src/main/telemetry/telemetry.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 /*
  19  * telemetry.h
  20  *
  21  *  Created on: 6 Apr 2014
  22  *      Author: Hydra
  23  */
  24
  25 #pragma once
  26
  27 #include "common/time.h"
  28
  29 #include "config/parameter_group.h"
  30
  31 #include "io/serial.h"
  32
  33 typedef enum {
  34     LTM_RATE_NORMAL,
  35     LTM_RATE_MEDIUM,
  36     LTM_RATE_SLOW
  37 } ltmUpdateRate_e;
  38
  39 typedef enum {
  40     MAVLINK_RADIO_GENERIC,
  41     MAVLINK_RADIO_ELRS,
  42     MAVLINK_RADIO_SIK,
  43 } mavlinkRadio_e;
  44
  45 typedef enum {
  46     SMARTPORT_FUEL_UNIT_PERCENT,
  47     SMARTPORT_FUEL_UNIT_MAH,
  48     SMARTPORT_FUEL_UNIT_MWH
  49 } smartportFuelUnit_e;
  50
  51 typedef struct telemetryConfig_s {
  52     uint8_t telemetry_switch;               // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
  53     uint8_t telemetry_inverted;             // Flip the default inversion of the protocol - Same as serialrx_inverted in rx.c, but for telemetry.
  54     uint8_t frsky_pitch_roll;
  55     bool    frsky_use_legacy_gps_mode_sensor_ids;
  56     uint8_t report_cell_voltage;
  57     uint8_t hottAlarmSoundInterval;
  58     uint8_t halfDuplex;
  59     smartportFuelUnit_e smartportFuelUnit;
  60     uint8_t ibusTelemetryType;
  61     uint8_t ltmUpdateRate;
  62
  63 #ifdef USE_TELEMETRY_SIM
  64     int16_t simLowAltitude;
  65     char simGroundStationNumber[16];
  66     char simPin[8];
  67     uint16_t simTransmitInterval;
  68     uint8_t simTransmitFlags;
  69
  70     uint16_t accEventThresholdHigh;
  71     uint16_t accEventThresholdLow;
  72     uint16_t accEventThresholdNegX;
  73 #endif
  74     struct {
  75         uint8_t extended_status_rate;
  76         uint8_t rc_channels_rate;
  77         uint8_t position_rate;
  78         uint8_t extra1_rate;
  79         uint8_t extra2_rate;
  80         uint8_t extra3_rate;
  81         uint8_t version;
  82         uint8_t min_txbuff;
  83         uint8_t radio_type;
  84     } mavlink;
  85 } telemetryConfig_t;
  86
  87 PG_DECLARE(telemetryConfig_t, telemetryConfig);
  88
  89 #define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_IBUS)
  90 extern serialPort_t *telemetrySharedPort;
  91
  92 void telemetryInit(void);
  93 bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig);
  94
  95 void telemetryCheckState(void);
  96 void telemetryProcess(timeUs_t currentTimeUs);
  97
  98 bool telemetryDetermineEnabledState(portSharing_e portSharing);