Add LTM Telemetry // Remove MSP telemetry
This commit is contained in:
borisbstyle
parent
4888a3a375
commit
63dcc3dc1d
2
Makefile
2
Makefile
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@ -335,8 +335,8 @@ HIGHEND_SRC = \
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telemetry/telemetry.c \
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telemetry/frsky.c \
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telemetry/hott.c \
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telemetry/msp.c \
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telemetry/smartport.c \
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telemetry/ltm.c \
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sensors/sonar.c \
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sensors/barometer.c \
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blackbox/blackbox.c \
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@ -182,7 +182,7 @@ serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction
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return NULL;
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}
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#define ALL_TELEMETRY_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_MSP | FUNCTION_TELEMETRY_SMARTPORT)
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#define ALL_TELEMETRY_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM)
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#define ALL_FUNCTIONS_SHARABLE_WITH_MSP (FUNCTION_BLACKBOX | ALL_TELEMETRY_FUNCTIONS_MASK)
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bool isSerialConfigValid(serialConfig_t *serialConfigToCheck)
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@ -29,10 +29,10 @@ typedef enum {
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FUNCTION_GPS = (1 << 1), // 2
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FUNCTION_TELEMETRY_FRSKY = (1 << 2), // 4
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FUNCTION_TELEMETRY_HOTT = (1 << 3), // 8
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FUNCTION_TELEMETRY_MSP = (1 << 4), // 16
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FUNCTION_TELEMETRY_LTM = (1 << 4), // 16
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FUNCTION_TELEMETRY_SMARTPORT = (1 << 5), // 32
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FUNCTION_RX_SERIAL = (1 << 6), // 64
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FUNCTION_BLACKBOX = (1 << 7) // 128
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FUNCTION_BLACKBOX = (1 << 7), // 128
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} serialPortFunction_e;
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typedef enum {
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@ -345,7 +345,7 @@ void mwDisarm(void)
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}
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}
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#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_MSP | FUNCTION_TELEMETRY_SMARTPORT)
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#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_SMARTPORT)
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void releaseSharedTelemetryPorts(void) {
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serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
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@ -0,0 +1,309 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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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*
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* Cleanflight 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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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* LightTelemetry from KipK
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*
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* Minimal one way telemetry protocol for really bitrates (1200/2400 bauds).
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* Effective for ground OSD, groundstation HUD and Antenna tracker
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* http://www.wedontneednasa.com/2014/02/lighttelemetry-v2-en-route-to-ground-osd.html
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*
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* This implementation is for LTM v2 > 2400 baud rates
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*
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* Cleanflight implementation by Jonathan Hudson
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "build_config.h"
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#ifdef TELEMETRY
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#include "common/maths.h"
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#include "common/axis.h"
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#include "common/color.h"
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#include "drivers/system.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/gpio.h"
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#include "drivers/timer.h"
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#include "drivers/serial.h"
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#include "drivers/pwm_rx.h"
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#include "sensors/sensors.h"
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#include "sensors/acceleration.h"
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#include "sensors/gyro.h"
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#include "sensors/barometer.h"
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#include "sensors/boardalignment.h"
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#include "sensors/battery.h"
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#include "io/serial.h"
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#include "io/rc_controls.h"
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#include "io/gimbal.h"
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#include "io/gps.h"
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#include "io/ledstrip.h"
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#include "io/beeper.h"
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#include "rx/rx.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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#include "flight/failsafe.h"
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#include "flight/altitudehold.h"
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#include "flight/navigation.h"
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#include "telemetry/telemetry.h"
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#include "telemetry/ltm.h"
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#include "config/config.h"
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#include "config/runtime_config.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#define TELEMETRY_LTM_INITIAL_PORT_MODE MODE_TX
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#define LTM_CYCLETIME 100
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extern uint16_t rssi; // FIXME dependency on mw.c
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static serialPort_t *ltmPort;
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static serialPortConfig_t *portConfig;
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static telemetryConfig_t *telemetryConfig;
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static bool ltmEnabled;
