src/main/rx/rx.h

   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 #pragma once
  19
  20 #include <stdint.h>
  21 #include <stdbool.h>
  22
  23 #include "common/time.h"
  24 #include "common/tristate.h"
  25
  26 #include "config/parameter_group.h"
  27
  28 #define STICK_CHANNEL_COUNT 4
  29
  30 #define PWM_RANGE_MIN 1000
  31 #define PWM_RANGE_MAX 2000
  32 #define PWM_RANGE_MIDDLE (PWM_RANGE_MIN + ((PWM_RANGE_MAX - PWM_RANGE_MIN) / 2))
  33
  34 #define PWM_PULSE_MIN   750       // minimum PWM pulse width which is considered valid
  35 #define PWM_PULSE_MAX   2250      // maximum PWM pulse width which is considered valid
  36
  37 #define MIDRC_MIN 1200
  38 #define MIDRC_MAX 1700
  39
  40 #define RXFAIL_STEP_TO_CHANNEL_VALUE(step) (PWM_PULSE_MIN + 25 * step)
  41 #define CHANNEL_VALUE_TO_RXFAIL_STEP(channelValue) ((constrain(channelValue, PWM_PULSE_MIN, PWM_PULSE_MAX) - PWM_PULSE_MIN) / 25)
  42 #define MAX_RXFAIL_RANGE_STEP ((PWM_PULSE_MAX - PWM_PULSE_MIN) / 25)
  43
  44 #define DEFAULT_SERVO_MIN 1000
  45 #define DEFAULT_SERVO_MIDDLE 1500
  46 #define DEFAULT_SERVO_MAX 2000
  47
  48 #define DELAY_50_HZ (1000000 / 50)
  49 #define DELAY_10_HZ (1000000 / 10)
  50 #define DELAY_5_HZ (1000000 / 5)
  51
  52 #define RSSI_MAX_VALUE 1023
  53
  54 typedef enum {
  55     RX_FRAME_PENDING             = 0,         // No new data available from receiver
  56     RX_FRAME_COMPLETE            = (1 << 0),  // There is new data available
  57     RX_FRAME_FAILSAFE            = (1 << 1),  // Receiver detected loss of RC link. Only valid when RX_FRAME_COMPLETE is set as well
  58     RX_FRAME_PROCESSING_REQUIRED = (1 << 2),
  59     RX_FRAME_DROPPED             = (1 << 3),  // Receiver detected dropped frame. Not loss of link yet.
  60 } rxFrameState_e;
  61
  62 typedef enum {
  63     RX_TYPE_NONE = 0,
  64     RX_TYPE_SERIAL,
  65     RX_TYPE_MSP,
  66     RX_TYPE_SIM
  67 } rxReceiverType_e;
  68
  69 typedef enum {
  70     SERIALRX_SPEKTRUM1024 = 0,
  71     SERIALRX_SPEKTRUM2048,
  72     SERIALRX_SBUS,
  73     SERIALRX_SUMD,
  74     SERIALRX_IBUS,
  75     SERIALRX_JETIEXBUS,
  76     SERIALRX_CRSF,
  77     SERIALRX_FPORT,
  78     SERIALRX_SBUS_FAST,
  79     SERIALRX_FPORT2,
  80     SERIALRX_SRXL2,
  81     SERIALRX_GHST,
  82     SERIALRX_MAVLINK,
  83     SERIALRX_FBUS,
  84 } rxSerialReceiverType_e;
  85
  86 #ifdef USE_24CHANNELS
  87 #define MAX_SUPPORTED_RC_CHANNEL_COUNT 26
  88 #else
  89 #define MAX_SUPPORTED_RC_CHANNEL_COUNT 18
  90 #endif
  91
  92 #define NON_AUX_CHANNEL_COUNT 4
  93 #define MAX_AUX_CHANNEL_COUNT (MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT)
  94
  95 extern const char rcChannelLetters[];
  96
  97 #define MAX_MAPPABLE_RX_INPUTS 4
  98
  99 #define MAX_INVALID_RX_PULSE_TIME    300
 100
 101 #define RSSI_VISIBLE_VALUE_MIN 0
 102 #define RSSI_VISIBLE_VALUE_MAX 100
 103 #define RSSI_VISIBLE_FACTOR (RSSI_MAX_VALUE/(float)RSSI_VISIBLE_VALUE_MAX)
 104
 105 typedef struct rxChannelRangeConfig_s {
 106     uint16_t min;
 107     uint16_t max;
 108 } rxChannelRangeConfig_t;
 109 PG_DECLARE_ARRAY(rxChannelRangeConfig_t, NON_AUX_CHANNEL_COUNT, rxChannelRangeConfigs);
 110
 111 typedef struct rxConfig_s {
 112     uint8_t receiverType;                   // RC receiver type (rxReceiverType_e enum)
 113     uint8_t rcmap[MAX_MAPPABLE_RX_INPUTS];  // mapping of radio channels to internal RPYTA+ order
 114     uint8_t serialrx_provider;              // Type of UART-based receiver (rxSerialReceiverType_e enum). Only used if receiverType is RX_TYPE_SERIAL
 115     uint8_t serialrx_inverted;              // Flip the default inversion of the protocol - e.g. sbus (Futaba, FrSKY) is inverted if this is false, uninverted if it's true. Support for uninverted OpenLRS (and modified FrSKY) receivers.
