radio/src/telemetry/telemetry.cpp

   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 #include "opentx.h"
  22 #include "multi.h"
  23
  24 uint8_t telemetryStreaming = 0;
  25 uint8_t telemetryRxBuffer[TELEMETRY_RX_PACKET_SIZE];   // Receive buffer. 9 bytes (full packet), worst case 18 bytes with byte-stuffing (+1)
  26 uint8_t telemetryRxBufferCount = 0;
  27
  28 uint8_t telemetryState = TELEMETRY_INIT;
  29
  30 TelemetryData telemetryData;
  31
  32 uint8_t telemetryProtocol = 255;
  33
  34 #if defined(PCBSKY9X) && defined(REVX)
  35 uint8_t serialInversion = 0;
  36 #endif
  37
  38 void processTelemetryData(uint8_t data)
  39 {
  40 #if defined(CROSSFIRE)
  41   if (telemetryProtocol == PROTOCOL_TELEMETRY_CROSSFIRE) {
  42     processCrossfireTelemetryData(data);
  43     return;
  44   }
  45 #endif
  46
  47 #if defined(MULTIMODULE)
  48   if (telemetryProtocol == PROTOCOL_TELEMETRY_SPEKTRUM) {
  49     processSpektrumTelemetryData(EXTERNAL_MODULE, data, telemetryRxBuffer, telemetryRxBufferCount);
  50     return;
  51   }
  52   if (telemetryProtocol == PROTOCOL_TELEMETRY_FLYSKY_IBUS) {
  53     processFlySkyTelemetryData(data, telemetryRxBuffer, telemetryRxBufferCount);
  54     return;
  55   }
  56   if (telemetryProtocol == PROTOCOL_TELEMETRY_MULTIMODULE) {
  57     processMultiTelemetryData(data, EXTERNAL_MODULE);
  58     return;
  59   }
  60 #endif
  61
  62   processFrskyTelemetryData(data);
  63 }
  64
  65 inline bool isBadAntennaDetected()
  66 {
  67   if (!isRasValueValid())
  68     return false;
  69
  70   if (telemetryData.swrInternal.isFresh() && telemetryData.swrInternal.value() > FRSKY_BAD_ANTENNA_THRESHOLD)
  71     return true;
  72
  73   if (telemetryData.swrExternal.isFresh() && telemetryData.swrExternal.value() > FRSKY_BAD_ANTENNA_THRESHOLD)
  74     return true;
  75
  76   return false;
  77 }
  78
  79 void telemetryWakeup()
  80 {
  81   uint8_t requiredTelemetryProtocol = modelTelemetryProtocol();
  82   uint8_t data;
  83
  84 #if defined(REVX)
  85   uint8_t requiredSerialInversion = g_model.moduleData[EXTERNAL_MODULE].invertedSerial;
  86   if (telemetryProtocol != requiredTelemetryProtocol || serialInversion != requiredSerialInversion) {
  87     serialInversion = requiredSerialInversion;
  88     telemetryInit(requiredTelemetryProtocol);
  89   }
  90 #else
  91   if (telemetryProtocol != requiredTelemetryProtocol) {
  92     telemetryInit(requiredTelemetryProtocol);
  93   }
  94 #endif
  95
  96 #if defined(INTERNAL_MODULE_PXX2) || defined(EXTMODULE_USART)
  97   uint8_t frame[PXX2_FRAME_MAXLENGTH];
  98
  99   #if defined(INTERNAL_MODULE_PXX2)
 100   while (intmoduleFifo.getFrame(frame)) {
 101     processPXX2Frame(INTERNAL_MODULE, frame);
 102   }
 103   #endif
 104
 105   #if defined(EXTMODULE_USART)
 106   while (extmoduleFifo.getFrame(frame)) {
 107     processPXX2Frame(EXTERNAL_MODULE, frame);
 108   }
 109   #endif
 110 #endif
 111
 112 #if defined(INTERNAL_MODULE_MULTI)
 113   if (intmoduleFifo.pop(data)) {
 114     LOG_TELEMETRY_WRITE_START();
 115     do {
 116       processMultiTelemetryData(data, INTERNAL_MODULE);
 117       LOG_TELEMETRY_WRITE_BYTE(data);
 118     } while (intmoduleFifo.pop(data));
 119   }
 120 #endif
 121
 122 #if defined(STM32)
 123   if (telemetryGetByte(&data)) {
 124     LOG_TELEMETRY_WRITE_START();
 125     do {
 126       processTelemetryData(data);
