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edgetx/radio/src/telemetry/telemetry.cpp
Bertrand Songis 862fa5525e [Crossfire] Upstream link development started
2016-06-11 20:05:51 +02:00

461 lines
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/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program 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.
*/
#include "opentx.h"
uint8_t telemetryStreaming = 0;
uint8_t telemetryRxBuffer[TELEMETRY_RX_PACKET_SIZE]; // Receive buffer. 9 bytes (full packet), worst case 18 bytes with byte-stuffing (+1)
uint8_t telemetryRxBufferCount = 0;
#if defined(WS_HOW_HIGH)
uint8_t wshhStreaming = 0;
#endif
uint8_t link_counter = 0;
#if defined(CPUARM)
uint8_t telemetryState = TELEMETRY_INIT;
#endif
TelemetryData telemetryData;
#if defined(CPUARM)
uint8_t telemetryProtocol = 255;
#endif
#if defined(PCBSKY9X) && defined(REVX)
uint8_t serialInversion = 0;
#endif
#if !defined(CPUARM)
uint16_t getChannelRatio(source_t channel)
{
return (uint16_t)g_model.frsky.channels[channel].ratio << g_model.frsky.channels[channel].multiplier;
}
lcdint_t applyChannelRatio(source_t channel, lcdint_t val)
{
return ((int32_t)val+g_model.frsky.channels[channel].offset) * getChannelRatio(channel) * 2 / 51;
}
#endif
#if defined(CPUSTM32)
void processTelemetryData(uint8_t data)
{
#if defined(CROSSFIRE)
if (telemetryProtocol == PROTOCOL_PULSES_CROSSFIRE) {
processCrossfireTelemetryData(data);
return;
}
#endif
processFrskyTelemetryData(data);
}
#endif
void telemetryWakeup()
{
#if defined(CPUARM)
uint8_t requiredTelemetryProtocol = MODEL_TELEMETRY_PROTOCOL();
#if defined(REVX)
uint8_t requiredSerialInversion = g_model.moduleData[EXTERNAL_MODULE].invertedSerial;
if (telemetryProtocol != requiredTelemetryProtocol || serialInversion != requiredSerialInversion) {
serialInversion = requiredSerialInversion;
#else
if (telemetryProtocol != requiredTelemetryProtocol) {
#endif
telemetryInit(requiredTelemetryProtocol);
telemetryProtocol = requiredTelemetryProtocol;
}
#endif
#if defined(CPUSTM32)
uint8_t data;
#if defined(LOG_TELEMETRY) && !defined(SIMU)
static tmr10ms_t lastTime = 0;
tmr10ms_t newTime = get_tmr10ms();
struct gtm utm;
gettime(&utm);
#endif
while (telemetryFifo.pop(data)) {
processTelemetryData(data);
#if defined(LOG_TELEMETRY) && !defined(SIMU)
extern FIL g_telemetryFile;
if (lastTime != newTime) {
f_printf(&g_telemetryFile, "\r\n%4d-%02d-%02d,%02d:%02d:%02d.%02d0: %02X", utm.tm_year+1900, utm.tm_mon+1, utm.tm_mday, utm.tm_hour, utm.tm_min, utm.tm_sec, g_ms100, data);
lastTime = newTime;
}
else {
f_printf(&g_telemetryFile, " %02X", data);
}
#endif
}
#elif defined(PCBSKY9X)
if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
uint8_t data;
while (telemetrySecondPortReceive(data)) {
processFrskyTelemetryData(data);
}
}
else {
// Receive serial data here
rxPdcUsart(processFrskyTelemetryData);
}
#endif
#if !defined(CPUARM)
if (IS_FRSKY_D_PROTOCOL()) {
// Attempt to transmit any waiting Fr-Sky alarm set packets every 50ms (subject to packet buffer availability)