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static portSharing_e ltmPortSharing;
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static uint8_t ltm_crc;
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static void ltm_initialise_packet(uint8_t ltm_id)
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{
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ltm_crc = 0;
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serialWrite(ltmPort, '$');
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serialWrite(ltmPort, 'T');
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serialWrite(ltmPort, ltm_id);
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}
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static void ltm_serialise_8(uint8_t v)
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{
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serialWrite(ltmPort, v);
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ltm_crc ^= v;
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}
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static void ltm_serialise_16(uint16_t v)
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{
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ltm_serialise_8((uint8_t)v);
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ltm_serialise_8((v >> 8));
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}
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static void ltm_serialise_32(uint32_t v)
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{
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ltm_serialise_8((uint8_t)v);
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ltm_serialise_8((v >> 8));
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ltm_serialise_8((v >> 16));
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ltm_serialise_8((v >> 24));
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}
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static void ltm_finalise(void)
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{
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serialWrite(ltmPort, ltm_crc);
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}
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/*
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* GPS G-frame 5Hhz at > 2400 baud
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* LAT LON SPD ALT SAT/FIX
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*/
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static void ltm_gframe(void)
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{
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#if defined(GPS)
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uint8_t gps_fix_type = 0;
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int32_t ltm_alt;
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if (!sensors(SENSOR_GPS))
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return;
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if (!STATE(GPS_FIX))
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gps_fix_type = 1;
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else if (GPS_numSat < 5)
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gps_fix_type = 2;
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else
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gps_fix_type = 3;
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ltm_initialise_packet('G');
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ltm_serialise_32(GPS_coord[LAT]);
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ltm_serialise_32(GPS_coord[LON]);
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ltm_serialise_8((uint8_t)(GPS_speed / 100));
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#if defined(BARO) || defined(SONAR)
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ltm_alt = (sensors(SENSOR_SONAR) || sensors(SENSOR_BARO)) ? altitudeHoldGetEstimatedAltitude() : GPS_altitude * 100;
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#else
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ltm_alt = GPS_altitude * 100;
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#endif
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ltm_serialise_32(ltm_alt);
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ltm_serialise_8((GPS_numSat << 2) | gps_fix_type);
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ltm_finalise();
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#endif
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}
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/*
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* Sensors S-frame 5Hhz at > 2400 baud
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* VBAT(mv) Current(ma) RSSI AIRSPEED ARM/FS/FMOD
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* Flight mode(0-19):
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* 0: Manual, 1: Rate, 2: Attitude/Angle, 3: Horizon,
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* 4: Acro, 5: Stabilized1, 6: Stabilized2, 7: Stabilized3,
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* 8: Altitude Hold, 9: Loiter/GPS Hold, 10: Auto/Waypoints,
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* 11: Heading Hold / headFree, 12: Circle, 13: RTH, 14: FollowMe,
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* 15: LAND, 16:FlybyWireA, 17: FlybywireB, 18: Cruise, 19: Unknown
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*/
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static void ltm_sframe(void)
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{
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uint8_t lt_flightmode;
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uint8_t lt_statemode;
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if (FLIGHT_MODE(PASSTHRU_MODE))
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lt_flightmode = 0;
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else if (FLIGHT_MODE(GPS_HOME_MODE))
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lt_flightmode = 13;
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else if (FLIGHT_MODE(GPS_HOLD_MODE))
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lt_flightmode = 9;
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else if (FLIGHT_MODE(HEADFREE_MODE))
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lt_flightmode = 4;
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else if (FLIGHT_MODE(BARO_MODE))
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lt_flightmode = 8;
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else if (FLIGHT_MODE(ANGLE_MODE))
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lt_flightmode = 2;
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else if (FLIGHT_MODE(HORIZON_MODE))
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lt_flightmode = 3;
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else
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lt_flightmode = 1; // Rate mode
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lt_statemode = (ARMING_FLAG(ARMED)) ? 1 : 0;
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if (failsafeIsActive())
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lt_statemode |= 2;
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ltm_initialise_packet('S');
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ltm_serialise_16(vbat * 100); //vbat converted to mv
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ltm_serialise_16(0); // current, not implemented
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ltm_serialise_8((uint8_t)((rssi * 254) / 1023)); // scaled RSSI (uchar)