 116     uint8_t halfDuplex;                     // allow rx to operate in half duplex mode. From tristate_e.
 117 #ifdef USE_SPEKTRUM_BIND
 118     uint8_t spektrum_sat_bind;              // number of bind pulses for Spektrum satellite receivers
 119     uint8_t spektrum_sat_bind_autoreset;    // whenever we will reset (exit) binding mode after hard reboot
 120 #endif
 121     uint8_t rssi_channel;
 122     uint8_t rssiMin;                        // minimum RSSI sent by the RX - [RSSI_VISIBLE_VALUE_MIN, RSSI_VISIBLE_VALUE_MAX]
 123     uint8_t rssiMax;                        // maximum RSSI sent by the RX - [RSSI_VISIBLE_VALUE_MIN, RSSI_VISIBLE_VALUE_MAX]
 124     uint16_t sbusSyncInterval;
 125     uint16_t mincheck;                      // minimum rc end
 126     uint16_t maxcheck;                      // maximum rc end
 127     uint16_t rx_min_usec;
 128     uint16_t rx_max_usec;
 129     uint8_t rcFilterFrequency;              // RC filter cutoff frequency (smoothness vs response sharpness)
 130     uint8_t autoSmooth;                     // auto smooth rx input (0 = off, 1 = on)
 131     uint8_t autoSmoothFactor;               // auto smooth rx input factor (1 = no smoothing, 100 = lots of smoothing)
 132     uint16_t mspOverrideChannels;           // Channels to override with MSP RC when BOXMSPRCOVERRIDE is active
 133     uint8_t rssi_source;
 134 #ifdef USE_SERIALRX_SRXL2
 135     uint8_t srxl2_unit_id;
 136     uint8_t srxl2_baud_fast;
 137 #endif
 138 } rxConfig_t;
 139
 140 PG_DECLARE(rxConfig_t, rxConfig);
 141
 142 #define REMAPPABLE_CHANNEL_COUNT ARRAYLEN(((rxConfig_t *)0)->rcmap)
 143
 144 typedef struct rxLinkQualityTracker_s {
 145     timeMs_t lastUpdatedMs;
 146     uint32_t lqAccumulator;
 147     uint32_t lqCount;
 148     uint32_t lqValue;
 149 } rxLinkQualityTracker_e;
 150
 151
 152 struct rxRuntimeConfig_s;
 153 typedef struct rxRuntimeConfig_s rxRuntimeConfig_t;
 154
 155 typedef uint16_t (*rcReadRawDataFnPtr)(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); // used by receiver driver to return channel data
 156 typedef uint8_t (*rcFrameStatusFnPtr)(rxRuntimeConfig_t *rxRuntimeConfig);
 157 typedef bool (*rcProcessFrameFnPtr)(const rxRuntimeConfig_t *rxRuntimeConfig);
 158 typedef uint16_t (*rcGetLinkQualityPtr)(const rxRuntimeConfig_t *rxRuntimeConfig);
 159
 160 typedef struct rxRuntimeConfig_s {
 161     uint8_t channelCount;                  // number of rc channels as reported by current input driver
 162     timeUs_t rxSignalTimeout;
 163     rcReadRawDataFnPtr rcReadRawFn;
 164     rcFrameStatusFnPtr rcFrameStatusFn;
 165     rcProcessFrameFnPtr rcProcessFrameFn;
 166     rxLinkQualityTracker_e * lqTracker;     // Pointer to a
 167     uint16_t *channelData;
 168     void *frameData;
 169 } rxRuntimeConfig_t;
 170
 171 typedef struct rcChannel_s {
