mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 08:45:36 +03:00
199 lines
4.7 KiB
C
199 lines
4.7 KiB
C
/*
|
|
* This file is part of Cleanflight.
|
|
*
|
|
* Cleanflight is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* Cleanflight is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <stddef.h>
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
|
|
#include "platform.h"
|
|
|
|
#ifdef TELEMETRY
|
|
|
|
#include "common/utils.h"
|
|
|
|
#include "config/parameter_group.h"
|
|
#include "config/parameter_group_ids.h"
|
|
|
|
#include "drivers/timer.h"
|
|
#include "drivers/serial.h"
|
|
#include "drivers/serial_softserial.h"
|
|
|
|
#include "io/serial.h"
|
|
|
|
#include "fc/config.h"
|
|
#include "fc/rc_controls.h"
|
|
#include "fc/runtime_config.h"
|
|
|
|
#include "msp/msp_serial.h"
|
|
|
|
#include "rx/rx.h"
|
|
|
|
#include "telemetry/telemetry.h"
|
|
#include "telemetry/frsky.h"
|
|
#include "telemetry/hott.h"
|
|
#include "telemetry/smartport.h"
|
|
#include "telemetry/ltm.h"
|
|
#include "telemetry/jetiexbus.h"
|
|
#include "telemetry/mavlink.h"
|
|
#include "telemetry/crsf.h"
|
|
#include "telemetry/srxl.h"
|
|
#include "telemetry/ibus.h"
|
|
|
|
#ifndef USE_PARAMETER_GROUPS
|
|
static telemetryConfig_t *telemetryConfig;
|
|
#endif
|
|
|
|
void telemetryUseConfig(telemetryConfig_t *telemetryConfigToUse)
|
|
{
|
|
#ifdef USE_PARAMETER_GROUPS
|
|
UNUSED(telemetryConfigToUse);
|
|
#else
|
|
telemetryConfig = telemetryConfigToUse;
|
|
#endif
|
|
}
|
|
|
|
void telemetryInit(void)
|
|
{
|
|
#ifdef TELEMETRY_FRSKY
|
|
initFrSkyTelemetry(telemetryConfig());
|
|
#endif
|
|
#ifdef TELEMETRY_HOTT
|
|
initHoTTTelemetry(telemetryConfig());
|
|
#endif
|
|
#ifdef TELEMETRY_SMARTPORT
|
|
initSmartPortTelemetry(telemetryConfig());
|
|
#endif
|
|
#ifdef TELEMETRY_LTM
|
|
initLtmTelemetry(telemetryConfig());
|
|
#endif
|
|
#ifdef TELEMETRY_JETIEXBUS
|
|
initJetiExBusTelemetry(telemetryConfig());
|
|
#endif
|
|
#ifdef TELEMETRY_MAVLINK
|
|
initMAVLinkTelemetry();
|
|
#endif
|
|
#ifdef TELEMETRY_CRSF
|
|
initCrsfTelemetry();
|
|
#endif
|
|
#ifdef TELEMETRY_SRXL
|
|
initSrxlTelemetry();
|
|
#endif
|
|
#ifdef TELEMETRY_IBUS
|
|
initIbusTelemetry();
|
|
#endif
|
|
|
|
telemetryCheckState();
|
|
}
|
|
|
|
bool telemetryDetermineEnabledState(portSharing_e portSharing)
|
|
{
|
|
bool enabled = portSharing == PORTSHARING_NOT_SHARED;
|
|
|
|
if (portSharing == PORTSHARING_SHARED) {
|
|
if (telemetryConfig()->telemetry_switch)
|
|
enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
|
|
else
|
|
enabled = ARMING_FLAG(ARMED);
|
|
}
|
|
|
|
return enabled;
|
|
}
|
|
|
|
bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
|
|
{
|
|
return portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK;
|
|
}
|
|
|
|
serialPort_t *telemetrySharedPort = NULL;
|
|
|
|
void telemetryCheckState(void)
|
|
{
|
|
#ifdef TELEMETRY_FRSKY
|
|
checkFrSkyTelemetryState();
|
|
#endif
|
|
#ifdef TELEMETRY_HOTT
|
|
checkHoTTTelemetryState();
|
|
#endif
|
|
#ifdef TELEMETRY_SMARTPORT
|
|
checkSmartPortTelemetryState();
|
|
#endif
|
|
#ifdef TELEMETRY_LTM
|
|
checkLtmTelemetryState();
|
|
#endif
|
|
#ifdef TELEMETRY_JETIEXBUS
|
|
checkJetiExBusTelemetryState();
|
|
#endif
|
|
#ifdef TELEMETRY_MAVLINK
|
|
checkMAVLinkTelemetryState();
|
|
#endif
|
|
#ifdef TELEMETRY_CRSF
|
|
checkCrsfTelemetryState();
|
|
#endif
|
|
#ifdef TELEMETRY_SRXL
|
|
checkSrxlTelemetryState();
|
|
#endif
|
|
#ifdef TELEMETRY_IBUS
|
|
checkIbusTelemetryState();
|
|
#endif
|
|
}
|
|
|
|
void telemetryProcess(uint32_t currentTime, const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
|
|
{
|
|
#ifdef TELEMETRY_FRSKY
|
|
handleFrSkyTelemetry(rxConfig, deadband3d_throttle);
|
|
#else
|
|
UNUSED(rxConfig);
|
|
UNUSED(deadband3d_throttle);
|
|
#endif
|
|
#ifdef TELEMETRY_HOTT
|
|
handleHoTTTelemetry(currentTime);
|
|
#else
|
|
UNUSED(currentTime);
|
|
#endif
|
|
#ifdef TELEMETRY_SMARTPORT
|
|
handleSmartPortTelemetry();
|
|
#endif
|
|
#ifdef TELEMETRY_LTM
|
|
handleLtmTelemetry();
|
|
#endif
|
|
#ifdef TELEMETRY_JETIEXBUS
|
|
handleJetiExBusTelemetry();
|
|
#endif
|
|
#ifdef TELEMETRY_MAVLINK
|
|
handleMAVLinkTelemetry();
|
|
#endif
|
|
#ifdef TELEMETRY_CRSF
|
|
handleCrsfTelemetry(currentTime);
|
|
#endif
|
|
#ifdef TELEMETRY_SRXL
|
|
handleSrxlTelemetry(currentTime);
|
|
#endif
|
|
#ifdef TELEMETRY_IBUS
|
|
handleIbusTelemetry();
|
|
#endif
|
|
}
|
|
|
|
#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_SMARTPORT)
|
|
|
|
void releaseSharedTelemetryPorts(void) {
|
|
serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
|
|
while (sharedPort) {
|
|
mspSerialReleasePortIfAllocated(sharedPort);
|
|
sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
|
|
}
|
|
}
|
|
#endif
|