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ltm_serialise_8(0); // no airspeed
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ltm_serialise_8((lt_flightmode << 2) | lt_statemode);
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ltm_finalise();
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}
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/*
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* Attitude A-frame - 10 Hz at > 2400 baud
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* PITCH ROLL HEADING
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*/
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static void ltm_aframe()
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{
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ltm_initialise_packet('A');
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ltm_serialise_16(DECIDEGREES_TO_DEGREES(attitude.values.pitch));
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ltm_serialise_16(DECIDEGREES_TO_DEGREES(attitude.values.roll));
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ltm_serialise_16(DECIDEGREES_TO_DEGREES(attitude.values.yaw));
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ltm_finalise();
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}
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/*
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* OSD additional data frame, 1 Hz rate
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* This frame will be ignored by Ghettostation, but processed by GhettOSD if it is used as standalone onboard OSD
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* home pos, home alt, direction to home
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*/
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static void ltm_oframe()
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{
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ltm_initialise_packet('O');
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#if defined(GPS)
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ltm_serialise_32(GPS_home[LAT]);
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ltm_serialise_32(GPS_home[LON]);
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#else
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ltm_serialise_32(0);
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ltm_serialise_32(0);
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#endif
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ltm_serialise_32(0); // Don't have GPS home altitude
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ltm_serialise_8(1); // OSD always ON
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ltm_serialise_8(STATE(GPS_FIX_HOME) ? 1 : 0);
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ltm_finalise();
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}
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static void process_ltm(void)
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{
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static uint8_t ltm_scheduler;
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ltm_aframe();
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if (ltm_scheduler & 1)
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ltm_gframe();
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else
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ltm_sframe();
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if (ltm_scheduler == 0)
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ltm_oframe();
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ltm_scheduler++;
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ltm_scheduler %= 10;
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}
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void handleLtmTelemetry(void)
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{
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static uint32_t ltm_lastCycleTime;
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uint32_t now;
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if (!ltmEnabled)
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return;
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if (!ltmPort)
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return;
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now = millis();
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if ((now - ltm_lastCycleTime) >= LTM_CYCLETIME) {
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process_ltm();
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ltm_lastCycleTime = now;
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}
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}
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void freeLtmTelemetryPort(void)
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{
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closeSerialPort(ltmPort);
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ltmPort = NULL;
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ltmEnabled = false;
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}
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void initLtmTelemetry(telemetryConfig_t *initialTelemetryConfig)
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{
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telemetryConfig = initialTelemetryConfig;
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portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_LTM);
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ltmPortSharing = determinePortSharing(portConfig, FUNCTION_TELEMETRY_LTM);
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}
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void configureLtmTelemetryPort(void)
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{
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if (!portConfig) {
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return;
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}
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baudRate_e baudRateIndex = portConfig->telemetry_baudrateIndex;
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if (baudRateIndex == BAUD_AUTO) {
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baudRateIndex = BAUD_19200;
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}
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ltmPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_LTM, NULL, baudRates[baudRateIndex], TELEMETRY_LTM_INITIAL_PORT_MODE, SERIAL_NOT_INVERTED);
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if (!ltmPort)
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return;
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ltmEnabled = true;
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}
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void checkLtmTelemetryState(void)
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{
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bool newTelemetryEnabledValue = telemetryDetermineEnabledState(ltmPortSharing);
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if (newTelemetryEnabledValue == ltmEnabled)
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return;
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if (newTelemetryEnabledValue)
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configureLtmTelemetryPort();
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else
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freeLtmTelemetryPort();
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}
