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 <string.h>
  24
  25 #include "platform.h"
  26
  27 #if defined(USE_TELEMETRY_SRXL)
  28
  29 #include "build/version.h"
  30
  31 #include "cms/cms.h"
  32 #include "io/displayport_srxl.h"
  33
  34 #include "common/crc.h"
  35 #include "common/streambuf.h"
  36 #include "common/utils.h"
  37
  38 #include "config/feature.h"
  39
  40 #include "io/gps.h"
  41 #include "io/serial.h"
  42
  43 //#include "config/config.h"
  44 #include "fc/config.h"
  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/gps.h"
  52
  53 //#include "pg/motor.h"
  54
  55 #include "rx/rx.h"
  56 #include "rx/spektrum.h"
  57 #include "rx/srxl2.h"
  58
  59 #include "sensors/battery.h"
  60 //#include "sensors/adcinternal.h"
  61 #include "sensors/esc_sensor.h"
  62
  63 #include "telemetry/telemetry.h"
  64 #include "telemetry/srxl.h"
  65
  66 #include "drivers/vtx_common.h"
  67 //#include "drivers/dshot.h"
  68
  69 #include "io/vtx_tramp.h"
  70 #include "io/vtx_smartaudio.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     if (useDshotTelemetry) {
 198         uint16_t motors = getMotorCount();
 199
 200         if (motors > 0) {
 201             for (int motor = 0; motor < motors; motor++) {
 202                 rpm += getDshotTelemetry(motor);
 203             }
 204             rpm = 100.0f / (motorConfig()->motorPoleCount / 2.0f) * rpm;  // convert erpm freq to RPM.
 205             rpm /= motors;           // Average combined rpm
 206         }
 207     }
 208 #endif
 209
 210     if (rpm > SPEKTRUM_MIN_RPM && rpm < SPEKTRUM_MAX_RPM) {
 211         period_us = MICROSEC_PER_MINUTE / rpm; // revs/minute -> microSeconds
 212     } else {
 213         period_us = MICROSEC_PER_MINUTE / SPEKTRUM_MIN_RPM;
 214     }
 215
 216     return period_us;
 217 #else
 218     return SPEKTRUM_RPM_UNUSED;
 219 #endif
 220 }
 221
 222 bool srxlFrameRpm(sbuf_t *dst, timeUs_t currentTimeUs)
 223 {
 224     int16_t coreTemp = SPEKTRUM_TEMP_UNUSED;
 225 #if defined(USE_ADC_INTERNAL)
 226     coreTemp = getCoreTemperatureCelsius();
 227     coreTemp = coreTemp * 9 / 5 + 32; // C -> F
 228 #endif
 229
 230     UNUSED(currentTimeUs);
 231
 232     sbufWriteU8(dst, SRXL_FRAMETYPE_TELE_RPM);
 233     sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 234     sbufWriteU16BigEndian(dst, getMotorAveragePeriod());    // pulse leading edges
 235     if (telemetryConfig()->report_cell_voltage) {
 236         sbufWriteU16BigEndian(dst, getBatteryAverageCellVoltage()); // Cell voltage is in units of 0.01V
 237     } else {
 238         sbufWriteU16BigEndian(dst, getBatteryVoltage());   // vbat is in units of 0.01V
 239     }
 240     sbufWriteU16BigEndian(dst, coreTemp);                   // temperature
 241     sbufFill(dst, STRU_TELE_RPM_EMPTY_FIELDS_VALUE, STRU_TELE_RPM_EMPTY_FIELDS_COUNT);
 242
 243     // Mandatory frame, send it unconditionally.
