242 #endif
 243 }
 244
 245 bool telemetryIsSensorEnabled(sensor_e sensor)
 246 {
 247     return ~(telemetryConfig()->disabledSensors) & sensor;
 248 }
 249 #endif