mirror of https://github.com/ArduPilot/ardupilot
370 lines
12 KiB
C++
370 lines
12 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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*/
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#pragma once
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#include "AP_RCTelemetry_config.h"
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#if HAL_CRSF_TELEM_ENABLED
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#include <AP_OSD/AP_OSD.h>
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#include <AP_RCProtocol/AP_RCProtocol_CRSF.h>
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#include "AP_RCTelemetry.h"
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#include <AP_HAL/utility/sparse-endian.h>
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class AP_OSD_ParamSetting;
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class AP_CRSF_Telem : public AP_RCTelemetry {
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public:
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AP_CRSF_Telem();
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~AP_CRSF_Telem() override;
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/* Do not allow copies */
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CLASS_NO_COPY(AP_CRSF_Telem);
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// init - perform required initialisation
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virtual bool init() override;
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static AP_CRSF_Telem *get_singleton(void);
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void queue_message(MAV_SEVERITY severity, const char *text) override;
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static const uint8_t PASSTHROUGH_STATUS_TEXT_FRAME_MAX_SIZE = 50U;
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static const uint8_t PASSTHROUGH_MULTI_PACKET_FRAME_MAX_SIZE = 9U;
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static const uint8_t CRSF_RX_DEVICE_PING_MAX_RETRY = 50U;
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// Broadcast frame definitions courtesy of TBS
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struct PACKED GPSFrame { // curious fact, calling this GPS makes sizeof(GPS) return 1!
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int32_t latitude; // ( degree / 10`000`000 )
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int32_t longitude; // (degree / 10`000`000 )
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uint16_t groundspeed; // ( km/h / 100 )
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uint16_t gps_heading; // ( degree / 100 )
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uint16_t altitude; // ( meter - 1000m offset )
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uint8_t satellites; // in use ( counter )
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};
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struct HeartbeatFrame {
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uint8_t origin; // Device address
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};
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struct PACKED BatteryFrame {
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uint16_t voltage; // ( mV * 100 )
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uint16_t current; // ( mA * 100 )
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uint8_t capacity[3]; // ( mAh )
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uint8_t remaining; // ( percent )
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};
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struct PACKED VTXFrame {
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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 origin; // address
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// status
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uint8_t is_in_pitmode : 1;
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uint8_t is_in_user_frequency_mode : 1;
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uint8_t unused : 2;
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uint8_t is_vtx_available : 1;
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uint8_t smart_audio_ver : 3; // SmartAudio_V1 = 0, SmartAudio_V2 = 1
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// band / channel
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uint8_t channel : 3; // 1x-8x
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uint8_t band : 5; // A, B, E, AirWave, Race
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uint16_t user_frequency;
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uint8_t power : 4; // 25mW = 0, 200mW = 1, 500mW = 2, 800mW = 3
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uint8_t pitmode : 4; // off = 0, In_Band = 1, Out_Band = 2;
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};
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struct PACKED VTXTelemetryFrame {
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uint8_t origin; // address
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uint8_t power; // power in dBm
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uint16_t frequency; // frequency in Mhz
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uint8_t pitmode; // disable 0, enable 1
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};
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struct PACKED AttitudeFrame {
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int16_t pitch_angle; // ( rad * 10000 )
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int16_t roll_angle; // ( rad * 10000 )
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int16_t yaw_angle; // ( rad * 10000 )
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};
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struct PACKED FlightModeFrame {
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char flight_mode[16]; // ( Null-terminated string )
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};
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// CRSF_FRAMETYPE_COMMAND
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struct PACKED CommandFrame {
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uint8_t destination;
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uint8_t origin;
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uint8_t command_id;
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uint8_t payload[9]; // 8 maximum for LED command + crc8
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};
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// CRSF_FRAMETYPE_PARAM_DEVICE_PING
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struct PACKED ParameterPingFrame {
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uint8_t destination;
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uint8_t origin;
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};
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// CRSF_FRAMETYPE_PARAM_DEVICE_INFO
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struct PACKED ParameterDeviceInfoFrame {
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uint8_t destination;
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uint8_t origin;
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uint8_t payload[58]; // largest possible frame is 60