 244     return true;
 245 }
 246
 247 #if defined(USE_GPS)
 248
 249 // From Frsky implementation
 250 static void GPStoDDDMM_MMMM(int32_t mwiigps, gpsCoordinateDDDMMmmmm_t *result)
 251 {
 252     int32_t absgps, deg, min;
 253     absgps = ABS(mwiigps);
 254     deg = absgps / GPS_DEGREES_DIVIDER;
 255     absgps = (absgps - deg * GPS_DEGREES_DIVIDER) * 60;     // absgps = Minutes left * 10^7
 256     min = absgps / GPS_DEGREES_DIVIDER;                     // minutes left
 257     result->dddmm = deg * 100 + min;
 258     result->mmmm = (absgps - min * GPS_DEGREES_DIVIDER) / 1000;
 259 }
 260
 261 // BCD conversion
 262 static uint32_t dec2bcd(uint16_t dec)
 263 {
 264     uint32_t result = 0;
 265     uint8_t counter = 0;
 266
 267     while (dec) {
 268         result |= (dec % 10) << counter * 4;
 269         counter++;
 270         dec /= 10;
 271     }
 272     return result;
 273 }
 274
 275 /*
 276 typedef struct
 277 {
 278     UINT8    identifier;    // Source device = 0x16
 279     UINT8    sID;           // Secondary ID
 280     UINT16   altitudeLow;   // BCD, meters, format 3.1 (Low order of altitude)
 281     UINT32   latitude;      // BCD, format 4.4, Degrees * 100 + minutes, less than 100 degrees
 282     UINT32   longitude;     // BCD, format 4.4 , Degrees * 100 + minutes, flag indicates > 99 degrees
 283     UINT16   course;        // BCD, 3.1
 284     UINT8    HDOP;          // BCD, format 1.1
 285     UINT8    GPSflags;      // see definitions below
 286 } STRU_TELE_GPS_LOC;
 287 */
 288
 289 // GPS flags definitions
 290 #define GPS_FLAGS_IS_NORTH_BIT              0x01
 291 #define GPS_FLAGS_IS_EAST_BIT               0x02
 292 #define GPS_FLAGS_LONGITUDE_GREATER_99_BIT  0x04
 293 #define GPS_FLAGS_GPS_FIX_VALID_BIT         0x08
 294 #define GPS_FLAGS_GPS_DATA_RECEIVED_BIT     0x10
 295 #define GPS_FLAGS_3D_FIX_BIT                0x20
 296 #define GPS_FLAGS_NEGATIVE_ALT_BIT          0x80
 297
 298 bool srxlFrameGpsLoc(sbuf_t *dst, timeUs_t currentTimeUs)
 299 {
 300     UNUSED(currentTimeUs);
 301     gpsCoordinateDDDMMmmmm_t coordinate;
 302     uint32_t latitudeBcd, longitudeBcd, altitudeLo;
 303     uint16_t altitudeLoBcd, groundCourseBcd, hdop;
 304     uint8_t hdopBcd, gpsFlags;
 305
 306     if (!feature(FEATURE_GPS) || !STATE(GPS_FIX) || gpsSol.numSat < 6) {
 307         return false;
 308     }
 309
 310     // lattitude
 311     GPStoDDDMM_MMMM(gpsSol.llh.lat, &coordinate);
 312     latitudeBcd  = (dec2bcd(coordinate.dddmm) << 16) | dec2bcd(coordinate.mmmm);
 313
 314     // longitude
 315     GPStoDDDMM_MMMM(gpsSol.llh.lon, &coordinate);
 316     longitudeBcd = (dec2bcd(coordinate.dddmm) << 16) | dec2bcd(coordinate.mmmm);
 317
 318     // altitude (low order)
 319     altitudeLo = ABS(gpsSol.llh.alt) / 10;
 320     altitudeLoBcd = dec2bcd(altitudeLo % 100000);
 321
 322     // Ground course
 323     groundCourseBcd = dec2bcd(gpsSol.groundCourse);
 324
 325     // HDOP
 326     hdop = gpsSol.hdop / 10;
 327     hdop = (hdop > 99) ? 99 : hdop;
 328     hdopBcd = dec2bcd(hdop);
 329
 330     // flags
 331     gpsFlags = GPS_FLAGS_GPS_DATA_RECEIVED_BIT | GPS_FLAGS_GPS_FIX_VALID_BIT | GPS_FLAGS_3D_FIX_BIT;
 332     gpsFlags |= (gpsSol.llh.lat > 0) ? GPS_FLAGS_IS_NORTH_BIT : 0;
 333     gpsFlags |= (gpsSol.llh.lon > 0) ? GPS_FLAGS_IS_EAST_BIT : 0;
 334     gpsFlags |= (gpsSol.llh.alt < 0) ? GPS_FLAGS_NEGATIVE_ALT_BIT : 0;
