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     .frsky_use_legacy_gps_mode_sensor_ids = SETTING_FRSKY_USE_LEGACY_GPS_MODE_SENSOR_IDS_DEFAULT,
  66     .report_cell_voltage = SETTING_REPORT_CELL_VOLTAGE_DEFAULT,
  67     .hottAlarmSoundInterval = SETTING_HOTT_ALARM_SOUND_INTERVAL_DEFAULT,
  68     .halfDuplex = SETTING_TELEMETRY_HALFDUPLEX_DEFAULT,
  69 #if !defined(SETTING_SMARTPORT_FUEL_UNIT_DEFAULT)  // SITL
  70     .smartportFuelUnit = 1,
  71 #else
  72     .smartportFuelUnit = SETTING_SMARTPORT_FUEL_UNIT_DEFAULT,
  73 #endif
  74     .ibusTelemetryType = SETTING_IBUS_TELEMETRY_TYPE_DEFAULT,
  75     .ltmUpdateRate = SETTING_LTM_UPDATE_RATE_DEFAULT,
  76
  77 #ifdef USE_TELEMETRY_SIM
  78     .simTransmitInterval = SETTING_SIM_TRANSMIT_INTERVAL_DEFAULT,
  79     .simTransmitFlags = SETTING_SIM_TRANSMIT_FLAGS_DEFAULT,
  80     .simLowAltitude = SETTING_SIM_LOW_ALTITUDE_DEFAULT,
  81     .simPin = SETTING_SIM_PIN_DEFAULT,
  82     .simGroundStationNumber = SETTING_SIM_GROUND_STATION_NUMBER_DEFAULT,
  83
  84     .accEventThresholdHigh = SETTING_ACC_EVENT_THRESHOLD_HIGH_DEFAULT,
  85     .accEventThresholdLow = SETTING_ACC_EVENT_THRESHOLD_LOW_DEFAULT,
  86     .accEventThresholdNegX = SETTING_ACC_EVENT_THRESHOLD_NEG_X_DEFAULT,
  87 #endif
  88
  89     .mavlink = {
  90         .extended_status_rate = SETTING_MAVLINK_EXT_STATUS_RATE_DEFAULT,
  91         .rc_channels_rate = SETTING_MAVLINK_RC_CHAN_RATE_DEFAULT,
  92         .position_rate = SETTING_MAVLINK_POS_RATE_DEFAULT,
  93         .extra1_rate = SETTING_MAVLINK_EXTRA1_RATE_DEFAULT,
  94         .extra2_rate = SETTING_MAVLINK_EXTRA2_RATE_DEFAULT,
  95         .extra3_rate = SETTING_MAVLINK_EXTRA3_RATE_DEFAULT,
  96         .version = SETTING_MAVLINK_VERSION_DEFAULT,
  97         .min_txbuff = SETTING_MAVLINK_MIN_TXBUFFER_DEFAULT,
  98         .radio_type = SETTING_MAVLINK_RADIO_TYPE_DEFAULT
  99     }
 100 );
 101
 102 void telemetryInit(void)
 103 {
 104
 105 #if defined(USE_TELEMETRY_HOTT)
 106     initHoTTTelemetry();
 107 #endif
 108
 109 #if defined(USE_TELEMETRY_SMARTPORT)
 110     initSmartPortTelemetry();
 111 #endif
 112
 113 #if defined(USE_TELEMETRY_LTM)
 114     initLtmTelemetry();
 115 #endif
 116
 117 #if defined(USE_TELEMETRY_MAVLINK)
 118     initMAVLinkTelemetry();
 119 #endif
 120
 121 #if defined(USE_TELEMETRY_JETIEXBUS)
 122     initJetiExBusTelemetry();
 123 #endif
 124
 125 #if defined(USE_TELEMETRY_IBUS)
 126     initIbusTelemetry();
 127 #endif
 128
 129 #if defined(USE_TELEMETRY_SIM)
 130     initSimTelemetry();
 131 #endif
 132
 133 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 134     initCrsfTelemetry();
 135 #endif
 136
 137 #ifdef USE_TELEMETRY_SRXL
 138     initSrxlTelemetry();
 139 #endif
 140
 141 #ifdef USE_TELEMETRY_GHST
 142     initGhstTelemetry();
 143 #endif
 144
 145     telemetryCheckState();
 146 }
 147
