mirror of https://github.com/ArduPilot/ardupilot
331 lines
12 KiB
C++
331 lines
12 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* 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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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the 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 along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* Crossfire constants provided by Team Black Sheep under terms of the 2-Clause BSD License
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*/
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#pragma once
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#include "AP_RCProtocol.h"
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#include <AP_Math/AP_Math.h>
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#include <RC_Channel/RC_Channel.h>
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#include "SoftSerial.h"
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#define CRSF_MAX_CHANNELS 24U // Maximum number of channels from crsf datastream
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#define CRSF_FRAMELEN_MAX 64U // maximum possible framelength
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#define CSRF_HEADER_LEN 2U // header length
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#define CRSF_FRAME_PAYLOAD_MAX (CRSF_FRAMELEN_MAX - CSRF_HEADER_LEN) // maximum size of the frame length field in a packet
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#define CRSF_BAUDRATE 416666U
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#define ELRS_BAUDRATE 420000U
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#define CRSF_TX_TIMEOUT 500000U // the period after which the transmitter is considered disconnected (matches copters failsafe)
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#define CRSF_RX_TIMEOUT 150000U // the period after which the receiver is considered disconnected (>ping frequency)
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class AP_RCProtocol_CRSF : public AP_RCProtocol_Backend {
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public:
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AP_RCProtocol_CRSF(AP_RCProtocol &_frontend);
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virtual ~AP_RCProtocol_CRSF();
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void process_byte(uint8_t byte, uint32_t baudrate) override;
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void process_handshake(uint32_t baudrate) override;
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void update(void) override;
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// support for CRSF v3
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bool change_baud_rate(uint32_t baudrate);
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// bootstrap baudrate
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uint32_t get_bootstrap_baud_rate() const {
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return rc().use_420kbaud_for_elrs() ? ELRS_BAUDRATE : CRSF_BAUDRATE;
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}
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// is the receiver active, used to detect power loss and baudrate changes
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bool is_rx_active() const override {
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// later versions of CRSFv3 will send link rate frames every 200ms
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// but only before an initial failsafe
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return AP_HAL::micros() < _last_rx_frame_time_us + CRSF_RX_TIMEOUT;
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}
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// is the transmitter active, used to adjust telemetry data
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bool is_tx_active() const {
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// this is the same as the Copter failsafe timeout
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return AP_HAL::micros() < _last_tx_frame_time_us + CRSF_TX_TIMEOUT;
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}
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// get singleton instance
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static AP_RCProtocol_CRSF* get_singleton() {
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return _singleton;
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}
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enum FrameType {
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CRSF_FRAMETYPE_GPS = 0x02,
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CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
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CRSF_FRAMETYPE_HEARTBEAT = 0x0B,
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CRSF_FRAMETYPE_VTX = 0x0F,
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CRSF_FRAMETYPE_VTX_TELEM = 0x10,
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CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
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CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
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CRSF_FRAMETYPE_SUBSET_RC_CHANNELS_PACKED = 0x17,
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CRSF_FRAMETYPE_RC_CHANNELS_PACKED_11BIT = 0x18,
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CRSF_FRAMETYPE_LINK_STATISTICS_RX = 0x1C,
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CRSF_FRAMETYPE_LINK_STATISTICS_TX = 0x1D,
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CRSF_FRAMETYPE_ATTITUDE = 0x1E,
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CRSF_FRAMETYPE_FLIGHT_MODE = 0x21,
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// Extended Header Frames, range: 0x28 to 0x96
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CRSF_FRAMETYPE_PARAM_DEVICE_PING = 0x28,
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CRSF_FRAMETYPE_PARAM_DEVICE_INFO = 0x29,
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CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY = 0x2B,