 335     gpsFlags |= (gpsSol.llh.lon / GPS_DEGREES_DIVIDER > 99) ? GPS_FLAGS_LONGITUDE_GREATER_99_BIT : 0;
 336
 337     // SRXL frame
 338     sbufWriteU8(dst, SRXL_FRAMETYPE_GPS_LOC);
 339     sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 340     sbufWriteU16(dst, altitudeLoBcd);
 341     sbufWriteU32(dst, latitudeBcd);
 342     sbufWriteU32(dst, longitudeBcd);
 343     sbufWriteU16(dst, groundCourseBcd);
 344     sbufWriteU8(dst, hdopBcd);
 345     sbufWriteU8(dst, gpsFlags);
 346
 347     return true;
 348 }
 349
 350 /*
 351 typedef struct
 352 {
 353    UINT8   identifier;                      // Source device = 0x17
 354    UINT8   sID;                             // Secondary ID
 355    UINT16  speed;                           // BCD, knots, format 3.1
 356    UINT32  UTC;                             // BCD, format HH:MM:SS.S, format 6.1
 357    UINT8   numSats;                         // BCD, 0-99
 358    UINT8   altitudeHigh;                    // BCD, meters, format 2.0 (High bits alt)
 359 } STRU_TELE_GPS_STAT;
 360 */
 361
 362 #define STRU_TELE_GPS_STAT_EMPTY_FIELDS_VALUE 0xff
 363 #define STRU_TELE_GPS_STAT_EMPTY_FIELDS_COUNT 6
 364 #define SPEKTRUM_TIME_UNKNOWN 0xFFFFFFFF
 365
 366 bool srxlFrameGpsStat(sbuf_t *dst, timeUs_t currentTimeUs)
 367 {
 368     UNUSED(currentTimeUs);
 369     uint32_t timeBcd;
 370     uint16_t speedKnotsBcd, speedTmp;
 371     uint8_t numSatBcd, altitudeHighBcd;
 372     bool timeProvided = false;
 373
 374     if (!feature(FEATURE_GPS) || !STATE(GPS_FIX) || gpsSol.numSat < 6) {
 375         return false;
 376     }
 377
 378     // Number of sats and altitude (high bits)
 379     numSatBcd = (gpsSol.numSat > 99) ? dec2bcd(99) : dec2bcd(gpsSol.numSat);
 380     altitudeHighBcd = dec2bcd(gpsSol.llh.alt / 100000);
 381
 382     // Speed (knots)
 383     speedTmp = gpsSol.groundSpeed * 1944 / 1000;
 384     speedKnotsBcd = (speedTmp > 9999) ? dec2bcd(9999) : dec2bcd(speedTmp);
 385
 386 #ifdef USE_RTC_TIME
 387     dateTime_t dt;
 388     // RTC
 389     if (rtcHasTime()) {
 390         rtcGetDateTime(&dt);
 391         timeBcd = dec2bcd(dt.hours);
 392         timeBcd = timeBcd << 8;
 393         timeBcd = timeBcd | dec2bcd(dt.minutes);
 394         timeBcd = timeBcd << 8;
 395         timeBcd = timeBcd | dec2bcd(dt.seconds);
 396         timeBcd = timeBcd << 4;
 397         timeBcd = timeBcd | dec2bcd(dt.millis / 100);
 398         timeProvided = true;
 399     }
 400 #endif
 401     timeBcd = (timeProvided) ? timeBcd : SPEKTRUM_TIME_UNKNOWN;
 402
 403     // SRXL frame
 404     sbufWriteU8(dst, SRXL_FRAMETYPE_GPS_STAT);
 405     sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 406     sbufWriteU16(dst, speedKnotsBcd);
 407     sbufWriteU32(dst, timeBcd);
 408     sbufWriteU8(dst, numSatBcd);
 409     sbufWriteU8(dst, altitudeHighBcd);
 410     sbufFill(dst, STRU_TELE_GPS_STAT_EMPTY_FIELDS_VALUE, STRU_TELE_GPS_STAT_EMPTY_FIELDS_COUNT);
 411
 412     return true;
 413 }
 414
 415 #endif
 416
 417 /*
 418 typedef struct
 419 {
 420     UINT8   identifier;     // Source device = 0x34
 421     UINT8   sID;            // Secondary ID
 422     INT16   current_A;      // Instantaneous current, 0.1A (0-3276.8A)
 423     INT16   chargeUsed_A;   // Integrated mAh used, 1mAh (0-32.766Ah)
 424     UINT16  temp_A;         // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
 425     INT16   current_B;      // Instantaneous current, 0.1A (0-3276.8A)