 148 bool telemetryDetermineEnabledState(portSharing_e portSharing)
 149 {
 150     bool enabled = portSharing == PORTSHARING_NOT_SHARED;
 151
 152     if (portSharing == PORTSHARING_SHARED) {
 153         if (telemetryConfig()->telemetry_switch)
 154             enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
 155         else
 156             enabled = ARMING_FLAG(ARMED);
 157     }
 158
 159     return enabled;
 160 }
 161
 162 bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
 163 {
 164     return portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK;
 165 }
 166
 167 serialPort_t *telemetrySharedPort = NULL;
 168
 169 void telemetryCheckState(void)
 170 {
 171
 172 #if defined(USE_TELEMETRY_HOTT)
 173     checkHoTTTelemetryState();
 174 #endif
 175
 176 #if defined(USE_TELEMETRY_SMARTPORT)
 177     checkSmartPortTelemetryState();
 178 #endif
 179
 180 #if defined(USE_TELEMETRY_LTM)
 181     checkLtmTelemetryState();
 182 #endif
 183
 184 #if defined(USE_TELEMETRY_MAVLINK)
 185     checkMAVLinkTelemetryState();
 186 #endif
 187
 188 #if defined(USE_TELEMETRY_JETIEXBUS)
 189     checkJetiExBusTelemetryState();
 190 #endif
 191
 192 #if defined(USE_TELEMETRY_IBUS)
 193     checkIbusTelemetryState();
 194 #endif
 195
 196 #if defined(USE_TELEMETRY_SIM)
 197     checkSimTelemetryState();
 198 #endif
 199
 200 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 201     checkCrsfTelemetryState();
 202 #endif
 203
 204 #ifdef USE_TELEMETRY_SRXL
 205     checkSrxlTelemetryState();
 206 #endif
 207 #ifdef USE_TELEMETRY_GHST
 208     checkGhstTelemetryState();
 209 #endif
 210 }
 211
 212 void telemetryProcess(timeUs_t currentTimeUs)
 213 {
 214     UNUSED(currentTimeUs); // since not used by all the telemetry protocols
 215
 216 #if defined(USE_TELEMETRY_HOTT)
 217     handleHoTTTelemetry(currentTimeUs);
 218 #endif
 219
 220 #if defined(USE_TELEMETRY_SMARTPORT)
 221     handleSmartPortTelemetry();
 222 #endif
 223
 224 #if defined(USE_TELEMETRY_LTM)
 225     handleLtmTelemetry();
 226 #endif
 227
 228 #if defined(USE_TELEMETRY_MAVLINK)
 229     handleMAVLinkTelemetry(currentTimeUs);
 230 #endif
 231
 232 #if defined(USE_TELEMETRY_JETIEXBUS)
 233     handleJetiExBusTelemetry();
 234 #endif
 235
 236 #if defined(USE_SERIALRX_IBUS) && defined(USE_TELEMETRY_IBUS)
 237     handleIbusTelemetry();
 238 #endif
 239
 240 #if defined(USE_TELEMETRY_SIM)
 241     handleSimTelemetry();
 242 #endif
 243
 244 #if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
 245     handleCrsfTelemetry(currentTimeUs);
 246 #endif
 247
 248 #ifdef USE_TELEMETRY_SRXL
 249     handleSrxlTelemetry(currentTimeUs);
 250 #endif
 251 #ifdef USE_TELEMETRY_GHST
 252     handleGhstTelemetry(currentTimeUs);
 253 #endif
 254
 255 #ifdef USE_TELEMETRY_SBUS2
 256     handleSbus2Telemetry(currentTimeUs);
 257 #endif
 258 }
 259
 260 #endif