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 "common/utils.h"
  27
  28 #include "config/parameter_group.h"
  29 #include "config/parameter_group_ids.h"
  30
  31 #include "drivers/serial.h"
  32
  33 #include "fc/config.h"
  34 #include "fc/rc_controls.h"
  35 #include "fc/rc_modes.h"
  36 #include "fc/runtime_config.h"
  37 #include "fc/settings.h"
  38
  39 #include "io/serial.h"
  40
  41 #include "rx/rx.h"
  42
  43 #include "telemetry/telemetry.h"
  44 #include "telemetry/hott.h"
  45 #include "telemetry/smartport.h"
  46 #include "telemetry/ltm.h"
  47 #include "telemetry/mavlink.h"
  48 #include "telemetry/jetiexbus.h"
  49 #include "telemetry/ibus.h"
  50 #include "telemetry/crsf.h"
  51 #include "telemetry/srxl.h"
  52 #include "telemetry/sim.h"
  53 #include "telemetry/ghst.h"
  54
  55
  56 PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 6);
  57
  58 PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
  59     .telemetry_switch = SETTING_TELEMETRY_SWITCH_DEFAULT,
  60     .telemetry_inverted = SETTING_TELEMETRY_INVERTED_DEFAULT,
  61     .frsky_pitch_roll = SETTING_FRSKY_PITCH_ROLL_DEFAULT,
  62     .report_cell_voltage = SETTING_REPORT_CELL_VOLTAGE_DEFAULT,
  63     .hottAlarmSoundInterval = SETTING_HOTT_ALARM_SOUND_INTERVAL_DEFAULT,
  64     .halfDuplex = SETTING_TELEMETRY_HALFDUPLEX_DEFAULT,
  65 #if !defined(SETTING_SMARTPORT_FUEL_UNIT_DEFAULT)  // SITL
  66     .smartportFuelUnit = 1,
  67 #else
  68     .smartportFuelUnit = SETTING_SMARTPORT_FUEL_UNIT_DEFAULT,
  69 #endif
  70     .ibusTelemetryType = SETTING_IBUS_TELEMETRY_TYPE_DEFAULT,
  71     .ltmUpdateRate = SETTING_LTM_UPDATE_RATE_DEFAULT,
  72
  73 #ifdef USE_TELEMETRY_SIM
  74     .simTransmitInterval = SETTING_SIM_TRANSMIT_INTERVAL_DEFAULT,
  75     .simTransmitFlags = SETTING_SIM_TRANSMIT_FLAGS_DEFAULT,
  76     .simLowAltitude = SETTING_SIM_LOW_ALTITUDE_DEFAULT,
  77     .simPin = SETTING_SIM_PIN_DEFAULT,
  78     .simGroundStationNumber = SETTING_SIM_GROUND_STATION_NUMBER_DEFAULT,
  79
  80     .accEventThresholdHigh = SETTING_ACC_EVENT_THRESHOLD_HIGH_DEFAULT,
  81     .accEventThresholdLow = SETTING_ACC_EVENT_THRESHOLD_LOW_DEFAULT,
  82     .accEventThresholdNegX = SETTING_ACC_EVENT_THRESHOLD_NEG_X_DEFAULT,
  83 #endif
  84
  85     .mavlink = {
  86         .extended_status_rate = SETTING_MAVLINK_EXT_STATUS_RATE_DEFAULT,
  87         .rc_channels_rate = SETTING_MAVLINK_RC_CHAN_RATE_DEFAULT,
  88         .position_rate = SETTING_MAVLINK_POS_RATE_DEFAULT,
  89         .extra1_rate = SETTING_MAVLINK_EXTRA1_RATE_DEFAULT,
  90         .extra2_rate = SETTING_MAVLINK_EXTRA2_RATE_DEFAULT,
  91         .extra3_rate = SETTING_MAVLINK_EXTRA3_RATE_DEFAULT,
  92         .version = SETTING_MAVLINK_VERSION_DEFAULT
  93     }
  94 );
  95
  96 void telemetryInit(void)
  97 {
  98
  99 #if defined(USE_TELEMETRY_HOTT)
 100     initHoTTTelemetry();
 101 #endif
 102
 103 #if defined(USE_TELEMETRY_SMARTPORT)
 104     initSmartPortTelemetry();
 105 #endif
 106
 107 #if defined(USE_TELEMETRY_LTM)
 108     initLtmTelemetry();
 109 #endif
 110
 111 #if defined(USE_TELEMETRY_MAVLINK)
 112     initMAVLinkTelemetry();
 113 #endif
 114
 115 #if defined(USE_TELEMETRY_JETIEXBUS)
 116     initJetiExBusTelemetry();
 117 #endif
 118
 119 #if defined(USE_TELEMETRY_IBUS)
