src/main/rx/mavlink.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 #include <string.h>
  22
  23 #include "platform.h"
  24 FILE_COMPILE_FOR_SPEED
  25 #ifdef USE_SERIALRX_MAVLINK
  26
  27 #include "build/debug.h"
  28
  29 #include "common/utils.h"
  30
  31 #include "rx/rx.h"
  32 #include "rx/mavlink.h"
  33
  34 #define MAVLINK_CHANNEL_COUNT 18
  35 static uint16_t mavlinkChannelData[MAVLINK_CHANNEL_COUNT];
  36 static bool frameReceived;
  37
  38 void mavlinkRxHandleMessage(const mavlink_rc_channels_override_t *msg) {
  39     if (msg->chan1_raw != 0 && msg->chan1_raw != UINT16_MAX) mavlinkChannelData[0] = msg->chan1_raw;
  40     if (msg->chan2_raw != 0 && msg->chan2_raw != UINT16_MAX) mavlinkChannelData[1] = msg->chan2_raw;
  41     if (msg->chan3_raw != 0 && msg->chan3_raw != UINT16_MAX) mavlinkChannelData[2] = msg->chan3_raw;
  42     if (msg->chan4_raw != 0 && msg->chan4_raw != UINT16_MAX) mavlinkChannelData[3] = msg->chan4_raw;
  43     if (msg->chan5_raw != 0 && msg->chan5_raw != UINT16_MAX) mavlinkChannelData[4] = msg->chan5_raw;
  44     if (msg->chan6_raw != 0 && msg->chan6_raw != UINT16_MAX) mavlinkChannelData[5] = msg->chan6_raw;
  45     if (msg->chan7_raw != 0 && msg->chan7_raw != UINT16_MAX) mavlinkChannelData[6] = msg->chan7_raw;
  46     if (msg->chan8_raw != 0 && msg->chan8_raw != UINT16_MAX) mavlinkChannelData[7] = msg->chan8_raw;
  47     if (msg->chan9_raw != 0 && msg->chan9_raw < UINT16_MAX - 1) mavlinkChannelData[8] = msg->chan9_raw;
  48     if (msg->chan10_raw != 0 && msg->chan10_raw < UINT16_MAX - 1) mavlinkChannelData[9] = msg->chan10_raw;
  49     if (msg->chan11_raw != 0 && msg->chan11_raw < UINT16_MAX - 1) mavlinkChannelData[10] = msg->chan11_raw;
  50     if (msg->chan12_raw != 0 && msg->chan12_raw < UINT16_MAX - 1) mavlinkChannelData[11] = msg->chan12_raw;
  51     if (msg->chan13_raw != 0 && msg->chan13_raw < UINT16_MAX - 1) mavlinkChannelData[12] = msg->chan13_raw;
  52     if (msg->chan14_raw != 0 && msg->chan14_raw < UINT16_MAX - 1) mavlinkChannelData[13] = msg->chan14_raw;
  53     if (msg->chan15_raw != 0 && msg->chan15_raw < UINT16_MAX - 1) mavlinkChannelData[14] = msg->chan15_raw;
  54     if (msg->chan16_raw != 0 && msg->chan16_raw < UINT16_MAX - 1) mavlinkChannelData[15] = msg->chan16_raw;
  55     if (msg->chan17_raw != 0 && msg->chan17_raw < UINT16_MAX - 1) mavlinkChannelData[16] = msg->chan17_raw;
  56     if (msg->chan18_raw != 0 && msg->chan18_raw < UINT16_MAX - 1) mavlinkChannelData[17] = msg->chan18_raw;
  57     frameReceived = true;
  58 }
  59
  60 static uint8_t mavlinkFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
  61 {
  62     UNUSED(rxRuntimeConfig);
  63     if (frameReceived) {
  64         frameReceived = false;
  65         return RX_FRAME_COMPLETE;
  66     }
  67     return RX_FRAME_PENDING;
  68 }
  69
  70 static uint16_t mavlinkReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel)
  71 {
  72     UNUSED(rxRuntimeConfig);
  73     // MAVLink values are sent as PWM values in microseconds so no conversion is needed
  74     return mavlinkChannelData[channel];
  75 }
  76
  77 bool mavlinkRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
  78 {
  79     UNUSED(rxConfig);
  80
  81     frameReceived = false;
  82
  83     rxRuntimeConfig->channelData = mavlinkChannelData;
  84     rxRuntimeConfig->channelCount = MAVLINK_CHANNEL_COUNT;
  85     rxRuntimeConfig->rxRefreshRate = 11000;
  86     rxRuntimeConfig->rcReadRawFn = mavlinkReadRawRC;
  87     rxRuntimeConfig->rcFrameStatusFn = mavlinkFrameStatus;
  88
  89     for (int ii = 0; ii < MAVLINK_CHANNEL_COUNT; ++ii) {
  90         mavlinkChannelData[ii] = (16 * PWM_RANGE_MIDDLE) / 10 - 1408;
  91     }
  92
  93     return true;
  94 }
  95
  96 #endif