 426     INT16   chargeUsed_B;   // Integrated mAh used, 1mAh (0-32.766Ah)
 427     UINT16  temp_B;         // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
 428     UINT16  spare;          // Not used
 429 } STRU_TELE_FP_MAH;
 430 */
 431 #define STRU_TELE_FP_EMPTY_FIELDS_COUNT 2
 432 #define STRU_TELE_FP_EMPTY_FIELDS_VALUE 0xff
 433
 434 #define SPEKTRUM_AMPS_UNUSED 0x7fff
 435 #define SPEKTRUM_AMPH_UNUSED 0x7fff
 436
 437 #define FP_MAH_KEEPALIVE_TIME_OUT 2000000 // 2s
 438
 439 bool srxlFrameFlightPackCurrent(sbuf_t *dst, timeUs_t currentTimeUs)
 440 {
 441     uint16_t amps = getAmperage() / 10;
 442     uint16_t mah  = getMAhDrawn();
 443     static uint16_t sentAmps;
 444     static uint16_t sentMah;
 445     static timeUs_t lastTimeSentFPmAh = 0;
 446
 447     timeUs_t keepAlive = currentTimeUs - lastTimeSentFPmAh;
 448
 449     if ( amps != sentAmps ||
 450          mah != sentMah ||
 451          keepAlive > FP_MAH_KEEPALIVE_TIME_OUT ) {
 452
 453         sbufWriteU8(dst, SRXL_FRAMETYPE_TELE_FP_MAH);
 454         sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 455         sbufWriteU16(dst, amps);
 456         sbufWriteU16(dst, mah);
 457         sbufWriteU16(dst, SPEKTRUM_TEMP_UNUSED);            // temp A
 458         sbufWriteU16(dst, SPEKTRUM_AMPS_UNUSED);            // Amps B
 459         sbufWriteU16(dst, SPEKTRUM_AMPH_UNUSED);            // mAH B
 460         sbufWriteU16(dst, SPEKTRUM_TEMP_UNUSED);            // temp B
 461
 462         sbufFill(dst, STRU_TELE_FP_EMPTY_FIELDS_VALUE, STRU_TELE_FP_EMPTY_FIELDS_COUNT);
 463
 464         sentAmps = amps;
 465         sentMah = mah;
 466         lastTimeSentFPmAh = currentTimeUs;
 467         return true;
 468     }
 469     return false;
 470 }
 471
 472 #if defined (USE_SPEKTRUM_CMS_TELEMETRY) && defined (USE_CMS)
 473
 474 // Betaflight CMS using Spektrum Tx telemetry TEXT_GEN sensor as display.
 475
 476 #define SPEKTRUM_SRXL_DEVICE_TEXTGEN (0x0C)     // Text Generator
 477 #define SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS (9)   // Text Generator ROWS
 478 #define SPEKTRUM_SRXL_DEVICE_TEXTGEN_COLS (13)  // Text Generator COLS
 479
 480 /*
 481 typedef struct
 482 {
 483     UINT8       identifier;
 484     UINT8       sID;               // Secondary ID
 485     UINT8       lineNumber;        // Line number to display (0 = title, 1-8 for general, 254 = Refresh backlight, 255 = Erase all text on screen)
 486     char        text[13];          // 0-terminated text when < 13 chars
 487 } STRU_SPEKTRUM_SRXL_TEXTGEN;
 488 */
 489
 490 #if ( SPEKTRUM_SRXL_TEXTGEN_BUFFER_COLS > SPEKTRUM_SRXL_DEVICE_TEXTGEN_COLS )
 491 static char srxlTextBuff[SPEKTRUM_SRXL_TEXTGEN_BUFFER_ROWS][SPEKTRUM_SRXL_TEXTGEN_BUFFER_COLS];
 492 static bool lineSent[SPEKTRUM_SRXL_TEXTGEN_BUFFER_ROWS];
 493 #else
 494 static char srxlTextBuff[SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS][SPEKTRUM_SRXL_DEVICE_TEXTGEN_COLS];
 495 static bool lineSent[SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS];
 496 #endif
 497
 498 //**************************************************************************
 499 // API Running in external client task context. E.g. in the CMS task
 500 int spektrumTmTextGenPutChar(uint8_t col, uint8_t row, char c)
 501 {
 502     if (row < SPEKTRUM_SRXL_TEXTGEN_BUFFER_ROWS && col < SPEKTRUM_SRXL_TEXTGEN_BUFFER_COLS) {
 503       // Only update and force a tm transmision if something has actually changed.
