/*
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);
// 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