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CRSF_FRAMETYPE_PARAMETER_READ = 0x2C,
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CRSF_FRAMETYPE_PARAMETER_WRITE = 0x2D,
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CRSF_FRAMETYPE_COMMAND = 0x32,
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// Custom Telemetry Frames 0x7F,0x80
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CRSF_FRAMETYPE_AP_CUSTOM_TELEM_LEGACY = 0x7F, // as suggested by Remo Masina for fw < 4.06
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CRSF_FRAMETYPE_AP_CUSTOM_TELEM = 0x80, // reserved for ArduPilot by TBS, requires fw >= 4.06
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};
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// Command IDs for CRSF_FRAMETYPE_COMMAND
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enum CommandID {
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CRSF_COMMAND_FC = 0x01,
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CRSF_COMMAND_BLUETOOTH = 0x03,
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CRSF_COMMAND_OSD = 0x05,
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CRSF_COMMAND_VTX = 0x08,
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CRSF_COMMAND_LED = 0x09,
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CRSF_COMMAND_GENERAL = 0x0A,
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CRSF_COMMAND_RX = 0x10,
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};
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// Commands for CRSF_COMMAND_FC
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enum CommandFC {
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CRSF_COMMAND_FC_DISARM = 0x01,
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CRSF_COMMAND_SCALE_CHANNEL = 0x02,
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};
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// Commands for CRSF_COMMAND_BLUETOOTH
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enum CommandBluetooth {
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CRSF_COMMAND_BLUETOOTH_RESET = 0x01,
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CRSF_COMMAND_BLUETOOTH_ENABLE = 0x02,
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CRSF_COMMAND_BLUETOOTH_ECHO = 0x64,
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};
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// Commands for CRSF_COMMAND_OSD
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enum CommandOSD {
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CRSF_COMMAND_OSD_SEND = 0x01,
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};
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// Commands for CRSF_COMMAND_VTX
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enum CommandVTX {
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CRSF_COMMAND_VTX_CHANNEL = 0x01,
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CRSF_COMMAND_VTX_FREQ = 0x02,
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CRSF_COMMAND_VTX_POWER = 0x03,
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CRSF_COMMAND_VTX_PITMODE = 0x04,
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CRSF_COMMAND_VTX_PITMODE_POWERUP = 0x05,
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CRSF_COMMAND_VTX_POWER_DBM = 0x08,
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};
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// Commands for CRSF_COMMAND_LED
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enum CommandLED {
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CRSF_COMMAND_LED_SET_DEFAULT = 0x01,
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CRSF_COMMAND_LED_COLOR = 0x02,
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CRSF_COMMAND_LED_PULSE = 0x03,
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CRSF_COMMAND_LED_BLINK = 0x04,
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CRSF_COMMAND_LED_SHIFT = 0x05,
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};
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// Commands for CRSF_COMMAND_RX
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enum CommandRX {
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CRSF_COMMAND_RX_BIND = 0x01,
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};
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// Commands for CRSF_COMMAND_GENERAL
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enum CommandGeneral {
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CRSF_COMMAND_GENERAL_CHILD_DEVICE_REQUEST = 0x04,
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CRSF_COMMAND_GENERAL_CHILD_DEVICE_FRAME = 0x05,
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CRSF_COMMAND_GENERAL_FIRMWARE_UPDATE_BOOTLOADER = 0x0A,
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CRSF_COMMAND_GENERAL_FIRMWARE_UPDATE_ERASE = 0x0B,
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CRSF_COMMAND_GENERAL_WRITE_SERIAL_NUMBER = 0x13,
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CRSF_COMMAND_GENERAL_USER_ID = 0x15,
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CRSF_COMMAND_GENERAL_SOFTWARE_PRODUCT_KEY = 0x60,
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CRSF_COMMAND_GENERAL_CRSF_SPEED_PROPOSAL = 0x70, // proposed new CRSF port speed
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CRSF_COMMAND_GENERAL_CRSF_SPEED_RESPONSE = 0x71, // response to the proposed CRSF port speed
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};
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// SubType IDs for CRSF_FRAMETYPE_CUSTOM_TELEM
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enum CustomTelemSubTypeID : uint8_t {
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CRSF_AP_CUSTOM_TELEM_SINGLE_PACKET_PASSTHROUGH = 0xF0,
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CRSF_AP_CUSTOM_TELEM_STATUS_TEXT = 0xF1,
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CRSF_AP_CUSTOM_TELEM_MULTI_PACKET_PASSTHROUGH = 0xF2,
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};
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enum DeviceAddress {
