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Cleanup telemetry code. Remove duplicate logic. Improve readability.

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Add support for another provider.  Change default softserial baud rate
to match the speed used by FrSky telemetry.
This commit is contained in:
Dominic Clifton 2014-04-06 22:14:40 +01:00
parent 2fdadaa78f
commit 6f0a419bf6
5 changed files with 106 additions and 49 deletions
Download patch file Download diff file Expand all files Collapse all files

8
src/board.h
View file

@ -92,9 +92,15 @@ typedef enum {
GPS_MAG_BINARY,
} GPSHardware;
typedef enum {
TELEMETRY_PROVIDER_FRSKY = 0
} TelemetryProvider;
typedef enum {
TELEMETRY_UART = 0,
TELEMETRY_SOFTSERIAL,
TELEMETRY_SOFTSERIAL_1,
TELEMETRY_SOFTSERIAL_2,
} TelemetrySerial;
typedef enum {

1
src/cli.c
View file

@ -133,6 +133,7 @@ const clivalue_t valueTable[] = {
{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
{ "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, 0, 4 },
{ "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 3 },
{ "telemetry_provider", VAR_UINT8, &mcfg.telemetry_provider, 0, 0 },
{ "telemetry_softserial", VAR_UINT8, &mcfg.telemetry_softserial, 0, 1 },
{ "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 },
{ "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 },

7
src/config.c
View file

@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct
const char rcChannelLetters[] = "AERT1234";
static const uint8_t EEPROM_CONF_VERSION = 60;
static const uint8_t EEPROM_CONF_VERSION = 61;
static uint32_t enabledSensors = 0;
static void resetConf(void);
@ -192,7 +192,8 @@ static void resetConf(void)
mcfg.vbatmincellvoltage = 33;
mcfg.power_adc_channel = 0;
mcfg.serialrx_type = 0;
mcfg.telemetry_softserial = 0;
mcfg.telemetry_provider = TELEMETRY_PROVIDER_FRSKY;
mcfg.telemetry_softserial = TELEMETRY_UART;
mcfg.telemetry_switch = 0;
mcfg.midrc = 1500;
mcfg.mincheck = 1100;
@ -215,7 +216,7 @@ static void resetConf(void)
mcfg.gps_baudrate = 0;
// serial (USART1) baudrate
mcfg.serial_baudrate = 115200;
mcfg.softserial_baudrate = 19200;
mcfg.softserial_baudrate = 9600;
mcfg.softserial_1_inverted = 0;
mcfg.softserial_2_inverted = 0;
mcfg.looptime = 3500;

1
src/mw.h
View file

@ -280,6 +280,7 @@ typedef struct master_t {
uint8_t softserial_1_inverted; // use inverted softserial input and output signals on port 1
uint8_t softserial_2_inverted; // use inverted softserial input and output signals on port 2
uint8_t telemetry_provider; // Telemetry provider. 0:FRSKY
uint8_t telemetry_softserial; // Serial to use for Telemetry. 0:USART1, 1:SoftSerial1 (Enable FEATURE_SOFTSERIAL first)
uint8_t telemetry_switch; // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
config_t profile[3]; // 3 separate profiles

84
src/telemetry_frsky.c
View file

@ -220,44 +220,77 @@ void initTelemetry(void)
if (!feature(FEATURE_SOFTSERIAL))
mcfg.telemetry_softserial = TELEMETRY_UART;
if (mcfg.telemetry_softserial == TELEMETRY_SOFTSERIAL)
if (mcfg.telemetry_softserial == TELEMETRY_SOFTSERIAL_1)
core.telemport = &(softSerialPorts[0].port);
else if (mcfg.telemetry_softserial == TELEMETRY_SOFTSERIAL_2)
core.telemport = &(softSerialPorts[1].port);
else
core.telemport = core.mainport;
}
bool isTelemetryEnabled()
{
bool telemetryCurrentlyEnabled = true;
if (mcfg.telemetry_softserial == TELEMETRY_UART) {
if (!mcfg.telemetry_switch)
telemetryCurrentlyEnabled = f.ARMED;
else
telemetryCurrentlyEnabled = rcOptions[BOXTELEMETRY];
}
return telemetryCurrentlyEnabled;
}
bool shouldChangeTelemetryStateNow(bool telemetryCurrentlyEnabled)
{
return telemetryCurrentlyEnabled != telemetryEnabled;
}
void updateTelemetryState(void)
{
bool State;
if (!mcfg.telemetry_switch)
State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : f.ARMED;
else
State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : rcOptions[BOXTELEMETRY];
bool telemetryCurrentlyEnabled = isTelemetryEnabled();
if (State != telemetryEnabled) {
if (mcfg.telemetry_softserial == TELEMETRY_UART) {
if (State)
if (!shouldChangeTelemetryStateNow(telemetryCurrentlyEnabled)) {
return;
}
if (mcfg.telemetry_softserial == TELEMETRY_UART && mcfg.telemetry_provider == TELEMETRY_PROVIDER_FRSKY) {
if (telemetryCurrentlyEnabled)
serialInit(9600);
else
serialInit(mcfg.serial_baudrate);
}
telemetryEnabled = State;
}
telemetryEnabled = telemetryCurrentlyEnabled;
}
static uint32_t lastCycleTime = 0;
static uint8_t cycleNum = 0;
void sendTelemetry(void)
bool canSendFrSkyTelemetry(void)
{
if (mcfg.telemetry_softserial == TELEMETRY_UART && ((!f.ARMED && !mcfg.telemetry_switch) || (mcfg.telemetry_switch && !rcOptions[BOXTELEMETRY])))
return;
return serialTotalBytesWaiting(core.telemport) == 0;
}
if (serialTotalBytesWaiting(core.telemport) != 0)
return;
bool hasEnoughTimeLapsedSinceLastTelemetryTransmission(uint32_t currentMillis)
{
return currentMillis - lastCycleTime >= CYCLETIME;
}
void sendFrSkyTelemetry(void)
{
if (!canSendFrSkyTelemetry()) {
return;
}
uint32_t now = millis();
if (!hasEnoughTimeLapsedSinceLastTelemetryTransmission(now)) {
return;
}
lastCycleTime = now;
if (millis() - lastCycleTime >= CYCLETIME) {
lastCycleTime = millis();
cycleNum++;
// Sent every 125ms
@ -291,4 +324,19 @@ void sendTelemetry(void)
sendTelemetryTail();
}
}
bool isFrSkyTelemetryEnabled(void)
{
return mcfg.telemetry_provider == TELEMETRY_PROVIDER_FRSKY;
}
void sendTelemetry(void)
{
if (!isTelemetryEnabled())
return;
if (isFrSkyTelemetryEnabled()) {
sendFrSkyTelemetry();
}
}