static uint8_t frskyTxDelay = 5;
if (frskyAlarmsSendState && (--frskyTxDelay == 0)) {
frskyTxDelay = 5; // 50ms
#if !defined(SIMU)
frskyDSendNextAlarm();
#endif
}
}
#endif
#if defined(CPUARM)
for (int i=0; i<MAX_SENSORS; i++) {
const TelemetrySensor & sensor = g_model.telemetrySensors[i];
if (sensor.type == TELEM_TYPE_CALCULATED) {
telemetryItems[i].eval(sensor);
}
}
#endif
#if defined(VARIO)
if (TELEMETRY_STREAMING() && !IS_FAI_ENABLED()) {
varioWakeup();
}
#endif
#if defined(PCBTARANIS) && defined(REVPLUS)
#define FRSKY_BAD_ANTENNA() (IS_VALID_XJT_VERSION() && telemetryData.swr.value > 0x33)
#else
#define FRSKY_BAD_ANTENNA() (telemetryData.swr.value > 0x33)
#endif
#if defined(CPUARM)
static tmr10ms_t alarmsCheckTime = 0;
#define SCHEDULE_NEXT_ALARMS_CHECK(seconds) alarmsCheckTime = get_tmr10ms() + (100*(seconds))
if (int32_t(get_tmr10ms() - alarmsCheckTime) > 0) {
SCHEDULE_NEXT_ALARMS_CHECK(1/*second*/);
uint8_t now = TelemetryItem::now();
bool sensor_lost = false;
for (int i=0; i<MAX_SENSORS; i++) {
if (isTelemetryFieldAvailable(i)) {
uint8_t lastReceived = telemetryItems[i].lastReceived;
if (lastReceived < TELEMETRY_VALUE_TIMER_CYCLE && uint8_t(now - lastReceived) > TELEMETRY_VALUE_OLD_THRESHOLD) {
sensor_lost = true;
telemetryItems[i].lastReceived = TELEMETRY_VALUE_OLD;
TelemetrySensor * sensor = & g_model.telemetrySensors[i];
if (sensor->unit == UNIT_DATETIME) {
telemetryItems[i].datetime.datestate = 0;
telemetryItems[i].datetime.timestate = 0;
}
}
}
}
if (sensor_lost && TELEMETRY_STREAMING()) {
audioEvent(AU_SENSOR_LOST);
}
#if defined(PCBTARANIS) || defined(PCBHORUS)
if ((g_model.moduleData[INTERNAL_MODULE].rfProtocol != RF_PROTO_OFF || g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_XJT) && FRSKY_BAD_ANTENNA()) {
AUDIO_SWR_RED();
POPUP_WARNING(STR_WARNING);
const char * w = STR_ANTENNAPROBLEM;
SET_WARNING_INFO(w, strlen(w), 0);
SCHEDULE_NEXT_ALARMS_CHECK(10/*seconds*/);
}
#endif
if (TELEMETRY_STREAMING()) {
if (getRssiAlarmValue(1) && TELEMETRY_RSSI() < getRssiAlarmValue(1)) {
AUDIO_RSSI_RED();
SCHEDULE_NEXT_ALARMS_CHECK(10/*seconds*/);
}
else if (getRssiAlarmValue(0) && TELEMETRY_RSSI() < getRssiAlarmValue(0)) {
AUDIO_RSSI_ORANGE();
SCHEDULE_NEXT_ALARMS_CHECK(10/*seconds*/);
}
}
}
if (TELEMETRY_STREAMING()) {
if (telemetryState == TELEMETRY_KO) {
AUDIO_TELEMETRY_BACK();
}
telemetryState = TELEMETRY_OK;
}
else if (telemetryState == TELEMETRY_OK) {
telemetryState = TELEMETRY_KO;
AUDIO_TELEMETRY_LOST();
}
#endif
}
void telemetryInterrupt10ms()
{
#if defined(FRSKY_HUB) && !defined(CPUARM)
uint16_t voltage = 0; /* unit: 1/10 volts */
for (uint8_t i=0; i<telemetryData.hub.cellsCount; i++)
voltage += telemetryData.hub.cellVolts[i];
voltage /= (10 / TELEMETRY_CELL_VOLTAGE_MUTLIPLIER);
telemetryData.hub.cellsSum = voltage;
if (telemetryData.hub.cellsSum < telemetryData.hub.minCells) {
telemetryData.hub.minCells = telemetryData.hub.cellsSum;
}
#endif
if (TELEMETRY_STREAMING()) {