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};
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enum ParameterType : uint8_t
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{
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UINT8 = 0,
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INT8 = 1,
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UINT16 = 2,
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INT16 = 3,
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FLOAT = 8,
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TEXT_SELECTION = 9,
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STRING = 10,
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FOLDER = 11,
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INFO = 12,
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COMMAND = 13,
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OUT_OF_RANGE = 127
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};
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// CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY
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struct PACKED ParameterSettingsEntryHeader {
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uint8_t destination;
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uint8_t origin;
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uint8_t param_num;
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uint8_t chunks_left;
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};
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// CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY
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struct PACKED ParameterSettingsEntry {
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ParameterSettingsEntryHeader header;
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uint8_t payload[56]; // largest possible frame is 60
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};
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// CRSF_FRAMETYPE_PARAMETER_READ
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struct PACKED ParameterSettingsReadFrame {
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uint8_t destination;
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uint8_t origin;
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uint8_t param_num;
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uint8_t param_chunk;
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} _param_request;
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// CRSF_FRAMETYPE_PARAMETER_WRITE
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struct PACKED ParameterSettingsWriteFrame {
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uint8_t destination;
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uint8_t origin;
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uint8_t param_num;
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uint8_t payload[57]; // largest possible frame is 60
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};
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// Frame to hold passthrough telemetry
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struct PACKED PassthroughSinglePacketFrame {
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uint8_t sub_type;
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uint16_t appid;
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uint32_t data;
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};
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// Frame to hold passthrough telemetry
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struct PACKED PassthroughMultiPacketFrame {
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uint8_t sub_type;
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uint8_t size;
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struct PACKED PassthroughTelemetryPacket {
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uint16_t appid;
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uint32_t data;
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} packets[PASSTHROUGH_MULTI_PACKET_FRAME_MAX_SIZE];
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};
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// Frame to hold status text message
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struct PACKED StatusTextFrame {
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uint8_t sub_type;
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uint8_t severity;
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char text[PASSTHROUGH_STATUS_TEXT_FRAME_MAX_SIZE]; // ( Null-terminated string )
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};
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// ardupilot frametype container
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union PACKED APCustomTelemFrame {
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PassthroughSinglePacketFrame single_packet_passthrough;
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PassthroughMultiPacketFrame multi_packet_passthrough;
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StatusTextFrame status_text;
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};
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union PACKED BroadcastFrame {
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GPSFrame gps;
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HeartbeatFrame heartbeat;
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BatteryFrame battery;
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VTXFrame vtx;
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AttitudeFrame attitude;
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FlightModeFrame flightmode;
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APCustomTelemFrame custom_telem;
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};
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union PACKED ExtendedFrame {
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CommandFrame command;
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ParameterPingFrame ping;
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ParameterDeviceInfoFrame info;
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ParameterSettingsEntry param_entry;
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ParameterSettingsReadFrame param_read;
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ParameterSettingsWriteFrame param_write;
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};
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union PACKED TelemetryPayload {
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BroadcastFrame bcast;
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ExtendedFrame ext;
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};
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// get the protocol string
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const char* get_protocol_string() const { return AP::crsf()->get_protocol_string(_crsf_version.protocol); }
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// is the current protocol ELRS?
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bool is_elrs() const { return _crsf_version.protocol == AP_RCProtocol_CRSF::ProtocolType::PROTOCOL_ELRS; }
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// is the current protocol Tracer?