 120     initIbusTelemetry();
 121 #endif
 122
 123 #if defined(USE_TELEMETRY_SIM)
 124     initSimTelemetry();
 125 #endif
 126
 127 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 128     initCrsfTelemetry();
 129 #endif
 130
 131 #ifdef USE_TELEMETRY_SRXL
 132     initSrxlTelemetry();
 133 #endif
 134
 135 #ifdef USE_TELEMETRY_GHST
 136     initGhstTelemetry();
 137 #endif
 138
 139     telemetryCheckState();
 140 }
 141
 142 bool telemetryDetermineEnabledState(portSharing_e portSharing)
 143 {
 144     bool enabled = portSharing == PORTSHARING_NOT_SHARED;
 145
 146     if (portSharing == PORTSHARING_SHARED) {
 147         if (telemetryConfig()->telemetry_switch)
 148             enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
 149         else
 150             enabled = ARMING_FLAG(ARMED);
 151     }
 152
 153     return enabled;
 154 }
 155
 156 bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
 157 {
 158     return portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK;
 159 }
 160
 161 serialPort_t *telemetrySharedPort = NULL;
 162
 163 void telemetryCheckState(void)
 164 {
 165
 166 #if defined(USE_TELEMETRY_HOTT)
 167     checkHoTTTelemetryState();
 168 #endif
 169
 170 #if defined(USE_TELEMETRY_SMARTPORT)
 171     checkSmartPortTelemetryState();
 172 #endif
 173
 174 #if defined(USE_TELEMETRY_LTM)
 175     checkLtmTelemetryState();
 176 #endif
 177
 178 #if defined(USE_TELEMETRY_MAVLINK)
 179     checkMAVLinkTelemetryState();
 180 #endif
 181
 182 #if defined(USE_TELEMETRY_JETIEXBUS)
 183     checkJetiExBusTelemetryState();
 184 #endif
 185
 186 #if defined(USE_TELEMETRY_IBUS)
 187     checkIbusTelemetryState();
 188 #endif
 189
 190 #if defined(USE_TELEMETRY_SIM)
 191     checkSimTelemetryState();
 192 #endif
 193
 194 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 195     checkCrsfTelemetryState();
 196 #endif
 197
 198 #ifdef USE_TELEMETRY_SRXL
 199     checkSrxlTelemetryState();
 200 #endif
 201 #ifdef USE_TELEMETRY_GHST
 202     checkGhstTelemetryState();
 203 #endif
 204 }
 205
 206 void telemetryProcess(timeUs_t currentTimeUs)
 207 {
 208     UNUSED(currentTimeUs); // since not used by all the telemetry protocols
 209
 210 #if defined(USE_TELEMETRY_HOTT)
 211     handleHoTTTelemetry(currentTimeUs);
 212 #endif
 213
 214 #if defined(USE_TELEMETRY_SMARTPORT)
 215     handleSmartPortTelemetry();
 216 #endif
 217
 218 #if defined(USE_TELEMETRY_LTM)
 219     handleLtmTelemetry();
 220 #endif
 221
 222 #if defined(USE_TELEMETRY_MAVLINK)
 223     handleMAVLinkTelemetry(currentTimeUs);
 224 #endif
 225
 226 #if defined(USE_TELEMETRY_JETIEXBUS)
 227     handleJetiExBusTelemetry();
 228 #endif
 229
 230 #if defined(USE_SERIALRX_IBUS) && defined(USE_TELEMETRY_IBUS)
 231     handleIbusTelemetry();
 232 #endif
 233
 234 #if defined(USE_TELEMETRY_SIM)
 235     handleSimTelemetry();
 236 #endif
 237
 238 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 239     handleCrsfTelemetry(currentTimeUs);
 240 #endif
 241
 242 #ifdef USE_TELEMETRY_SRXL
 243     handleSrxlTelemetry(currentTimeUs);
 244 #endif
 245 #ifdef USE_TELEMETRY_GHST
 246     handleGhstTelemetry(currentTimeUs);
 247 #endif
 248
 249 #ifdef USE_TELMETRY_SBUS2
 250     handleSbus2Telemetry(currentTimeUs);
 251 #endif
 252 }
 253
 254 #endif