radio/src/telemetry/telemetry.h

   1 /*
   2  * Copyright (C) OpenTX
   3  *
   4  * Based on code named
   5  *   th9x - http://code.google.com/p/th9x
   6  *   er9x - http://code.google.com/p/er9x
   7  *   gruvin9x - http://code.google.com/p/gruvin9x
   8  *
   9  * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
  10  *
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License version 2 as
  13  * published by the Free Software Foundation.
  14  *
  15  * This program is distributed in the hope that it will be useful,
  16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  18  * GNU General Public License for more details.
  19  */
  20
  21 #ifndef _TELEMETRY_H_
  22 #define _TELEMETRY_H_
  23
  24 #if defined(TELEMETRY_FRSKY)
  25   // FrSky Telemetry
  26   #include "frsky.h"
  27 #elif defined(TELEMETRY_JETI)
  28   // Jeti-DUPLEX Telemetry
  29   #include "jeti.h"
  30 #elif defined(TELEMETRY_ARDUPILOT)
  31   // ArduPilot Telemetry
  32   #include "ardupilot.h"
  33 #elif defined(TELEMETRY_NMEA)
  34   // NMEA Telemetry
  35   #include "nmea.h"
  36 #elif defined(TELEMETRY_MAVLINK)
  37   // Mavlink Telemetry
  38   #include "mavlink.h"
  39 #endif
  40
  41 #if defined(CROSSFIRE)
  42   #include "crossfire.h"
  43 #endif
  44 #if defined(MULTIMODULE)
  45   #include "spektrum.h"
  46   #include "flysky_ibus.h"
  47   #include "multi.h"
  48 #endif
  49
  50 extern uint8_t telemetryStreaming; // >0 (true) == data is streaming in. 0 = no data detected for some time
  51
  52 #if defined(WS_HOW_HIGH)
  53 extern uint8_t wshhStreaming;
  54 #endif
  55
  56 extern uint8_t link_counter;
  57
  58 #if defined(CPUARM)
  59 enum TelemetryStates {
  60   TELEMETRY_INIT,
  61   TELEMETRY_OK,
  62   TELEMETRY_KO
  63 };
  64 extern uint8_t telemetryState;
  65 #endif
  66
  67 #define TELEMETRY_TIMEOUT10ms          100 // 1 second
  68
  69 #define TELEMETRY_SERIAL_DEFAULT       0
  70 #define TELEMETRY_SERIAL_8E2           1
  71 #define TELEMETRY_SERIAL_WITHOUT_DMA   2
  72
  73 #if defined(CROSSFIRE) || defined(MULTIMODULE)
  74 #define TELEMETRY_RX_PACKET_SIZE       128
  75 // multi module Spektrum telemetry is 18 bytes, FlySky is 37 bytes
  76 #else
  77 #define TELEMETRY_RX_PACKET_SIZE       19  // 9 bytes (full packet), worst case 18 bytes with byte-stuffing (+1)
  78 #endif
  79
  80 extern uint8_t telemetryRxBuffer[TELEMETRY_RX_PACKET_SIZE];
  81 extern uint8_t telemetryRxBufferCount;
  82
  83 #if defined(CPUARM)
  84 #define TELEMETRY_AVERAGE_COUNT        3
  85
  86 enum {
  87   TELEM_CELL_INDEX_LOWEST,
  88   TELEM_CELL_INDEX_1,
  89   TELEM_CELL_INDEX_2,
  90   TELEM_CELL_INDEX_3,
  91   TELEM_CELL_INDEX_4,
  92   TELEM_CELL_INDEX_5,
  93   TELEM_CELL_INDEX_6,
  94   TELEM_CELL_INDEX_HIGHEST,
  95   TELEM_CELL_INDEX_DELTA,
  96 };
  97
  98 PACK(struct CellValue
  99 {
 100   uint16_t value:15;
 101   uint16_t state:1;
 102
 103   void set(uint16_t value)
 104   {
 105     if (value > 50) {
 106       this->value = value;
 107       this->state = 1;
 108     }
 109   }
 110 });
 111
 112 int setTelemetryValue(TelemetryProtocol protocol, uint16_t id, uint8_t subId, uint8_t instance, int32_t value, uint32_t unit, uint32_t prec);
 113 void delTelemetryIndex(uint8_t index);
 114 int availableTelemetryIndex();
 115 int lastUsedTelemetryIndex();
 116
 117 int32_t getTelemetryValue(uint8_t index, uint8_t & prec);
