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 <stdbool.h>
  19 #include <stdint.h>
  20 #include <stdlib.h>
  21
  22 #include "platform.h"
  23
  24 #ifdef USE_TELEMETRY
  25
  26 #include "build/debug.h"
  27
  28 #include "common/utils.h"
  29
  30 #include "config/parameter_group.h"
  31 #include "config/parameter_group_ids.h"
  32
  33 #include "drivers/serial.h"
  34
  35 #include "fc/config.h"
  36 #include "fc/rc_controls.h"
  37 #include "fc/rc_modes.h"
  38 #include "fc/runtime_config.h"
  39 #include "fc/settings.h"
  40
  41 #include "io/serial.h"
  42
  43 #include "rx/rx.h"
  44
  45 #include "telemetry/telemetry.h"
  46 #include "telemetry/hott.h"
  47 #include "telemetry/smartport.h"
  48 #include "telemetry/ltm.h"
  49 #include "telemetry/mavlink.h"
  50 #include "telemetry/jetiexbus.h"
  51 #include "telemetry/ibus.h"
  52 #include "telemetry/crsf.h"
  53 #include "telemetry/srxl.h"
  54 #include "telemetry/sbus2.h"
  55 #include "telemetry/sim.h"
  56 #include "telemetry/ghst.h"
  57
  58
  59 PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 8);
  60
  61 PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
  62     .telemetry_switch = SETTING_TELEMETRY_SWITCH_DEFAULT,
  63     .telemetry_inverted = SETTING_TELEMETRY_INVERTED_DEFAULT,
  64     .frsky_pitch_roll = SETTING_FRSKY_PITCH_ROLL_DEFAULT,
  65     .report_cell_voltage = SETTING_REPORT_CELL_VOLTAGE_DEFAULT,
  66     .hottAlarmSoundInterval = SETTING_HOTT_ALARM_SOUND_INTERVAL_DEFAULT,
  67     .halfDuplex = SETTING_TELEMETRY_HALFDUPLEX_DEFAULT,
  68 #if !defined(SETTING_SMARTPORT_FUEL_UNIT_DEFAULT)  // SITL
  69     .smartportFuelUnit = 1,
  70 #else
  71     .smartportFuelUnit = SETTING_SMARTPORT_FUEL_UNIT_DEFAULT,
  72 #endif
  73     .ibusTelemetryType = SETTING_IBUS_TELEMETRY_TYPE_DEFAULT,
  74     .ltmUpdateRate = SETTING_LTM_UPDATE_RATE_DEFAULT,
  75
  76 #ifdef USE_TELEMETRY_SIM
  77     .simTransmitInterval = SETTING_SIM_TRANSMIT_INTERVAL_DEFAULT,
  78     .simTransmitFlags = SETTING_SIM_TRANSMIT_FLAGS_DEFAULT,
  79     .simLowAltitude = SETTING_SIM_LOW_ALTITUDE_DEFAULT,
  80     .simPin = SETTING_SIM_PIN_DEFAULT,
  81     .simGroundStationNumber = SETTING_SIM_GROUND_STATION_NUMBER_DEFAULT,
  82
  83     .accEventThresholdHigh = SETTING_ACC_EVENT_THRESHOLD_HIGH_DEFAULT,
  84     .accEventThresholdLow = SETTING_ACC_EVENT_THRESHOLD_LOW_DEFAULT,
  85     .accEventThresholdNegX = SETTING_ACC_EVENT_THRESHOLD_NEG_X_DEFAULT,
  86 #endif
  87
  88     .mavlink = {
  89         .extended_status_rate = SETTING_MAVLINK_EXT_STATUS_RATE_DEFAULT,
  90         .rc_channels_rate = SETTING_MAVLINK_RC_CHAN_RATE_DEFAULT,
  91         .position_rate = SETTING_MAVLINK_POS_RATE_DEFAULT,
  92         .extra1_rate = SETTING_MAVLINK_EXTRA1_RATE_DEFAULT,
  93         .extra2_rate = SETTING_MAVLINK_EXTRA2_RATE_DEFAULT,
  94         .extra3_rate = SETTING_MAVLINK_EXTRA3_RATE_DEFAULT,
  95         .version = SETTING_MAVLINK_VERSION_DEFAULT,
  96         .min_txbuff = SETTING_MAVLINK_MIN_TXBUFFER_DEFAULT,
  97         .radio_type = SETTING_MAVLINK_RADIO_TYPE_DEFAULT
  98     }
  99 );
 100
 101 void telemetryInit(void)
 102 {
 103
 104 #if defined(USE_TELEMETRY_HOTT)
 105     initHoTTTelemetry();
 106 #endif
 107
 108 #if defined(USE_TELEMETRY_SMARTPORT)
 109     initSmartPortTelemetry();
 110 #endif
 111
 112 #if defined(USE_TELEMETRY_LTM)
 113     initLtmTelemetry();
 114 #endif
 115
 116 #if defined(USE_TELEMETRY_MAVLINK)