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#endif
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@ -1,4 +1,6 @@
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/*
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* ltm.h
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*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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@ -15,21 +17,14 @@
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* telemetry_MSP.h
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*
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* Created on: 22 Apr 2014
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* Author: trey marc
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*/
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#ifndef TELEMETRY_LTM_H_
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#define TELEMETRY_LTM_H_
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#ifndef TELEMETRY_MSP_H_
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#define TELEMETRY_MSP_H_
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void initLtmTelemetry(telemetryConfig_t *initialTelemetryConfig);
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void handleLtmTelemetry(void);
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void checkLtmTelemetryState(void);
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void initMSPTelemetry(telemetryConfig_t *initialTelemetryConfig);
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void handleMSPTelemetry(void);
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void checkMSPTelemetryState(void);
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void freeLtmTelemetryPort(void);
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void configureLtmTelemetryPort(void);
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void freeMSPTelemetryPort(void);
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void configureMSPTelemetryPort(void);
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#endif /* TELEMETRY_MSP_H_ */
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#endif /* TELEMETRY_LTM_H_ */
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@ -1,114 +0,0 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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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*
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* Cleanflight 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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*
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* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* telemetry_MSP.c
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*
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* Created on: 22 Apr 2014
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* Author: trey marc
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "build_config.h"
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#ifdef TELEMETRY
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#include "drivers/serial.h"
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#include "io/serial.h"
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#include "io/serial_msp.h"
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#include "telemetry/telemetry.h"
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#include "telemetry/msp.h"
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static telemetryConfig_t *telemetryConfig;
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static serialPortConfig_t *portConfig;
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static bool mspTelemetryEnabled = false;
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static portSharing_e mspPortSharing;
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#define TELEMETRY_MSP_INITIAL_PORT_MODE MODE_TX
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static serialPort_t *mspTelemetryPort = NULL;
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void initMSPTelemetry(telemetryConfig_t *initialTelemetryConfig)
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{
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telemetryConfig = initialTelemetryConfig;
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portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_MSP);
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mspPortSharing = determinePortSharing(portConfig, FUNCTION_TELEMETRY_MSP);
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}
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void checkMSPTelemetryState(void)
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{
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bool newTelemetryEnabledValue = telemetryDetermineEnabledState(mspPortSharing);
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if (newTelemetryEnabledValue == mspTelemetryEnabled) {
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return;
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}
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if (newTelemetryEnabledValue)
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configureMSPTelemetryPort();
|
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else
|
||||
freeMSPTelemetryPort();
|
||||
}
|
||||
|
||||
void handleMSPTelemetry(void)
|
||||
{
|
||||
if (!mspTelemetryEnabled) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (!mspTelemetryPort) {
|
||||
return;
|
||||
}
|
||||
|
||||
//sendMspTelemetry(); TODO - Cleanup / fix
|
||||
}
|
||||
|
||||
void freeMSPTelemetryPort(void)
|
||||
{
|
||||
mspReleasePortIfAllocated(mspTelemetryPort);
|
||||
closeSerialPort(mspTelemetryPort);
|
||||
mspTelemetryPort = NULL;
|
||||
mspTelemetryEnabled = false;
|
||||
}
|
||||
|
||||
void configureMSPTelemetryPort(void)
|
||||
{
|
||||
if (!portConfig) {
|
||||
return;
|
||||
}
|
||||
|
||||
baudRate_e baudRateIndex = portConfig->telemetry_baudrateIndex;
|
||||
if (baudRateIndex == BAUD_AUTO) {
|
||||
baudRateIndex = BAUD_19200;
|
||||
}
|
||||
|
||||
mspTelemetryPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_MSP, NULL, baudRates[baudRateIndex], TELEMETRY_MSP_INITIAL_PORT_MODE, SERIAL_NOT_INVERTED);
|
||||
|
||||
if (!mspTelemetryPort) {
|
||||
return;
|
||||
}
|
||||
//mspSetTelemetryPort(mspTelemetryPort); TODO - Cleanup / Fix
|
||||
|
||||
mspTelemetryEnabled = true;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -38,8 +38,8 @@
|
|||
#include "telemetry/telemetry.h"
|
||||
#include "telemetry/frsky.h"
|
||||
#include "telemetry/hott.h"
|
||||
#include "telemetry/msp.h"
|
||||
#include "telemetry/smartport.h"
|
||||
#include "telemetry/ltm.h"
|
||||
|
||||
static telemetryConfig_t *telemetryConfig;
|
||||
|
||||
|
|
@ -52,8 +52,8 @@ void telemetryInit(void)
|
|||
{
|
||||
initFrSkyTelemetry(telemetryConfig);
|
||||
initHoTTTelemetry(telemetryConfig);
|
||||
initMSPTelemetry(telemetryConfig);
|
||||
initSmartPortTelemetry(telemetryConfig);
|
||||
initLtmTelemetry(telemetryConfig);
|
||||
|
||||
telemetryCheckState();
|
||||
}
|
||||
|
|
@ -76,16 +76,16 @@ void telemetryCheckState(void)
|
|||
{
|
||||
checkFrSkyTelemetryState();
|
||||
checkHoTTTelemetryState();
|
||||
checkMSPTelemetryState();
|
||||
checkSmartPortTelemetryState();
|
||||
checkLtmTelemetryState();
|
||||
}
|
||||
|
||||
void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
|
||||
{
|
||||
handleFrSkyTelemetry(rxConfig, deadband3d_throttle);
|
||||
handleHoTTTelemetry();
|
||||
handleMSPTelemetry();
|
||||
handleSmartPortTelemetry();
|
||||
handleLtmTelemetry();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue