mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-25 09:16:01 +03:00
a88bab5f91
This consists of various files/changes brought over from betaflight with modifications to operate in the current state of inav. It also includes files/changes that were not a part of the betaflight SRXL2 merge, as the previous bidi srxl implementation was not yet implemented either, and SRXL2 has some dependencies on the Spektrum telemetry structuring from those files.
244 lines
5.4 KiB
C
244 lines
5.4 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 <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#ifdef USE_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/serial.h"
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#include "fc/config.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "fc/runtime_config.h"
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#include "io/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_d.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/mavlink.h"
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#include "telemetry/jetiexbus.h"
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#include "telemetry/ibus.h"
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#include "telemetry/crsf.h"
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#include "telemetry/srxl.h"
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#include "telemetry/sim.h"
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PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 4);
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PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
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.gpsNoFixLatitude = 0,
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.gpsNoFixLongitude = 0,
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.telemetry_switch = 0,
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.telemetry_inverted = 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_pitch_roll = 0,
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.report_cell_voltage = 0,
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.hottAlarmSoundInterval = 5,
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.halfDuplex = 1,
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.smartportFuelUnit = SMARTPORT_FUEL_UNIT_MAH,
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.ibusTelemetryType = 0,
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.ltmUpdateRate = LTM_RATE_NORMAL,
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.simTransmitInterval = SIM_DEFAULT_TRANSMIT_INTERVAL,
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.simTransmitFlags = SIM_DEFAULT_TX_FLAGS,
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.simLowAltitude = INT16_MIN,
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.simPin = SIM_PIN,
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.accEventThresholdHigh = 0,
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.accEventThresholdLow = 0,
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.accEventThresholdNegX = 0,
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.mavlink = {
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.extended_status_rate = 2,
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.rc_channels_rate = 5,
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.position_rate = 2,
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.extra1_rate = 10,
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.extra2_rate = 2,
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.extra3_rate = 1
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}
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);
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void telemetryInit(void)
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{
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#if defined(USE_TELEMETRY_FRSKY)
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initFrSkyTelemetry();
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#endif
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#if defined(USE_TELEMETRY_HOTT)
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initHoTTTelemetry();
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#endif
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#if defined(USE_TELEMETRY_SMARTPORT)
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initSmartPortTelemetry();
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#endif
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#if defined(USE_TELEMETRY_LTM)
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initLtmTelemetry();
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#endif
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#if defined(USE_TELEMETRY_MAVLINK)
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initMAVLinkTelemetry();
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#endif
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#if defined(TELEMETRY_JETIEXBUS)
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initJetiExBusTelemetry();
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#endif
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#if defined(USE_TELEMETRY_IBUS)
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initIbusTelemetry();
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#endif
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#if defined(USE_TELEMETRY_SIM)
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initSimTelemetry();
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#endif
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#if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
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initCrsfTelemetry();
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#endif
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#ifdef USE_TELEMETRY_SRXL
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initSrxlTelemetry();
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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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return portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK;
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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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#if defined(USE_TELEMETRY_FRSKY)
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checkFrSkyTelemetryState();
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#endif
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#if defined(USE_TELEMETRY_HOTT)
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checkHoTTTelemetryState();
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#endif
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#if defined(USE_TELEMETRY_SMARTPORT)
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checkSmartPortTelemetryState();
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#endif
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#if defined(USE_TELEMETRY_LTM)
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checkLtmTelemetryState();
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#endif
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#if defined(USE_TELEMETRY_MAVLINK)
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checkMAVLinkTelemetryState();
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#endif
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#if defined(TELEMETRY_JETIEXBUS)
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checkJetiExBusTelemetryState();
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#endif
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#if defined(USE_TELEMETRY_IBUS)
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checkIbusTelemetryState();
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#endif
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#if defined(USE_TELEMETRY_SIM)
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checkSimTelemetryState();
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#endif
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#if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
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checkCrsfTelemetryState();
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#endif
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#ifdef USE_TELEMETRY_SRXL
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checkSrxlTelemetryState();
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#endif
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}
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void telemetryProcess(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs); // since not used by all the telemetry protocols
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#if defined(USE_TELEMETRY_FRSKY)
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handleFrSkyTelemetry();
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#endif
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#if defined(USE_TELEMETRY_HOTT)
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handleHoTTTelemetry(currentTimeUs);
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#endif
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#if defined(USE_TELEMETRY_SMARTPORT)
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handleSmartPortTelemetry();
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#endif
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#if defined(USE_TELEMETRY_LTM)
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handleLtmTelemetry();
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#endif
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#if defined(USE_TELEMETRY_MAVLINK)
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handleMAVLinkTelemetry(currentTimeUs);
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#endif
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#if defined(TELEMETRY_JETIEXBUS)
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handleJetiExBusTelemetry();
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#endif
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#if defined(USE_SERIALRX_IBUS) && defined(USE_TELEMETRY_IBUS)
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handleIbusTelemetry();
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#endif
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#if defined(USE_TELEMETRY_SIM)
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handleSimTelemetry();
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#endif
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#if defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
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handleCrsfTelemetry(currentTimeUs);
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#endif
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#ifdef USE_TELEMETRY_SRXL
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handleSrxlTelemetry(currentTimeUs);
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#endif
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}
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#endif
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