if (!TELEMETRY_OPENXSENSOR()) {
#if defined(CPUARM)
for (int i=0; i<MAX_SENSORS; i++) {
const TelemetrySensor & sensor = g_model.telemetrySensors[i];
if (sensor.type == TELEM_TYPE_CALCULATED) {
telemetryItems[i].per10ms(sensor);
}
}
#else
// power calculation
uint8_t channel = g_model.frsky.voltsSource;
if (channel <= FRSKY_VOLTS_SOURCE_A2) {
voltage = applyChannelRatio(channel, telemetryData.analog[channel].value) / 10;
}
#if defined(FRSKY_HUB)
else if (channel == FRSKY_VOLTS_SOURCE_FAS) {
voltage = telemetryData.hub.vfas;
}
#endif
#if defined(FRSKY_HUB)
uint16_t current = telemetryData.hub.current; /* unit: 1/10 amps */
#else
uint16_t current = 0;
#endif
channel = g_model.frsky.currentSource - FRSKY_CURRENT_SOURCE_A1;
if (channel < MAX_FRSKY_A_CHANNELS) {
current = applyChannelRatio(channel, telemetryData.analog[channel].value) / 10;
}
telemetryData.hub.power = ((current>>1) * (voltage>>1)) / 25;
telemetryData.hub.currentPrescale += current;
if (telemetryData.hub.currentPrescale >= 3600) {
telemetryData.hub.currentConsumption += 1;
telemetryData.hub.currentPrescale -= 3600;
}
#endif
}
#if !defined(CPUARM)
if (telemetryData.hub.power > telemetryData.hub.maxPower) {
telemetryData.hub.maxPower = telemetryData.hub.power;
}
#endif
}
#if defined(WS_HOW_HIGH)
if (wshhStreaming > 0) {
wshhStreaming--;
}
#endif
if (telemetryStreaming > 0) {
telemetryStreaming--;
}
else {
#if !defined(SIMU)
#if defined(CPUARM)
telemetryData.rssi.reset();
#else
telemetryData.rssi[0].set(0);
telemetryData.rssi[1].set(0);
#endif
#endif
}
}
void telemetryReset()
{
memclear(&telemetryData, sizeof(telemetryData));
#if defined(CPUARM)
for (int index=0; index<MAX_SENSORS; index++) {
telemetryItems[index].clear();
}
#endif
telemetryStreaming = 0; // reset counter only if valid frsky packets are being detected
link_counter = 0;
#if defined(CPUARM)
telemetryState = TELEMETRY_INIT;
#endif
#if defined(FRSKY_HUB) && !defined(CPUARM)
telemetryData.hub.gpsLatitude_bp = 2;
telemetryData.hub.gpsLongitude_bp = 2;
telemetryData.hub.gpsFix = -1;
#endif
#if defined(SIMU)
#if defined(CPUARM)
telemetryData.swr.value = 30;
telemetryData.rssi.value = 75;
#else
telemetryData.rssi[0].value = 75;
telemetryData.rssi[1].value = 75;
telemetryData.analog[TELEM_ANA_A1].set(120, UNIT_VOLTS);
telemetryData.analog[TELEM_ANA_A2].set(240, UNIT_VOLTS);
#endif
#if !defined(CPUARM)
telemetryData.hub.fuelLevel = 75;
telemetryData.hub.rpm = 12000;
telemetryData.hub.vfas = 100;
telemetryData.hub.minVfas = 90;
#if defined(GPS)
telemetryData.hub.gpsFix = 1;
telemetryData.hub.gpsLatitude_bp = 4401;
telemetryData.hub.gpsLatitude_ap = 7710;
telemetryData.hub.gpsLongitude_bp = 1006;
telemetryData.hub.gpsLongitude_ap = 8872;
telemetryData.hub.gpsSpeed_bp = 200; //in knots
telemetryData.hub.gpsSpeed_ap = 0;
getGpsPilotPosition();
telemetryData.hub.gpsLatitude_bp = 4401;
telemetryData.hub.gpsLatitude_ap = 7455;
telemetryData.hub.gpsLongitude_bp = 1006;
telemetryData.hub.gpsLongitude_ap = 9533;
