separate all telemetry code and add option to use softserial for telemetry.

to use, set softserial_baudrate=9600, softserial_inverted=1 and  telemetry_softserial=1
then enable feature TELEMETRY.
by disq


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@448 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/board.h

@@ -90,6 +90,11 @@ typedef enum {
     GPS_MTK_BINARY,
 } GPSHardware;
 
+typedef enum {
+    TELEMETRY_UART = 0,
+    TELEMETRY_SOFTSERIAL,
+} TelemetrySerial;
+
 typedef enum {
     X = 0,
     Y,

src/cli.c

@@ -120,6 +120,7 @@ const clivalue_t valueTable[] = {
     { "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
     { "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, -1, 4 },
     { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 2 },
+    { "telemetry_softserial", VAR_UINT8, &mcfg.telemetry_softserial, 0, 1 },
     { "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 },
     { "vbatmaxcellvoltage", VAR_UINT8, &mcfg.vbatmaxcellvoltage, 10, 50 },
     { "vbatmincellvoltage", VAR_UINT8, &mcfg.vbatmincellvoltage, 10, 50 },

src/config.c

@@ -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 = 54;
+static const uint8_t EEPROM_CONF_VERSION = 55;
 static uint32_t enabledSensors = 0;
 static void resetConf(void);
 
@@ -192,6 +192,7 @@ static void resetConf(void)
     mcfg.vbatmincellvoltage = 33;
     mcfg.power_adc_channel = 0;
     mcfg.serialrx_type = 0;
+    mcfg.telemetry_softserial = 0;
     mcfg.midrc = 1500;
     mcfg.mincheck = 1100;
     mcfg.maxcheck = 1900;

src/main.c

@@ -148,6 +148,9 @@ int main(void)
 #endif
     }
 
+    if (feature(FEATURE_TELEMETRY))
+        initTelemetry();
+
     previousTime = micros();
     if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
         calibratingA = CALIBRATING_ACC_CYCLES;

src/mw.c

@@ -177,9 +177,9 @@ void annexCode(void)
             LED0_OFF;
         if (f.ARMED)
             LED0_ON;
-        // This will switch to/from 9600 or 115200 baud depending on state. Of course, it should only do it on changes.
+        // This will switch to/from 9600 or 115200 baud depending on state. Of course, it should only do it on changes. With telemetry_softserial>0 telemetry is always enabled, also see updateTelemetryState()
         if (feature(FEATURE_TELEMETRY))
-            initTelemetry(f.ARMED);
+            updateTelemetryState();
     }
 
 #ifdef LEDRING

src/mw.h

@@ -272,6 +272,8 @@ typedef struct master_t {
     uint32_t softserial_baudrate;
     uint8_t softserial_inverted;           // use inverted softserial input and output signals
 
+    uint8_t telemetry_softserial;               // Serial to use for Telemetry. 0:USART1, 1:SoftSerial1 (Enable FEATURE_SOFTSERIAL first)
+
     config_t profile[3];                    // 3 separate profiles
     uint8_t current_profile;                // currently loaded profile
 
@@ -456,5 +458,6 @@ void GPS_set_next_wp(int32_t* lat, int32_t* lon);
 int32_t wrap_18000(int32_t error);
 
 // telemetry
-void initTelemetry(bool State);
+void initTelemetry(void);
+void updateTelemetryState(void);
 void sendTelemetry(void);

src/serial.c

@@ -269,8 +269,7 @@ void serialInit(uint32_t baudrate)
     bool hfadded = false;
 
     core.mainport = uartOpen(USART1, NULL, baudrate, MODE_RXTX);
-    // TODO fix/hax
-    core.telemport = core.mainport;
+
     // calculate used boxes based on features and fill availableBoxes[] array
     memset(availableBoxes, 0xFF, sizeof(availableBoxes));
 
@@ -764,8 +763,7 @@ void serialCom(void)
             c_state = IDLE;
         }
     }
-    if (!cliMode && !serialTotalBytesWaiting(core.telemport) && feature(FEATURE_TELEMETRY) && f.ARMED) { // The first 2 conditions should never evaluate to true but I'm putting it here anyway - silpstream
+    if (!cliMode && feature(FEATURE_TELEMETRY)) { // The first condition should never evaluate to true but I'm putting it here anyway - silpstream
         sendTelemetry();
-        return;
     }
 }

src/telemetry.c

@@ -202,13 +202,29 @@ static void sendHeading(void)
 
 static bool telemetryEnabled = false;
 
-void initTelemetry(bool State)
+void initTelemetry(void)
 {
+    // Sanity check for softserial vs. telemetry port
+    if (!feature(FEATURE_SOFTSERIAL))
+        mcfg.telemetry_softserial = TELEMETRY_UART;
+
+    if (mcfg.telemetry_softserial == TELEMETRY_SOFTSERIAL)
+        core.telemport = &(softSerialPorts[0].port);
+    else
+        core.telemport = core.mainport;
+}
+
+void updateTelemetryState(void)
+{
+    bool State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : f.ARMED;
+
     if (State != telemetryEnabled) {
+        if (mcfg.telemetry_softserial == TELEMETRY_UART) {
             if (State)
                 serialInit(9600);
             else
                 serialInit(mcfg.serial_baudrate);
+        }
         telemetryEnabled = State;
     }
 }
@@ -218,6 +234,12 @@ static uint8_t cycleNum = 0;
 
 void sendTelemetry(void)
 {
+    if (mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED)
+        return;
+
+    if (serialTotalBytesWaiting(core.telemport) != 0)
+        return;
+
     if (millis() - lastCycleTime >= CYCLETIME) {
         lastCycleTime = millis();
         cycleNum++;