 504         if (srxlTextBuff[row][col] != c) {
 505           srxlTextBuff[row][col] = c;
 506           lineSent[row] = false;
 507         }
 508     }
 509     return 0;
 510 }
 511 //**************************************************************************
 512
 513 bool srxlFrameText(sbuf_t *dst, timeUs_t currentTimeUs)
 514 {
 515     UNUSED(currentTimeUs);
 516     static uint8_t lineNo = 0;
 517     int lineCount = 0;
 518
 519     // Skip already sent lines...
 520     while (lineSent[lineNo] &&
 521            lineCount < SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS) {
 522         lineNo = (lineNo + 1) % SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS;
 523         lineCount++;
 524     }
 525
 526     sbufWriteU8(dst, SPEKTRUM_SRXL_DEVICE_TEXTGEN);
 527     sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 528     sbufWriteU8(dst, lineNo);
 529     sbufWriteData(dst, srxlTextBuff[lineNo], SPEKTRUM_SRXL_DEVICE_TEXTGEN_COLS);
 530
 531     lineSent[lineNo] = true;
 532     lineNo = (lineNo + 1) % SPEKTRUM_SRXL_DEVICE_TEXTGEN_ROWS;
 533
 534     // Always send something, Always one user frame after the two mandatory frames
 535     // I.e. All of the three frame prep routines QOS, RPM, TEXT should always return true
 536     // too keep the "Waltz" sequence intact.
 537     return true;
 538 }
 539 #endif
 540
 541 #if defined(USE_SPEKTRUM_VTX_TELEMETRY) && defined(USE_SPEKTRUM_VTX_CONTROL) && defined(USE_VTX_COMMON)
 542
 543 static uint8_t vtxDeviceType;
 544
 545 static void collectVtxTmData(spektrumVtx_t * vtx)
 546 {
 547     const vtxDevice_t *vtxDevice = vtxCommonDevice();
 548     vtxDeviceType = vtxCommonGetDeviceType(vtxDevice);
 549
 550     // Collect all data from VTX, if VTX is ready
 551     unsigned vtxStatus;
 552     if (vtxDevice == NULL || !(vtxCommonGetBandAndChannel(vtxDevice, &vtx->band, &vtx->channel) &&
 553            vtxCommonGetStatus(vtxDevice, &vtxStatus) &&
 554            vtxCommonGetPowerIndex(vtxDevice, &vtx->power)) )
 555         {
 556             vtx->band    = 0;
 557             vtx->channel = 0;
 558             vtx->power   = 0;
 559             vtx->pitMode = 0;
 560         } else {
 561             vtx->pitMode = (vtxStatus & VTX_STATUS_PIT_MODE) ? 1 : 0;
 562         }
 563
 564     vtx->powerValue = 0;
 565 #ifdef USE_SPEKTRUM_REGION_CODES
 566     vtx->region = SpektrumRegion;
 567 #else
 568     vtx->region = SPEKTRUM_VTX_REGION_NONE;
 569 #endif
 570 }
 571
 572 // Reverse lookup, device power index to Spektrum power range index.
 573 static void convertVtxPower(spektrumVtx_t * vtx)
 574     {
 575         uint8_t const * powerIndexTable = NULL;
 576
 577         vtxCommonLookupPowerValue(vtxCommonDevice(), vtx->power, &vtx->powerValue);
 578         switch (vtxDeviceType) {
 579
 580 #if defined(USE_VTX_TRAMP)
 581         case VTXDEV_TRAMP:
 582             powerIndexTable = vtxTrampPi;
 583             break;
 584 #endif
 585 #if defined(USE_VTX_SMARTAUDIO)
 586         case VTXDEV_SMARTAUDIO:
 587             powerIndexTable = vtxSaPi;
 588             break;
 589 #endif
 590 #if defined(USE_VTX_RTC6705)
 591         case VTXDEV_RTC6705:
 592             powerIndexTable = vtxRTC6705Pi;
 593             break;
 594 #endif
 595
 596         case VTXDEV_UNKNOWN:
 597         case VTXDEV_UNSUPPORTED:
 598         default:
 599           break;
 600
 601         }
 602
 603         if (powerIndexTable != NULL) {
 604             for (int i = 0; i < SPEKTRUM_VTX_POWER_COUNT; i++)
 605                 if (powerIndexTable[i] >= vtx->power) {
 606                     vtx->power = i;                                    // Translate device power index to Spektrum power index.