getGpsDistance();
#endif
telemetryData.hub.airSpeed = 1000; // 185.1 km/h
telemetryData.hub.cellsCount = 6;
telemetryData.hub.cellVolts[0] = 410/TELEMETRY_CELL_VOLTAGE_MUTLIPLIER;
telemetryData.hub.cellVolts[1] = 420/TELEMETRY_CELL_VOLTAGE_MUTLIPLIER;
telemetryData.hub.cellVolts[2] = 430/TELEMETRY_CELL_VOLTAGE_MUTLIPLIER;
telemetryData.hub.cellVolts[3] = 440/TELEMETRY_CELL_VOLTAGE_MUTLIPLIER;
telemetryData.hub.cellVolts[4] = 450/TELEMETRY_CELL_VOLTAGE_MUTLIPLIER;
telemetryData.hub.cellVolts[5] = 460/TELEMETRY_CELL_VOLTAGE_MUTLIPLIER;
telemetryData.hub.minCellVolts = 250/TELEMETRY_CELL_VOLTAGE_MUTLIPLIER;
telemetryData.hub.minCell = 300; //unit 10mV
telemetryData.hub.minCells = 220; //unit 100mV
//telemetryData.hub.cellsSum = 261; //calculated from cellVolts[]
telemetryData.hub.gpsAltitude_bp = 50;
telemetryData.hub.baroAltitude_bp = 50;
telemetryData.hub.minAltitude = 10;
telemetryData.hub.maxAltitude = 500;
telemetryData.hub.accelY = 100;
telemetryData.hub.temperature1 = -30;
telemetryData.hub.maxTemperature1 = 100;
telemetryData.hub.current = 55;
telemetryData.hub.maxCurrent = 65;
#endif
#endif
/*Add some default sensor values to the simulator*/
#if defined(CPUARM) && defined(SIMU)
for (int i=0; i<MAX_SENSORS; i++) {
const TelemetrySensor & sensor = g_model.telemetrySensors[i];
switch (sensor.id)
{
case RSSI_ID:
setTelemetryValue(TELEM_PROTO_FRSKY_SPORT, RSSI_ID, 0, sensor.instance , 75, UNIT_RAW, 0);
break;
case ADC1_ID:
setTelemetryValue(TELEM_PROTO_FRSKY_SPORT, ADC1_ID, 0, sensor.instance, 100, UNIT_RAW, 0);
break;
case ADC2_ID:
setTelemetryValue(TELEM_PROTO_FRSKY_SPORT, ADC2_ID, 0, sensor.instance, 245, UNIT_RAW, 0);
break;
case SWR_ID:
setTelemetryValue(TELEM_PROTO_FRSKY_SPORT, SWR_ID, 0, sensor.instance, 30, UNIT_RAW, 0);
break;
case BATT_ID:
setTelemetryValue(TELEM_PROTO_FRSKY_SPORT, BATT_ID, 0, sensor.instance, 100, UNIT_RAW, 0);
break;
}
}
#endif
}
#if defined(CPUARM)
// we don't reset the telemetry here as we would also reset the consumption after model load
void telemetryInit(uint8_t protocol)
{
if (protocol == PROTOCOL_FRSKY_D) {
telemetryPortInit(FRSKY_D_BAUDRATE);
}
#if defined(CROSSFIRE)
else if (protocol == PROTOCOL_PULSES_CROSSFIRE) {
telemetryPortInit(CROSSFIRE_BAUDRATE);
luaOutputTelemetryPacket.crossfire.clear();
telemetryPortSetDirectionOutput();
}
#endif
else if (protocol == PROTOCOL_FRSKY_D_SECONDARY) {
telemetryPortInit(0);
serial2TelemetryInit(PROTOCOL_FRSKY_D_SECONDARY);
}
else {
telemetryPortInit(FRSKY_SPORT_BAUDRATE);
luaOutputTelemetryPacket.sport.clear();
}
#if defined(REVX) && !defined(SIMU)
if (serialInversion) {
setMFP();
}
else {
clearMFP();
}
#endif
}
#else
void telemetryInit()
{
telemetryPortInit();
}
#endif
NOINLINE uint8_t getRssiAlarmValue(uint8_t alarm)
{
return (45 - 3*alarm + g_model.frsky.rssiAlarms[alarm].value);
}
#if defined(LUA)
Fifo<LuaTelemetryPacket, 16> * luaInputTelemetryFifo = NULL;
LuaTelemetryPacket luaOutputTelemetryPacket;
#endif
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