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bool is_tracer() const { return _crsf_version.protocol == AP_RCProtocol_CRSF::ProtocolType::PROTOCOL_TRACER; }
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// Process a frame from the CRSF protocol decoder
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static bool process_frame(AP_RCProtocol_CRSF::FrameType frame_type, void* data);
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// process any changed settings and schedule for transmission
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void update();
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// get next telemetry data for external consumers of SPort data
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static bool get_telem_data(AP_RCProtocol_CRSF::Frame* frame, bool is_tx_active);
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private:
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enum SensorType {
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HEARTBEAT,
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PARAMETERS,
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ATTITUDE,
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VTX_PARAMETERS,
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BATTERY,
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GPS,
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FLIGHT_MODE,
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PASSTHROUGH,
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STATUS_TEXT,
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GENERAL_COMMAND,
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VERSION_PING,
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DEVICE_PING,
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NUM_SENSORS
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};
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// passthrough WFQ scheduler
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bool is_packet_ready(uint8_t idx, bool queue_empty) override;
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void process_packet(uint8_t idx) override;
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void adjust_packet_weight(bool queue_empty) override;
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void setup_custom_telemetry();
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void update_custom_telemetry_rates(const AP_RCProtocol_CRSF::RFMode rf_mode);
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void calc_parameter_ping();
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void calc_heartbeat();
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void calc_battery();
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void calc_gps();
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void calc_attitude();
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void calc_flight_mode();
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void calc_device_info();
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void calc_device_ping(uint8_t destination);
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void calc_command_response();
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void calc_parameter();
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#if HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED
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void calc_text_selection( AP_OSD_ParamSetting* param, uint8_t chunk);
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#endif
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void process_pending_requests();
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void update_vtx_params();
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void get_single_packet_passthrough_telem_data();
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void get_multi_packet_passthrough_telem_data(uint8_t size = PASSTHROUGH_MULTI_PACKET_FRAME_MAX_SIZE);
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void calc_status_text();
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bool process_rf_mode_changes();
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uint8_t get_custom_telem_frame_id() const;
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AP_RCProtocol_CRSF::RFMode get_rf_mode() const;
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uint16_t get_telemetry_rate() const;
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bool is_high_speed_telemetry(const AP_RCProtocol_CRSF::RFMode rf_mode) const;
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void process_vtx_frame(VTXFrame* vtx);
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void process_vtx_telem_frame(VTXTelemetryFrame* vtx);
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void process_ping_frame(ParameterPingFrame* ping);
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void process_param_read_frame(ParameterSettingsReadFrame* read);
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void process_param_write_frame(ParameterSettingsWriteFrame* write);
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void process_device_info_frame(ParameterDeviceInfoFrame* info);
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void process_command_frame(CommandFrame* command);
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// setup ready for passthrough operation
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void setup_wfq_scheduler(void) override;
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// setup the scheduler for parameters download
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void enter_scheduler_params_mode();
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void exit_scheduler_params_mode();
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void disable_tx_entries();
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void enable_tx_entries();
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// get next telemetry data for external consumers
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bool _get_telem_data(AP_RCProtocol_CRSF::Frame* data, bool is_tx_active);
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bool _process_frame(AP_RCProtocol_CRSF::FrameType frame_type, void* data);
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TelemetryPayload _telem;
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uint8_t _telem_size;
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uint8_t _telem_type;
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AP_RCProtocol_CRSF::RFMode _telem_rf_mode;
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// reporting telemetry rate
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uint32_t _telem_last_report_ms;
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uint16_t _telem_last_avg_rate;
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// do we need to report the initial state
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bool _telem_bootstrap_msg_pending;
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bool _telem_is_high_speed;
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bool _telem_pending;
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bool _enable_telemetry;
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// used to limit telemetry when in a failsafe condition
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bool _is_tx_active;
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struct {
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uint8_t destination = AP_RCProtocol_CRSF::CRSF_ADDRESS_BROADCAST;
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uint8_t frame_type;
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} _pending_request;
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struct {
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uint8_t minor;
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uint8_t major;
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uint8_t retry_count;
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bool use_rf_mode;
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AP_RCProtocol_CRSF::ProtocolType protocol;
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bool pending = true;
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uint32_t last_request_info_ms;
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} _crsf_version;
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struct {
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bool init_done;
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uint32_t params_mode_start_ms;
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bool params_mode_active;
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} _custom_telem;
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struct {
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bool pending;
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bool valid;
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uint8_t port_id;
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} _baud_rate_request;
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// vtx state
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bool _vtx_freq_update; // update using the frequency method or not
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bool _vtx_dbm_update; // update using the dbm method or not
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bool _vtx_freq_change_pending; // a vtx command has been issued but not confirmed by a vtx broadcast frame
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bool _vtx_power_change_pending;
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bool _vtx_options_change_pending;
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bool _noted_lq_as_rssi_active;
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static AP_CRSF_Telem *singleton;
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};
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namespace AP {
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AP_CRSF_Telem *crsf_telem();
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};
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#endif
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