 117     initMAVLinkTelemetry();
 118 #endif
 119
 120 #if defined(USE_TELEMETRY_JETIEXBUS)
 121     initJetiExBusTelemetry();
 122 #endif
 123
 124 #if defined(USE_TELEMETRY_IBUS)
 125     initIbusTelemetry();
 126 #endif
 127
 128 #if defined(USE_TELEMETRY_SIM)
 129     initSimTelemetry();
 130 #endif
 131
 132 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 133     initCrsfTelemetry();
 134 #endif
 135
 136 #ifdef USE_TELEMETRY_SRXL
 137     initSrxlTelemetry();
 138 #endif
 139
 140 #ifdef USE_TELEMETRY_GHST
 141     initGhstTelemetry();
 142 #endif
 143
 144     telemetryCheckState();
 145 }
 146
 147 bool telemetryDetermineEnabledState(portSharing_e portSharing)
 148 {
 149     bool enabled = portSharing == PORTSHARING_NOT_SHARED;
 150
 151     if (portSharing == PORTSHARING_SHARED) {
 152         if (telemetryConfig()->telemetry_switch)
 153             enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
 154         else
 155             enabled = ARMING_FLAG(ARMED);
 156     }
 157
 158     return enabled;
 159 }
 160
 161 bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
 162 {
 163     return portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK;
 164 }
 165
 166 serialPort_t *telemetrySharedPort = NULL;
 167
 168 void telemetryCheckState(void)
 169 {
 170
 171 #if defined(USE_TELEMETRY_HOTT)
 172     checkHoTTTelemetryState();
 173 #endif
 174
 175 #if defined(USE_TELEMETRY_SMARTPORT)
 176     checkSmartPortTelemetryState();
 177 #endif
 178
 179 #if defined(USE_TELEMETRY_LTM)
 180     checkLtmTelemetryState();
 181 #endif
 182
 183 #if defined(USE_TELEMETRY_MAVLINK)
 184     checkMAVLinkTelemetryState();
 185 #endif
 186
 187 #if defined(USE_TELEMETRY_JETIEXBUS)
 188     checkJetiExBusTelemetryState();
 189 #endif
 190
 191 #if defined(USE_TELEMETRY_IBUS)
 192     checkIbusTelemetryState();
 193 #endif
 194
 195 #if defined(USE_TELEMETRY_SIM)
 196     checkSimTelemetryState();
 197 #endif
 198
 199 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 200     checkCrsfTelemetryState();
 201 #endif
 202
 203 #ifdef USE_TELEMETRY_SRXL
 204     checkSrxlTelemetryState();
 205 #endif
 206 #ifdef USE_TELEMETRY_GHST
 207     checkGhstTelemetryState();
 208 #endif
 209 }
 210
 211 void telemetryProcess(timeUs_t currentTimeUs)
 212 {
 213     UNUSED(currentTimeUs); // since not used by all the telemetry protocols
 214
 215 #if defined(USE_TELEMETRY_HOTT)
 216     handleHoTTTelemetry(currentTimeUs);
 217 #endif
 218
 219 #if defined(USE_TELEMETRY_SMARTPORT)
 220     handleSmartPortTelemetry();
 221 #endif
 222
 223 #if defined(USE_TELEMETRY_LTM)
 224     handleLtmTelemetry();
 225 #endif
 226
 227 #if defined(USE_TELEMETRY_MAVLINK)
 228     handleMAVLinkTelemetry(currentTimeUs);
 229 #endif
 230
 231 #if defined(USE_TELEMETRY_JETIEXBUS)
 232     handleJetiExBusTelemetry();
 233 #endif
 234
 235 #if defined(USE_SERIALRX_IBUS) && defined(USE_TELEMETRY_IBUS)
 236     handleIbusTelemetry();
 237 #endif
 238
 239 #if defined(USE_TELEMETRY_SIM)
 240     handleSimTelemetry();
 241 #endif
 242
 243 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 244     handleCrsfTelemetry(currentTimeUs);
 245 #endif
 246
 247 #ifdef USE_TELEMETRY_SRXL
 248     handleSrxlTelemetry(currentTimeUs);
 249 #endif
 250 #ifdef USE_TELEMETRY_GHST
 251     handleGhstTelemetry(currentTimeUs);
 252 #endif
 253
 254 #ifdef USE_TELEMETRY_SBUS2
 255     handleSbus2Telemetry(currentTimeUs);
 256 #endif
 257 }
 258
 259 #endif