 118 int32_t convertTelemetryValue(int32_t value, uint8_t unit, uint8_t prec, uint8_t destUnit, uint8_t destPrec);
 119
 120 void frskySportSetDefault(int index, uint16_t id, uint8_t subId, uint8_t instance);
 121 void frskyDSetDefault(int index, uint16_t id);
 122 #endif
 123
 124 #define IS_DISTANCE_UNIT(unit)         ((unit) == UNIT_METERS || (unit) == UNIT_FEET)
 125 #define IS_SPEED_UNIT(unit)            ((unit) >= UNIT_KTS && (unit) <= UNIT_MPH)
 126
 127 #if defined(CPUARM)
 128 extern uint8_t telemetryProtocol;
 129 #define IS_FRSKY_D_PROTOCOL()          (telemetryProtocol == PROTOCOL_FRSKY_D)
 130 #if defined (MULTIMODULE)
 131 #define IS_D16_MULTI()                 ((g_model.moduleData[EXTERNAL_MODULE].getMultiProtocol(false) == MM_RF_PROTO_FRSKY) && (g_model.moduleData[EXTERNAL_MODULE].subType == MM_RF_FRSKY_SUBTYPE_D16 || g_model.moduleData[EXTERNAL_MODULE].subType == MM_RF_FRSKY_SUBTYPE_D16_8CH))
 132 #define IS_FRSKY_SPORT_PROTOCOL()      (telemetryProtocol == PROTOCOL_FRSKY_SPORT || (telemetryProtocol == PROTOCOL_MULTIMODULE && IS_D16_MULTI()))
 133 #else
 134 #define IS_FRSKY_SPORT_PROTOCOL()      (telemetryProtocol == PROTOCOL_FRSKY_SPORT)
 135 #endif
 136 #define IS_SPEKTRUM_PROTOCOL()         (telemetryProtocol == PROTOCOL_SPEKTRUM)
 137 #else
 138 #define IS_FRSKY_D_PROTOCOL()          (true)
 139 #define IS_FRSKY_SPORT_PROTOCOL()      (false)
 140 #endif
 141
 142 #if defined(CPUARM)
 143 inline uint8_t modelTelemetryProtocol()
 144 {
 145 #if defined(CROSSFIRE)
 146   if (g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_CROSSFIRE) {
 147     return PROTOCOL_PULSES_CROSSFIRE;
 148   }
 149 #endif
 150
 151   if (!IS_INTERNAL_MODULE_ENABLED() && g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_PPM) {
 152     return g_model.telemetryProtocol;
 153   }
 154
 155 #if defined(MULTIMODULE)
 156   if (!IS_INTERNAL_MODULE_ENABLED() && g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_MULTIMODULE) {
 157     return PROTOCOL_MULTIMODULE;
 158   }
 159 #endif
 160
 161   // default choice
 162   return PROTOCOL_FRSKY_SPORT;
 163 }
 164 #endif
 165
 166 #if defined(CPUARM)
 167   #include "telemetry_sensors.h"
 168 #endif
 169
 170 #if defined(LOG_TELEMETRY) && !defined(SIMU)
 171 void logTelemetryWriteStart();
 172 void logTelemetryWriteByte(uint8_t data);
 173 #define LOG_TELEMETRY_WRITE_START()    logTelemetryWriteStart()
 174 #define LOG_TELEMETRY_WRITE_BYTE(data) logTelemetryWriteByte(data)
 175 #else
 176 #define LOG_TELEMETRY_WRITE_START()
 177 #define LOG_TELEMETRY_WRITE_BYTE(data)
 178 #endif
 179
 180 #define TELEMETRY_OUTPUT_FIFO_SIZE 16
 181 extern uint8_t outputTelemetryBuffer[TELEMETRY_OUTPUT_FIFO_SIZE] __DMA;
 182 extern uint8_t outputTelemetryBufferSize;
 183 extern uint8_t outputTelemetryBufferTrigger;
 184
 185 inline void telemetryOutputPushByte(uint8_t byte)
 186 {
 187   outputTelemetryBuffer[outputTelemetryBufferSize++] = byte;
 188 }
 189
 190 inline void telemetryOutputSetTrigger(uint8_t byte)
 191 {
 192   outputTelemetryBufferTrigger = byte;
 193 }
 194
 195 #if defined(LUA)
 196 #define LUA_TELEMETRY_INPUT_FIFO_SIZE  256
 197 extern Fifo<uint8_t, LUA_TELEMETRY_INPUT_FIFO_SIZE> * luaInputTelemetryFifo;
 198 #endif
 199
 200 #if defined(STM32)
 201 #define IS_TELEMETRY_INTERNAL_MODULE (g_model.moduleData[INTERNAL_MODULE].type == MODULE_TYPE_XJT)
 202 #else
 203 #define IS_TELEMETRY_INTERNAL_MODULE (false)
 204 #endif
 205
 206 #endif // _TELEMETRY_H_