 607                     break;
 608                 }
 609         }
 610     }
 611
 612 static void convertVtxTmData(spektrumVtx_t * vtx)
 613 {
 614     // Convert from internal band indexes to Spektrum indexes
 615     for (int i = 0; i < SPEKTRUM_VTX_BAND_COUNT; i++) {
 616         if (spek2commonBand[i] == vtx->band) {
 617             vtx->band = i;
 618             break;
 619         }
 620     }
 621
 622     // De-bump channel no 1 based interally, 0-based in Spektrum.
 623     vtx->channel--;
 624
 625     // Convert Power index to Spektrum ranges, different per brand.
 626     convertVtxPower(vtx);
 627 }
 628
 629 /*
 630 typedef struct
 631 {
 632     UINT8               identifier;
 633     UINT8               sID;      // Secondary ID
 634     UINT8               band;     // VTX Band (0 = Fatshark, 1 = Raceband, 2 = E, 3 = B, 4 = A, 5-7 = Reserved)
 635     UINT8               channel;  // VTX Channel (0-7)
 636     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
 637     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)
 638     UINT16              powerDec; // VTX Power as a decimal 1mw/unit
 639     UINT8               region;   // Region (0 = USA, 1 = EU, 0xFF = N/A)
 640     UINT8               rfu[7];   // reserved
 641 } STRU_TELE_VTX;
 642 */
 643
 644 #define STRU_TELE_VTX_EMPTY_COUNT 7
 645 #define STRU_TELE_VTX_EMPTY_VALUE 0xff
 646
 647 #define VTX_KEEPALIVE_TIME_OUT 2000000 // uS
 648
 649 static bool srxlFrameVTX(sbuf_t *dst, timeUs_t currentTimeUs)
 650 {
 651     static timeUs_t lastTimeSentVtx = 0;
 652     static spektrumVtx_t vtxSent;
 653
 654     spektrumVtx_t vtx;
 655     collectVtxTmData(&vtx);
 656
 657     if ((vtxDeviceType != VTXDEV_UNKNOWN) && vtxDeviceType != VTXDEV_UNSUPPORTED) {
 658         convertVtxTmData(&vtx);
 659
 660         if ((memcmp(&vtxSent, &vtx, sizeof(spektrumVtx_t)) != 0) ||
 661             ((currentTimeUs - lastTimeSentVtx) > VTX_KEEPALIVE_TIME_OUT) ) {
 662             // Fill in the VTX tm structure
 663             sbufWriteU8(dst, TELE_DEVICE_VTX);
 664             sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
 665             sbufWriteU8(dst,  vtx.band);
 666             sbufWriteU8(dst,  vtx.channel);
 667             sbufWriteU8(dst,  vtx.pitMode);
 668             sbufWriteU8(dst,  vtx.power);
 669             sbufWriteU16(dst, vtx.powerValue);
 670             sbufWriteU8(dst,  vtx.region);
 671
 672             sbufFill(dst, STRU_TELE_VTX_EMPTY_VALUE, STRU_TELE_VTX_EMPTY_COUNT);
 673
 674             memcpy(&vtxSent, &vtx, sizeof(spektrumVtx_t));
 675             lastTimeSentVtx = currentTimeUs;
 676             return true;
 677         }
 678     }
 679     return false;
 680 }
 681 #endif // USE_SPEKTRUM_VTX_TELEMETRY && USE_SPEKTRUM_VTX_CONTROL && USE_VTX_COMMON
 682
 683
 684 // Schedule array to decide how often each type of frame is sent
 685 // The frames are scheduled in sets of 3 frames, 2 mandatory and 1 user frame.
 686 // The user frame type is cycled for each set.
