/* This program 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. 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. You should have received a copy of the GNU General Public License along with this program. If not, see . MSP telemetry library backend base class */ #pragma once #include #include "msp.h" #include #if HAL_MSP_ENABLED #define MSP_TIME_SLOT_MAX 12 #define CELLFULL 4.35 #define MSP_TXT_BUFFER_SIZE 15U // 11 + 3 utf8 chars + terminator #define MSP_TXT_VISIBLE_CHARS 11U class AP_MSP; class AP_MSP_Telem_Backend : AP_RCTelemetry { public: AP_MSP_Telem_Backend(AP_HAL::UARTDriver *uart); typedef struct battery_state_s { float batt_current_a; float batt_consumed_mah; float batt_voltage_v; int32_t batt_capacity_mah; uint8_t batt_cellcount; MSP::battery_state_e batt_state; } battery_state_t; typedef struct PACKED gps_state_s { uint8_t fix_type; uint8_t num_sats; int32_t lat; int32_t lon; uint16_t alt_m; uint16_t speed_cms; int16_t ground_course_cd; } gps_state_t; typedef struct airspeed_state_s { float airspeed_estimate_ms; bool airspeed_have_estimate; } airspeed_state_t; typedef struct home_state_s { bool home_is_set; float home_bearing_cd; uint32_t home_distance_m; int32_t rel_altitude_cm; } home_state_t; // init - perform required initialisation virtual bool init() override; virtual bool init_uart(); virtual void enable_warnings(); virtual void hide_osd_items(void); // MSP tx/rx processors void process_incoming_data(); // incoming data void process_outgoing_data(); // push outgoing data protected: enum msp_packet_type : uint8_t { EMPTY_SLOT = 0, NAME, STATUS, CONFIG, RAW_GPS, COMP_GPS, ATTITUDE, ALTITUDE, ANALOG, BATTERY_STATE, #ifdef HAVE_AP_BLHELI_SUPPORT ESC_SENSOR_DATA, #endif RTC_DATETIME, }; const uint16_t msp_packet_type_map[MSP_TIME_SLOT_MAX] = { 0, MSP_NAME, MSP_STATUS, MSP_OSD_CONFIG, MSP_RAW_GPS, MSP_COMP_GPS, MSP_ATTITUDE, MSP_ALTITUDE, MSP_ANALOG, MSP_BATTERY_STATE, #ifdef HAVE_AP_BLHELI_SUPPORT MSP_ESC_SENSOR_DATA, #endif MSP_RTC }; /* UTF-8 encodings U+2191 ↑ e2 86 91 UPWARDS ARROW U+2197 ↗ e2 86 97 NORTH EAST ARROW U+2192 → e2 86 92 RIGHTWARDS ARROW U+2198 ↘ e2 86 98 SOUTH EAST ARROW U+2193 ↓ e2 86 93 DOWNWARDS ARROW U+2199 ↙ e2 86 99 SOUTH WEST ARROW U+2190 ← e2 86 90 LEFTWARDS ARROW U+2196 ↖ e2 86 96 NORTH WEST ARROW */ static constexpr uint8_t arrows[8] = {0x91, 0x97, 0x92, 0x98, 0x93, 0x99, 0x90, 0x96}; static const uint8_t message_scroll_time_ms = 200; static const uint8_t message_scroll_delay = 5; // each backend can hide/unhide items dynamically uint64_t osd_hidden_items_bitmask; // MSP decoder status MSP::msp_port_t _msp_port; // passthrough WFQ scheduler bool is_packet_ready(uint8_t idx, bool queue_empty) override; void process_packet(uint8_t idx) override; void adjust_packet_weight(bool queue_empty) override {} void setup_wfq_scheduler(void) override; bool get_next_msg_chunk(void) override { return true; } // telemetry helpers uint8_t calc_cell_count(float battery_voltage); float get_vspeed_ms(void); void update_home_pos(home_state_t &home_state); void update_battery_state(battery_state_t &_battery_state); void update_gps_state(gps_state_t &gps_state); void update_airspeed(airspeed_state_t &airspeed_state); void update_flight_mode_str(char *flight_mode_str, bool wind_enabled); // MSP parsing void msp_process_received_command(); MSP::MSPCommandResult msp_process_command(MSP::msp_packet_t *cmd, MSP::msp_packet_t *reply); MSP::MSPCommandResult msp_process_sensor_command(uint16_t cmd_msp, MSP::sbuf_t *src); MSP::MSPCommandResult msp_process_out_command(uint16_t cmd_msp, MSP::sbuf_t *dst); // MSP sensor command processing void msp_handle_opflow(const MSP::msp_opflow_data_message_t &pkt); void msp_handle_rangefinder(const MSP::msp_rangefinder_data_message_t &pkt); void msp_handle_gps(const MSP::msp_gps_data_message_t &pkt); void msp_handle_compass(const MSP::msp_compass_data_message_t &pkt); void msp_handle_baro(const MSP::msp_baro_data_message_t &pkt); void msp_handle_airspeed(const MSP::msp_airspeed_data_message_t &pkt); // implementation specific helpers // custom masks are needed for vendor specific settings virtual uint32_t get_osd_flight_mode_bitmask(void) { return 0; } virtual bool is_scheduler_enabled() = 0; // only osd backends should allow a push type telemetry // implementation specific MSP out command processing virtual MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) = 0; virtual MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) = 0; virtual MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) = 0; virtual MSP::MSPCommandResult msp_process_out_uid(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_board_info(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_build_info(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_name(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_status(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_osd_config(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_raw_gps(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_comp_gps(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_attitude(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_altitude(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_analog(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_battery_state(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_esc_sensor_data(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_rtc(MSP::sbuf_t *dst); virtual MSP::MSPCommandResult msp_process_out_rc(MSP::sbuf_t *dst); }; #endif //HAL_MSP_ENABLED