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CRSF_ADDRESS_BROADCAST = 0x00,
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CRSF_ADDRESS_USB = 0x10,
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CRSF_ADDRESS_TBS_CORE_PNP_PRO = 0x80,
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CRSF_ADDRESS_RESERVED1 = 0x8A,
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CRSF_ADDRESS_PNP_PRO_CURRENT_SENSOR = 0xC0,
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CRSF_ADDRESS_PNP_PRO_GPS = 0xC2,
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CRSF_ADDRESS_TBS_BLACKBOX = 0xC4,
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CRSF_ADDRESS_FLIGHT_CONTROLLER = 0xC8,
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CRSF_ADDRESS_RESERVED2 = 0xCA,
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CRSF_ADDRESS_RACE_TAG = 0xCC,
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CRSF_ADDRESS_VTX = 0xCE,
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CRSF_ADDRESS_RADIO_TRANSMITTER = 0xEA,
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CRSF_ADDRESS_CRSF_RECEIVER = 0xEC,
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CRSF_ADDRESS_CRSF_TRANSMITTER = 0xEE
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};
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enum ExtendedFrameOffset {
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CRSF_EXTENDED_FRAME_LENGTH_OFFSET = 1,
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CRSF_EXTENDED_FRAME_TYPE_OFFSET = 2,
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CRSF_EXTENDED_FRAME_DESTINATION_OFFSET = 3,
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CRSF_EXTENDED_FRAME_ORIGIN_OFFSET = 4,
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CRSF_EXTENDED_FRAME_PAYLOAD_OFFSET = 5,
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};
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struct Frame {
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uint8_t device_address;
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uint8_t length;
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uint8_t type;
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uint8_t payload[CRSF_FRAME_PAYLOAD_MAX - 1]; // type is already accounted for
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} PACKED;
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struct LinkStatisticsFrame {
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uint8_t uplink_rssi_ant1; // ( dBm * -1 )
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uint8_t uplink_rssi_ant2; // ( dBm * -1 )
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uint8_t uplink_status; // Package success rate / Link quality ( % )
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int8_t uplink_snr; // ( db )
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uint8_t active_antenna; // Diversity active antenna ( enum ant. 1 = 0, ant. 2 )
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uint8_t rf_mode; // ( enum 4fps = 0 , 50fps, 150hz)
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uint8_t uplink_tx_power; // ( enum 0mW = 0, 10mW, 25 mW, 100 mW, 500 mW, 1000 mW, 2000mW )
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uint8_t downlink_rssi; // ( dBm * -1 )
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uint8_t downlink_status; // Downlink package success rate / Link quality ( % )
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int8_t downlink_dnr; // ( db )
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} PACKED;
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struct LinkStatisticsRXFrame {
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uint8_t rssi_db; // RSSI(dBm*-1)
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uint8_t rssi_percent; // RSSI in percent
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uint8_t link_quality; // Package success rate / Link quality ( % )
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int8_t snr; // SNR(dB)
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uint8_t rf_power_db; // rf power in dBm
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} PACKED;
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struct LinkStatisticsTXFrame {
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uint8_t rssi_db; // RSSI(dBm*-1)
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uint8_t rssi_percent; // RSSI in percent
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uint8_t link_quality; // Package success rate / Link quality ( % )
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int8_t snr; // SNR(dB)
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uint8_t rf_power_db; // rf power in dBm
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uint8_t fps; // rf frames per second (fps / 10)
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} PACKED;
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struct SubsetChannelsFrame {
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#if __BYTE_ORDER != __LITTLE_ENDIAN
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#error "Only supported on little-endian architectures"
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#endif
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uint8_t starting_channel:5; // which channel number is the first one in the frame
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uint8_t res_configuration:2; // configuration for the RC data resolution (10 - 13 bits)
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uint8_t digital_switch_flag:1; // configuration bit for digital channel
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uint8_t channels[CRSF_FRAME_PAYLOAD_MAX - 2]; // payload less byte above
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// uint16_t channel[]:res; // variable amount of channels (with variable resolution based
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// on the res_configuration) based on the frame size
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// uint16_t digital_switch_channel[]:10; // digital switch channel
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} PACKED;