 172     int16_t raw;        // Value received via RX - [1000;2000]
 173     int16_t data;       // Value after processing - [1000;2000]
 174     timeMs_t expiresAt; // Time when this value becomes too old and it's discarded
 175 } rcChannel_t;
 176
 177 typedef enum {
 178     RSSI_SOURCE_NONE = 0,
 179     RSSI_SOURCE_AUTO,
 180     RSSI_SOURCE_ADC,
 181     RSSI_SOURCE_RX_CHANNEL,
 182     RSSI_SOURCE_RX_PROTOCOL,
 183     RSSI_SOURCE_MSP,
 184 } rssiSource_e;
 185
 186 typedef struct rxLinkStatistics_s {
 187     int16_t uplinkRSSI;     // RSSI value in dBm
 188     uint8_t uplinkLQ;       // A protocol specific measure of the link quality in [0..100]
 189     int8_t uplinkSNR;       // The SNR of the uplink in dB
 190     uint8_t rfMode;         // A protocol specific measure of the transmission bandwidth [2 = 150Hz, 1 = 50Hz, 0 = 4Hz]
 191     uint16_t uplinkTXPower; // power in mW
 192     uint8_t activeAntenna;
 193 } rxLinkStatistics_t;
 194
 195 typedef uint16_t (*rcReadRawDataFnPtr)(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); // used by receiver driver to return channel data
 196 typedef uint8_t (*rcFrameStatusFnPtr)(rxRuntimeConfig_t *rxRuntimeConfig);
 197 typedef bool (*rcProcessFrameFnPtr)(const rxRuntimeConfig_t *rxRuntimeConfig);
 198 typedef uint16_t (*rcGetLinkQualityPtr)(const rxRuntimeConfig_t *rxRuntimeConfig);
 199
 200 extern rxRuntimeConfig_t rxRuntimeConfig; //!!TODO remove this extern, only needed once for channelCount
 201 extern rxLinkStatistics_t rxLinkStatistics;
 202 void lqTrackerReset(rxLinkQualityTracker_e * lqTracker);
 203 void lqTrackerAccumulate(rxLinkQualityTracker_e * lqTracker, uint16_t rawValue);
 204 void lqTrackerSet(rxLinkQualityTracker_e * lqTracker, uint16_t rawValue);
 205 uint16_t lqTrackerGet(rxLinkQualityTracker_e * lqTracker);
 206
 207 void rxInit(void);
 208 void rxUpdateRSSISource(void);
 209 bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime);
 210 bool rxIsReceivingSignal(void);
 211 bool rxAreFlightChannelsValid(void);
 212 bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs);
 213 bool isRxPulseValid(uint16_t pulseDuration);
 214
 215 uint8_t calculateChannelRemapping(const uint8_t *channelMap, uint8_t channelMapEntryCount, uint8_t channelToRemap);
 216 void parseRcChannels(const char *input);
 217
 218 void setRSSIFromMSP(uint8_t newMspRssi);
 219 void updateRSSI(timeUs_t currentTimeUs);
 220 // Returns RSSI in [0, RSSI_MAX_VALUE] range.
 221 uint16_t getRSSI(void);
 222 rssiSource_e getRSSISource(void);
 223
 224 void resetAllRxChannelRangeConfigurations(void);
 225
 226 void suspendRxSignal(void);
 227 void resumeRxSignal(void);
 228
 229 // Processed RC channel value. These values might include
 230 // filtering and some extra processing like value holding
 231 // during failsafe.
 232 int16_t rxGetChannelValue(unsigned channelNumber);