mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-28 18:53:57 -04:00
6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
127 lines
4.2 KiB
C++
127 lines
4.2 KiB
C++
/*
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This program 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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This program 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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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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i-BUS telemetry for FlySky/Turnigy receivers and other peripherals
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(eg iA6B, iA10) by Nicole Ashley <nicole@ashley.kiwi>.
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Originally based on work by Jan Verhulst:
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https://github.com/ArduPilot/ardupilot/pull/16545
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Libraries used for reference and inspiration:
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* iBUStelemetry
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https://github.com/Hrastovc/iBUStelemetry
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* IBusBM
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https://github.com/bmellink/IBusBM
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* BetaFlight
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https://github.com/betaflight/betaflight/blob/master/src/main/telemetry/ibus_shared.c
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef AP_IBUS_TELEM_ENABLED
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#define AP_IBUS_TELEM_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 2048
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#endif
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#if AP_IBUS_TELEM_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/vector3.h>
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#include <AP_AHRS/AP_AHRS_config.h>
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#include <AP_BattMonitor/AP_BattMonitor_config.h>
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#include <AP_GPS/AP_GPS_config.h>
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#include <AP_RPM/AP_RPM_config.h>
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class AP_IBus_Telem
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{
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public:
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AP_IBus_Telem() {}
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CLASS_NO_COPY(AP_IBus_Telem);
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void init();
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typedef struct {
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uint8_t sensor_type; // Sensor type (IBUS_SENSOR_TYPE_* above)
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uint8_t sensor_length; // Data length for defined sensor (can be 2 or 4 bytes)
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} SensorDefinition;
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typedef struct {
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uint8_t ap_mode;
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uint8_t ibus_mode;
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} ModeMap;
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private:
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typedef union {
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uint16_t uint16;
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uint32_t uint32;
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int16_t int16;
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int32_t int32;
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uint8_t byte[4];
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} SensorValue;
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struct PACKED CommandPacket {
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uint8_t message_length;
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uint8_t sensor_id : 4;
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uint8_t command : 4;
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uint16_t checksum;
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};
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void tick();
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void handle_incoming_message(const CommandPacket &incoming);
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void handle_discover_command(const CommandPacket &incoming);
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void handle_type_command(const CommandPacket &incoming, const SensorDefinition &sensor);
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void handle_value_command(const CommandPacket &incoming, const SensorDefinition &sensor);
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void handle_2_byte_value_command(const CommandPacket &incoming, const SensorValue &value);
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void handle_4_byte_value_command(const CommandPacket &incoming, const SensorValue &value);
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SensorValue get_sensor_value(uint8_t sensor_id);
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#if AP_BATTERY_ENABLED
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uint16_t get_average_cell_voltage_cV();
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uint16_t get_current_cAh();
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uint8_t get_battery_or_fuel_level_pct();
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#endif
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#if AP_RPM_ENABLED
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uint16_t get_rpm();
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#endif
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#if AP_GPS_ENABLED
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uint8_t get_gps_status();
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#endif
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#if AP_AHRS_ENABLED
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uint16_t get_distance_from_home_m();
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#endif
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uint16_t get_vehicle_mode();
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void populate_checksum(uint8_t *packet, const uint16_t size);
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static const uint8_t PROTOCOL_COMMAND_DISCOVER = 0x80; // Command to discover a sensor (lowest 4 bits are sensor)
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static const uint8_t PROTOCOL_COMMAND_TYPE = 0x90; // Command to request a sensor type (lowest 4 bits are sensor)
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static const uint8_t PROTOCOL_COMMAND_VALUE = 0xA0; // Command to request a sensor's value (lowest 4 bits are sensor)
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static const uint8_t PROTOCOL_TIMEGAP = 3; // Packets are received very ~7ms so use ~half that for the gap
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static const uint8_t PROTOCOL_FOUR_LENGTH = 0x04; // indicate that the message has 4 bytes
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static const uint8_t PROTOCOL_SIX_LENGTH = 0x06; // indicate that the message has 6 bytes
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static const uint8_t PROTOCOL_EIGHT_LENGTH = 0x08; // indicate that the message has 8 bytes
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static const uint8_t PROTOCOL_INCOMING_MESSAGE_LENGTH = PROTOCOL_FOUR_LENGTH; // All incoming messages are the same length
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AP_HAL::UARTDriver *port;
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bool initialized;
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uint32_t last_received_message_time_ms; // When the last message was received
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};
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#endif
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