 687 // Example. QOS, RPM,.CURRENT, QOS, RPM, TEXT. QOS, RPM, CURRENT, etc etc
 688
 689 #define SRXL_SCHEDULE_MANDATORY_COUNT  2 // Mandatory QOS and RPM sensors
 690
 691 #define SRXL_FP_MAH_COUNT   1
 692
 693 #if defined(USE_GPS)
 694 #define SRXL_GPS_LOC_COUNT  1
 695 #define SRXL_GPS_STAT_COUNT 1
 696 #else
 697 #define SRXL_GPS_LOC_COUNT  0
 698 #define SRXL_GPS_STAT_COUNT 0
 699 #endif
 700
 701 #if defined (USE_SPEKTRUM_CMS_TELEMETRY) && defined (USE_CMS)
 702 #define SRXL_SCHEDULE_CMS_COUNT  1
 703 #else
 704 #define SRXL_SCHEDULE_CMS_COUNT  0
 705 #endif
 706
 707 #if defined(USE_SPEKTRUM_VTX_TELEMETRY) && defined(USE_SPEKTRUM_VTX_CONTROL) && defined(USE_VTX_COMMON)
 708 #define SRXL_VTX_TM_COUNT        1
 709 #else
 710 #define SRXL_VTX_TM_COUNT        0
 711 #endif
 712
 713 #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)
 714 #define SRXL_SCHEDULE_COUNT_MAX  (SRXL_SCHEDULE_MANDATORY_COUNT + 1)
 715 #define SRXL_TOTAL_COUNT         (SRXL_SCHEDULE_MANDATORY_COUNT + SRXL_SCHEDULE_USER_COUNT)
 716
 717 typedef bool (*srxlScheduleFnPtr)(sbuf_t *dst, timeUs_t currentTimeUs);
 718
 719 const srxlScheduleFnPtr srxlScheduleFuncs[SRXL_TOTAL_COUNT] = {
 720     /* must send srxlFrameQos, Rpm and then alternating items of our own */
 721     srxlFrameQos,
 722     srxlFrameRpm,
 723     srxlFrameFlightPackCurrent,
 724 #if defined(USE_GPS)
 725     srxlFrameGpsStat,
 726     srxlFrameGpsLoc,
 727 #endif
 728 #if defined(USE_SPEKTRUM_VTX_TELEMETRY) && defined(USE_SPEKTRUM_VTX_CONTROL) && defined(USE_VTX_COMMON)
 729     srxlFrameVTX,
 730 #endif
 731 #if defined (USE_SPEKTRUM_CMS_TELEMETRY) && defined (USE_CMS)
 732     srxlFrameText,
 733 #endif
 734 };
 735
 736
 737 static void processSrxl(timeUs_t currentTimeUs)
 738 {
 739     static uint8_t srxlScheduleIndex = 0;
 740     static uint8_t srxlScheduleUserIndex = 0;
 741
 742     sbuf_t srxlPayloadBuf;
 743     sbuf_t *dst = &srxlPayloadBuf;
 744     srxlScheduleFnPtr srxlFnPtr;
 745
 746     if (srxlScheduleIndex < SRXL_SCHEDULE_MANDATORY_COUNT) {
 747         srxlFnPtr = srxlScheduleFuncs[srxlScheduleIndex];
 748     } else {
 749         srxlFnPtr = srxlScheduleFuncs[srxlScheduleIndex + srxlScheduleUserIndex];
 750         srxlScheduleUserIndex = (srxlScheduleUserIndex + 1) % SRXL_SCHEDULE_USER_COUNT;
 751
 752 #if defined (USE_SPEKTRUM_CMS_TELEMETRY) && defined (USE_CMS)
 753         // Boost CMS performance by sending nothing else but CMS Text frames when in a CMS menu.
 754         // Sideeffect, all other reports are still not sent if user leaves CMS without a proper EXIT.
 755         if (cmsInMenu &&
 756             (cmsDisplayPortGetCurrent() == &srxlDisplayPort)) {
 757             srxlFnPtr = srxlFrameText;
 758         }
 759 #endif
 760
 761     }
 762
 763     if (srxlFnPtr) {
 764         srxlInitializeFrame(dst);
 765         if (srxlFnPtr(dst, currentTimeUs)) {
 766             srxlFinalize(dst);
 767         }
 768     }
 769     srxlScheduleIndex = (srxlScheduleIndex + 1) % SRXL_SCHEDULE_COUNT_MAX;
 770 }
 771
 772 void initSrxlTelemetry(void)
 773 {
 774     // check if there is a serial port open for SRXL telemetry (ie opened by the SRXL RX)
 775     // and feature is enabled, if so, set SRXL telemetry enabled
 776   if (srxlRxIsActive()) {
 777     srxlTelemetryEnabled = true;
 778     srxl2 = false;
 779 #if defined(USE_SERIALRX_SRXL2)
 780   } else if (srxl2RxIsActive()) {
 781     srxlTelemetryEnabled = true;
 782     srxl2 = true;
 783 #endif
 784   } else {
 785     srxlTelemetryEnabled = false;
 786     srxl2 = false;
 787   }
 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