 127       LOG_TELEMETRY_WRITE_BYTE(data);
 128     } while (telemetryGetByte(&data));
 129   }
 130 #elif defined(PCBSKY9X)
 131   if (telemetryProtocol == PROTOCOL_TELEMETRY_FRSKY_D_SECONDARY) {
 132     while (telemetrySecondPortReceive(data)) {
 133       processTelemetryData(data);
 134     }
 135   }
 136   else {
 137     // Receive serial data here
 138     rxPdcUsart(processTelemetryData);
 139   }
 140 #endif
 141
 142   for (int i=0; i<MAX_TELEMETRY_SENSORS; i++) {
 143     const TelemetrySensor & sensor = g_model.telemetrySensors[i];
 144     if (sensor.type == TELEM_TYPE_CALCULATED) {
 145       telemetryItems[i].eval(sensor);
 146     }
 147   }
 148
 149 #if defined(VARIO)
 150   if (TELEMETRY_STREAMING() && !IS_FAI_ENABLED()) {
 151     varioWakeup();
 152   }
 153 #endif
 154
 155   static tmr10ms_t alarmsCheckTime = 0;
 156   #define SCHEDULE_NEXT_ALARMS_CHECK(seconds) alarmsCheckTime = get_tmr10ms() + (100*(seconds))
 157   if (int32_t(get_tmr10ms() - alarmsCheckTime) > 0) {
 158
 159     SCHEDULE_NEXT_ALARMS_CHECK(1/*second*/);
 160
 161     bool sensorLost = false;
 162     for (int i=0; i<MAX_TELEMETRY_SENSORS; i++) {
 163       if (isTelemetryFieldAvailable(i)) {
 164         TelemetryItem & item = telemetryItems[i];
 165         if (item.timeout == 0) {
 166           TelemetrySensor * sensor = & g_model.telemetrySensors[i];
 167           if (sensor->unit != UNIT_DATETIME) {
 168             item.setOld();
 169             sensorLost = true;
 170           }
 171         }
 172       }
 173     }
 174
 175     if (sensorLost && TELEMETRY_STREAMING() && !g_model.rssiAlarms.disabled) {
 176       audioEvent(AU_SENSOR_LOST);
 177     }
 178
 179 #if defined(PCBTARANIS) || defined(PCBHORUS)
 180     if (isBadAntennaDetected()) {
 181       AUDIO_RAS_RED();
 182       POPUP_WARNING(STR_WARNING);
 183       const char * w = STR_ANTENNAPROBLEM;
 184       SET_WARNING_INFO(w, strlen(w), 0);
 185       SCHEDULE_NEXT_ALARMS_CHECK(10/*seconds*/);
 186     }
 187 #endif
 188
 189     if (!g_model.rssiAlarms.disabled) {
 190       if (TELEMETRY_STREAMING()) {
 191         if (TELEMETRY_RSSI() < g_model.rssiAlarms.getCriticalRssi() ) {
 192           AUDIO_RSSI_RED();
 193           SCHEDULE_NEXT_ALARMS_CHECK(10/*seconds*/);
 194         }
 195         else if (TELEMETRY_RSSI() < g_model.rssiAlarms.getWarningRssi() ) {
 196           AUDIO_RSSI_ORANGE();
 197           SCHEDULE_NEXT_ALARMS_CHECK(10/*seconds*/);
 198         }
 199       }
 200
 201       if (TELEMETRY_STREAMING()) {
 202         if (telemetryState == TELEMETRY_KO) {
 203           AUDIO_TELEMETRY_BACK();
 204         }
 205         telemetryState = TELEMETRY_OK;
 206       }
 207       else if (telemetryState == TELEMETRY_OK) {
 208         telemetryState = TELEMETRY_KO;
 209         if (!isModuleInBeepMode()) {
 210           AUDIO_TELEMETRY_LOST();
 211         }
 212       }
 213     }
 214   }
 215 }
 216
 217 void telemetryInterrupt10ms()
 218 {
 219   if (telemetryStreaming > 0) {
 220     bool tick160ms = (telemetryStreaming & 0x0F) == 0;
 221     for (int i=0; i<MAX_TELEMETRY_SENSORS; i++) {
 222       const TelemetrySensor & sensor = g_model.telemetrySensors[i];
 223       if (sensor.type == TELEM_TYPE_CALCULATED) {
 224         telemetryItems[i].per10ms(sensor);
 225       }
 226       if (tick160ms && telemetryItems[i].timeout > 0) {
 227         telemetryItems[i].timeout--;
