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, 6);
  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     }
  97 );
  98
  99 void telemetryInit(void)
 100 {
 101
 102 #if defined(USE_TELEMETRY_HOTT)
 103     initHoTTTelemetry();
 104 #endif
 105
 106 #if defined(USE_TELEMETRY_SMARTPORT)
 107     initSmartPortTelemetry();
 108 #endif
 109
 110 #if defined(USE_TELEMETRY_LTM)
 111     initLtmTelemetry();
 112 #endif
 113
 114 #if defined(USE_TELEMETRY_MAVLINK)
 115     initMAVLinkTelemetry();
 116 #endif
 117
 118 #if defined(USE_TELEMETRY_JETIEXBUS)
 119     initJetiExBusTelemetry();
 120 #endif
 121
 122 #if defined(USE_TELEMETRY_IBUS)
 123     initIbusTelemetry();
 124 #endif
 125
 126 #if defined(USE_TELEMETRY_SIM)
 127     initSimTelemetry();
 128 #endif
 129
 130 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 131     initCrsfTelemetry();
 132 #endif
 133
 134 #ifdef USE_TELEMETRY_SRXL
 135     initSrxlTelemetry();
 136 #endif
 137
 138 #ifdef USE_TELEMETRY_GHST
 139     initGhstTelemetry();
 140 #endif
 141
 142     telemetryCheckState();
 143 }
 144
 145 bool telemetryDetermineEnabledState(portSharing_e portSharing)
 146 {
 147     bool enabled = portSharing == PORTSHARING_NOT_SHARED;
 148
 149     if (portSharing == PORTSHARING_SHARED) {
 150         if (telemetryConfig()->telemetry_switch)
 151             enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
 152         else
 153             enabled = ARMING_FLAG(ARMED);
 154     }
 155
 156     return enabled;
 157 }
 158
 159 bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
 160 {
 161     return portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK;
 162 }
 163
 164 serialPort_t *telemetrySharedPort = NULL;
 165
 166 void telemetryCheckState(void)
 167 {
 168
 169 #if defined(USE_TELEMETRY_HOTT)
 170     checkHoTTTelemetryState();
 171 #endif
 172
 173 #if defined(USE_TELEMETRY_SMARTPORT)
 174     checkSmartPortTelemetryState();
 175 #endif
 176
 177 #if defined(USE_TELEMETRY_LTM)
 178     checkLtmTelemetryState();
 179 #endif
 180
 181 #if defined(USE_TELEMETRY_MAVLINK)
 182     checkMAVLinkTelemetryState();
 183 #endif
 184
 185 #if defined(USE_TELEMETRY_JETIEXBUS)
 186     checkJetiExBusTelemetryState();
 187 #endif
 188
 189 #if defined(USE_TELEMETRY_IBUS)
 190     checkIbusTelemetryState();
 191 #endif
 192
 193 #if defined(USE_TELEMETRY_SIM)
 194     checkSimTelemetryState();
 195 #endif
 196
 197 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 198     checkCrsfTelemetryState();
 199 #endif
 200
 201 #ifdef USE_TELEMETRY_SRXL
 202     checkSrxlTelemetryState();
 203 #endif
 204 #ifdef USE_TELEMETRY_GHST
 205     checkGhstTelemetryState();
 206 #endif
 207 }
 208
 209 void telemetryProcess(timeUs_t currentTimeUs)
 210 {
 211     UNUSED(currentTimeUs); // since not used by all the telemetry protocols
 212
 213 #if defined(USE_TELEMETRY_HOTT)
 214     handleHoTTTelemetry(currentTimeUs);
 215 #endif
 216
 217 #if defined(USE_TELEMETRY_SMARTPORT)
 218     handleSmartPortTelemetry();
 219 #endif
 220
 221 #if defined(USE_TELEMETRY_LTM)
 222     handleLtmTelemetry();
 223 #endif
 224
 225 #if defined(USE_TELEMETRY_MAVLINK)
 226     handleMAVLinkTelemetry(currentTimeUs);
 227 #endif
 228
 229 #if defined(USE_TELEMETRY_JETIEXBUS)
 230     handleJetiExBusTelemetry();
 231 #endif
 232
 233 #if defined(USE_SERIALRX_IBUS) && defined(USE_TELEMETRY_IBUS)
 234     handleIbusTelemetry();
 235 #endif
 236
 237 #if defined(USE_TELEMETRY_SIM)
 238     handleSimTelemetry();
 239 #endif
 240
 241 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 242     handleCrsfTelemetry(currentTimeUs);
 243 #endif
 244
 245 #ifdef USE_TELEMETRY_SRXL
 246     handleSrxlTelemetry(currentTimeUs);
 247 #endif
 248 #ifdef USE_TELEMETRY_GHST
 249     handleGhstTelemetry(currentTimeUs);
 250 #endif
 251
 252 #ifdef USE_TELEMETRY_SBUS2
 253     handleSbus2Telemetry(currentTimeUs);
 254 #endif
 255 }
 256
 257 #endif