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enum class ProtocolType {
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PROTOCOL_CRSF,
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PROTOCOL_TRACER,
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PROTOCOL_ELRS
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};
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enum RFMode {
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CRSF_RF_MODE_4HZ = 0,
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CRSF_RF_MODE_50HZ,
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CRSF_RF_MODE_150HZ,
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CRSF_RF_MODE_250HZ,
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ELRS_RF_MODE_4HZ,
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ELRS_RF_MODE_25HZ,
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ELRS_RF_MODE_50HZ,
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ELRS_RF_MODE_100HZ,
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ELRS_RF_MODE_150HZ,
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ELRS_RF_MODE_200HZ,
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ELRS_RF_MODE_250HZ,
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ELRS_RF_MODE_500HZ,
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RF_MODE_MAX_MODES,
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RF_MODE_UNKNOWN,
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};
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struct LinkStatus {
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int16_t rssi = -1;
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int16_t link_quality = -1;
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uint8_t rf_mode;
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};
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// this will be used by AP_CRSF_Telem to access link status data
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// from within AP_RCProtocol_CRSF thread so no need for cross-thread synch
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const volatile LinkStatus& get_link_status() const {
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return _link_status;
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}
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// return the link rate as defined by the LinkStatistics
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uint16_t get_link_rate(ProtocolType protocol) const;
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// return the protocol string
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const char* get_protocol_string(ProtocolType protocol) const;
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private:
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struct Frame _frame;
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struct Frame _telemetry_frame;
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uint8_t _frame_ofs;
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uint8_t _frame_crc;
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const uint8_t MAX_CHANNELS = MIN((uint8_t)CRSF_MAX_CHANNELS, (uint8_t)MAX_RCIN_CHANNELS);
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static AP_RCProtocol_CRSF* _singleton;
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void _process_byte(uint32_t timestamp_us, uint8_t byte);
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bool decode_crsf_packet();
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bool process_telemetry(bool check_constraint = true);
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void process_link_stats_frame(const void* data);
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void process_link_stats_rx_frame(const void* data);
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void process_link_stats_tx_frame(const void* data);
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// crsf v3 decoding
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void decode_variable_bit_channels(const uint8_t* data, uint8_t frame_length, uint8_t nchannels, uint16_t *values);
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void write_frame(Frame* frame);
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void start_uart();
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AP_HAL::UARTDriver* get_current_UART() { return (_uart ? _uart : get_available_UART()); }
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uint16_t _channels[CRSF_MAX_CHANNELS]; /* buffer for extracted RC channel data as pulsewidth in microseconds */
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void add_to_buffer(uint8_t index, uint8_t b) { ((uint8_t*)&_frame)[index] = b; }
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uint32_t _last_frame_time_us;
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uint32_t _last_tx_frame_time_us;
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uint32_t _last_uart_start_time_ms;
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uint32_t _last_rx_frame_time_us;
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uint32_t _start_frame_time_us;
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bool telem_available;
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uint32_t _new_baud_rate;
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bool _crsf_v3_active;
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bool _use_lq_for_rssi;
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int16_t derive_scaled_lq_value(uint8_t uplink_lq);
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volatile struct LinkStatus _link_status;
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static const uint16_t RF_MODE_RATES[RFMode::RF_MODE_MAX_MODES];
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AP_HAL::UARTDriver *_uart;
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};
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namespace AP {
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AP_RCProtocol_CRSF* crsf();
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};
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