mirror of
https://github.com/betaflight/betaflight.git
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215 lines
5 KiB
C
215 lines
5 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stddef.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#ifdef TELEMETRY
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#include "common/utils.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "drivers/timer.h"
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#include "drivers/serial.h"
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#include "drivers/serial_softserial.h"
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#include "io/serial.h"
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#include "fc/config.h"
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#include "fc/rc_modes.h"
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#include "fc/runtime_config.h"
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#include "msp/msp_serial.h"
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#include "rx/rx.h"
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#include "telemetry/telemetry.h"
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#include "telemetry/frsky.h"
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#include "telemetry/hott.h"
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#include "telemetry/smartport.h"
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#include "telemetry/ltm.h"
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#include "telemetry/jetiexbus.h"
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#include "telemetry/mavlink.h"
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#include "telemetry/crsf.h"
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#include "telemetry/srxl.h"
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#include "telemetry/ibus.h"
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#include "telemetry/msp_shared.h"
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PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0);
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PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
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.telemetry_inverted = false,
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.halfDuplex = 1,
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.telemetry_switch = 0,
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.gpsNoFixLatitude = 0,
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.gpsNoFixLongitude = 0,
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.frsky_coordinate_format = FRSKY_FORMAT_DMS,
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.frsky_unit = FRSKY_UNIT_METRICS,
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.frsky_vfas_precision = 0,
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.frsky_vfas_cell_voltage = 0,
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.hottAlarmSoundInterval = 5,
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.pidValuesAsTelemetry = 0,
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.report_cell_voltage = false
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);
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void telemetryInit(void)
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{
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#ifdef TELEMETRY_FRSKY
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initFrSkyTelemetry();
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#endif
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#ifdef TELEMETRY_HOTT
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initHoTTTelemetry();
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#endif
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#ifdef TELEMETRY_SMARTPORT
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initSmartPortTelemetry();
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#endif
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#ifdef TELEMETRY_LTM
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initLtmTelemetry();
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#endif
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#ifdef TELEMETRY_JETIEXBUS
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initJetiExBusTelemetry();
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#endif
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#ifdef TELEMETRY_MAVLINK
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initMAVLinkTelemetry();
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#endif
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#ifdef TELEMETRY_CRSF
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initCrsfTelemetry();
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#endif
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#ifdef TELEMETRY_SRXL
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initSrxlTelemetry();
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#endif
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#ifdef TELEMETRY_IBUS
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initIbusTelemetry();
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#endif
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#if defined(USE_MSP_OVER_TELEMETRY)
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initSharedMsp();
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initCrsfMspBuffer();
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#endif
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telemetryCheckState();
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}
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bool telemetryDetermineEnabledState(portSharing_e portSharing)
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{
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bool enabled = portSharing == PORTSHARING_NOT_SHARED;
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if (portSharing == PORTSHARING_SHARED) {
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if (telemetryConfig()->telemetry_switch)
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enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
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else
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enabled = ARMING_FLAG(ARMED);
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}
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return enabled;
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}
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bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
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{
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if (portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK) {
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return true;
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}
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#ifdef TELEMETRY_IBUS
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if ( portConfig->functionMask & FUNCTION_TELEMETRY_IBUS
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&& portConfig->functionMask & FUNCTION_RX_SERIAL
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&& rxConfig()->serialrx_provider == SERIALRX_IBUS) {
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// IBUS serial RX & telemetry
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return true;
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}
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#endif
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return false;
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}
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serialPort_t *telemetrySharedPort = NULL;
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void telemetryCheckState(void)
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{
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#ifdef TELEMETRY_FRSKY
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checkFrSkyTelemetryState();
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#endif
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#ifdef TELEMETRY_HOTT
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checkHoTTTelemetryState();
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#endif
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#ifdef TELEMETRY_SMARTPORT
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checkSmartPortTelemetryState();
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#endif
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#ifdef TELEMETRY_LTM
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checkLtmTelemetryState();
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#endif
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#ifdef TELEMETRY_JETIEXBUS
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checkJetiExBusTelemetryState();
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#endif
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#ifdef TELEMETRY_MAVLINK
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checkMAVLinkTelemetryState();
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#endif
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#ifdef TELEMETRY_CRSF
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checkCrsfTelemetryState();
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#endif
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#ifdef TELEMETRY_SRXL
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checkSrxlTelemetryState();
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#endif
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#ifdef TELEMETRY_IBUS
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checkIbusTelemetryState();
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#endif
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}
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void telemetryProcess(uint32_t currentTime)
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{
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#ifdef TELEMETRY_FRSKY
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handleFrSkyTelemetry();
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#endif
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#ifdef TELEMETRY_HOTT
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handleHoTTTelemetry(currentTime);
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#else
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UNUSED(currentTime);
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#endif
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#ifdef TELEMETRY_SMARTPORT
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handleSmartPortTelemetry();
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#endif
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#ifdef TELEMETRY_LTM
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handleLtmTelemetry();
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#endif
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#ifdef TELEMETRY_JETIEXBUS
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handleJetiExBusTelemetry();
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#endif
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#ifdef TELEMETRY_MAVLINK
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handleMAVLinkTelemetry();
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#endif
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#ifdef TELEMETRY_CRSF
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handleCrsfTelemetry(currentTime);
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#endif
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#ifdef TELEMETRY_SRXL
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handleSrxlTelemetry(currentTime);
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#endif
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#ifdef TELEMETRY_IBUS
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handleIbusTelemetry();
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#endif
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}
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void releaseSharedTelemetryPorts(void) {
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serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_PORT_FUNCTIONS_MASK, FUNCTION_MSP);
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while (sharedPort) {
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mspSerialReleasePortIfAllocated(sharedPort);
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sharedPort = findNextSharedSerialPort(TELEMETRY_PORT_FUNCTIONS_MASK, FUNCTION_MSP);
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}
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}
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#endif
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