 228       }
 229     }
 230     telemetryStreaming--;
 231   }
 232   else {
 233 #if !defined(SIMU)
 234     telemetryData.rssi.reset();
 235 #endif
 236     for (auto & telemetryItem: telemetryItems) {
 237       if (telemetryItem.isAvailable()) {
 238         telemetryItem.setOld();
 239       }
 240     }
 241   }
 242 }
 243
 244 void telemetryReset()
 245 {
 246   telemetryData.clear();
 247
 248   for (auto & telemetryItem : telemetryItems) {
 249     telemetryItem.clear();
 250   }
 251
 252   telemetryStreaming = 0; // reset counter only if valid telemetry packets are being detected
 253
 254   telemetryState = TELEMETRY_INIT;
 255 }
 256
 257 // we don't reset the telemetry here as we would also reset the consumption after model load
 258 void telemetryInit(uint8_t protocol)
 259 {
 260   telemetryProtocol = protocol;
 261
 262   if (protocol == PROTOCOL_TELEMETRY_FRSKY_D) {
 263     telemetryPortInit(FRSKY_D_BAUDRATE, TELEMETRY_SERIAL_DEFAULT);
 264   }
 265
 266 #if defined(MULTIMODULE)
 267   else if (protocol == PROTOCOL_TELEMETRY_MULTIMODULE || protocol == PROTOCOL_TELEMETRY_FLYSKY_IBUS) {
 268     // The DIY Multi module always speaks 100000 baud regardless of the telemetry protocol in use
 269     telemetryPortInit(MULTIMODULE_BAUDRATE, TELEMETRY_SERIAL_8E2);
 270 #if defined(LUA)
 271     outputTelemetryBuffer.reset();
 272 #endif
 273   }
 274   else if (protocol == PROTOCOL_TELEMETRY_SPEKTRUM) {
 275     // Spektrum's own small race RX (SPM4648) uses 125000 8N1, use the same since there is no real standard
 276     telemetryPortInit(125000, TELEMETRY_SERIAL_DEFAULT);
 277   }
 278 #endif
 279
 280 #if defined(CROSSFIRE)
 281   else if (protocol == PROTOCOL_TELEMETRY_CROSSFIRE) {
 282     telemetryPortInit(CROSSFIRE_BAUDRATE, TELEMETRY_SERIAL_DEFAULT);
 283 #if defined(LUA)
 284     outputTelemetryBuffer.reset();
 285 #endif
 286     telemetryPortSetDirectionOutput();
 287   }
 288 #endif
 289
 290 #if defined(AUX_SERIAL) || defined(PCBSKY9X)
 291   else if (protocol == PROTOCOL_TELEMETRY_FRSKY_D_SECONDARY) {
 292     telemetryPortInit(0, TELEMETRY_SERIAL_DEFAULT);
 293     auxSerialTelemetryInit(PROTOCOL_TELEMETRY_FRSKY_D_SECONDARY);
 294   }
 295 #endif
 296
 297   else {
 298     telemetryPortInit(FRSKY_SPORT_BAUDRATE, TELEMETRY_SERIAL_WITHOUT_DMA);
 299 #if defined(LUA)
 300     outputTelemetryBuffer.reset();
 301 #endif
 302   }
 303
 304 #if defined(REVX) && !defined(SIMU)
 305   if (serialInversion) {
 306     setMFP();
 307   }
 308   else {
 309     clearMFP();
 310   }
 311 #endif
 312 }
 313
 314
 315 #if defined(LOG_TELEMETRY) && !defined(SIMU)
 316 extern FIL g_telemetryFile;
 317 void logTelemetryWriteStart()
 318 {
 319   static tmr10ms_t lastTime = 0;
 320   tmr10ms_t newTime = get_tmr10ms();
 321   if (lastTime != newTime) {
 322     struct gtm utm;
 323     gettime(&utm);
 324     f_printf(&g_telemetryFile, "\r\n%4d-%02d-%02d,%02d:%02d:%02d.%02d0:", utm.tm_year+TM_YEAR_BASE, utm.tm_mon+1, utm.tm_mday, utm.tm_hour, utm.tm_min, utm.tm_sec, g_ms100);
 325     lastTime = newTime;
 326   }
 327 }
 328
 329 void logTelemetryWriteByte(uint8_t data)
 330 {
 331   f_printf(&g_telemetryFile, " %02X", data);
 332 }
 333 #endif
 334
 335 OutputTelemetryBuffer outputTelemetryBuffer __DMA;
 336
 337 #if defined(LUA)
 338 Fifo<uint8_t, LUA_TELEMETRY_INPUT_FIFO_SIZE> * luaInputTelemetryFifo = NULL;
 339 #endif