First cut of CRSF RX and telemetry code
This commit is contained in:
Martin Budden
parent
935547fe50
commit
890eab203b
2
Makefile
2
Makefile
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@ -540,6 +540,7 @@ COMMON_SRC = \
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rx/pwm.c \
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rx/rx.c \
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rx/rx_spi.c \
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rx/crsf.c \
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rx/sbus.c \
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rx/spektrum.c \
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rx/sumd.c \
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@ -585,6 +586,7 @@ HIGHEND_SRC = \
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sensors/sonar.c \
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sensors/barometer.c \
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telemetry/telemetry.c \
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telemetry/crsf.c \
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telemetry/frsky.c \
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telemetry/hott.c \
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telemetry/smartport.c \
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@ -60,5 +60,6 @@ typedef enum {
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DEBUG_DTERM_FILTER,
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DEBUG_ANGLERATE,
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DEBUG_ESC_TELEMETRY,
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DEBUG_CRSF,
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DEBUG_COUNT
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} debugType_e;
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@ -377,7 +377,7 @@ 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_LTM | FUNCTION_TELEMETRY_SMARTPORT)
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#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_CRSF)
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void releaseSharedTelemetryPorts(void) {
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serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
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@ -209,9 +209,9 @@ serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction
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}
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#ifdef TELEMETRY
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#define ALL_TELEMETRY_FUNCTIONS_MASK (TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_MAVLINK)
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#define ALL_TELEMETRY_FUNCTIONS_MASK (TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_MAVLINK | FUNCTION_TELEMETRY_CRSF)
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#else
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#define ALL_TELEMETRY_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK)
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#define ALL_TELEMETRY_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK | FUNCTION_TELEMETRY_CRSF)
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#endif
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#define ALL_FUNCTIONS_SHARABLE_WITH_MSP (FUNCTION_BLACKBOX | ALL_TELEMETRY_FUNCTIONS_MASK)
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@ -38,6 +38,7 @@ typedef enum {
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FUNCTION_PASSTHROUGH = (1 << 8), // 256
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FUNCTION_TELEMETRY_MAVLINK = (1 << 9), // 512
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FUNCTION_TELEMETRY_ESC = (1 << 10), // 1024
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FUNCTION_TELEMETRY_CRSF = (1 << 11), // 2048
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} serialPortFunction_e;
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typedef enum {
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@ -0,0 +1,220 @@
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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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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#ifdef SERIAL_RX
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#include "build/version.h"
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#if (FC_VERSION_MAJOR == 3) // not a very good way of finding out if this is betaflight or Cleanflight
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#define BETAFLIGHT
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#else
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#define CLEANFLIGHT
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#endif
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#ifdef CLEANFLIGHT
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "fc/fc_debug.h"
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#endif
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#include "build/debug.h"
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#include "common/utils.h"
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#include "drivers/system.h"
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#include "drivers/serial.h"
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#include "drivers/serial_uart.h"
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#include "io/serial.h"
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#include "rx/rx.h"
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#include "rx/crsf.h"
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#include "telemetry/telemetry.h"
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#define CRSF_TIME_NEEDED_PER_FRAME_US 1500 //!! this needs checking
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#define CRSF_MAX_CHANNEL 16
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#define CRSF_DIGITAL_CHANNEL_MIN 172
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#define CRSF_DIGITAL_CHANNEL_MAX 1811
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static bool crsfFrameDone = false;
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static uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
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/*
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Structure
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400kbaud
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Inverted None
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8 Bit
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1 Stop bit None
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Big endian
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Every frame has the structure:
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<Device address> <Frame length> < Type> <Payload> < CRC>
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Device address: (uint8_t)
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Frame length: length in bytes including Type (uint8_t)
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Type: (uint8_t)
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CRC: (uint8_t)
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*/
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struct crsfPayloadRcChannelsPacked_s {
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// 176 bits of data (11 bits per channel * 16 channels) = 22 bytes.
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unsigned int chan0 : 11;
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unsigned int chan1 : 11;
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unsigned int chan2 : 11;
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unsigned int chan3 : 11;
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unsigned int chan4 : 11;
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unsigned int chan5 : 11;
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unsigned int chan6 : 11;
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unsigned int chan7 : 11;
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unsigned int chan8 : 11;
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unsigned int chan9 : 11;
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unsigned int chan10 : 11;
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unsigned int chan11 : 11;
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unsigned int chan12 : 11;
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unsigned int chan13 : 11;
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unsigned int chan14 : 11;
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unsigned int chan15 : 11;
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} __attribute__ ((__packed__));
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typedef struct crsfPayloadRcChannelsPacked_s crsfPayloadRcChannelsPacked_t;
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typedef union crsfFrameDef_s {
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uint8_t deviceAddress;
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uint8_t frameLength;
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uint8_t type;
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uint8_t payload[CRSF_PAYLOAD_SIZE_MAX + 1]; // +1 for CRC at end of payload
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} crsfFrameDef_t;
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typedef union crsfFrame_u {
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uint8_t bytes[CRSF_FRAME_SIZE_MAX];
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crsfFrameDef_t frame;
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} crsfFrame_t;
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static crsfFrame_t crsfFrame;
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// Receive ISR callback, called back from serial port
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static void crsfDataReceive(uint16_t c)
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{
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static uint8_t crsfFramePosition = 0;
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static uint32_t crsfFrameStartAt = 0;
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const uint32_t now = micros();
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const int32_t crsfFrameTime = now - crsfFrameStartAt;
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DEBUG_SET(DEBUG_CRSF, 2, crsfFrameTime);
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if (crsfFrameTime > (long)(CRSF_TIME_NEEDED_PER_FRAME_US + 500)) {
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crsfFramePosition = 0;
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}
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if (crsfFramePosition == 0) {
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crsfFrameStartAt = now;
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}
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// assume frame is 5 bytes long until we have received the frame length
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const int frameLength = crsfFramePosition < 3 ? 5 : crsfFrame.frame.frameLength;
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if (crsfFramePosition < frameLength) {
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crsfFrame.bytes[crsfFramePosition++] = (uint8_t)c;
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crsfFrameDone = crsfFramePosition < frameLength ? false : true;
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}
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}
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uint8_t crsfFrameStatus(void)
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{
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if (crsfFrameDone) {
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crsfFrameDone = false;
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if (crsfFrame.frame.type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {
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// unpack the RC channels
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const crsfPayloadRcChannelsPacked_t* rcChannels = (crsfPayloadRcChannelsPacked_t*)&crsfFrame.frame.payload;
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crsfChannelData[0] = rcChannels->chan0;
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crsfChannelData[1] = rcChannels->chan1;
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crsfChannelData[2] = rcChannels->chan2;
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crsfChannelData[3] = rcChannels->chan3;
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crsfChannelData[4] = rcChannels->chan4;
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crsfChannelData[5] = rcChannels->chan5;
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crsfChannelData[6] = rcChannels->chan6;
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crsfChannelData[7] = rcChannels->chan7;
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crsfChannelData[8] = rcChannels->chan8;
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crsfChannelData[9] = rcChannels->chan9;
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crsfChannelData[10] = rcChannels->chan10;
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crsfChannelData[11] = rcChannels->chan11;
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crsfChannelData[12] = rcChannels->chan12;
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crsfChannelData[13] = rcChannels->chan13;
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crsfChannelData[14] = rcChannels->chan14;
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crsfChannelData[15] = rcChannels->chan15;
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return RX_FRAME_COMPLETE;
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}
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}
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return RX_FRAME_PENDING;
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}
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static uint16_t crsfReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
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{
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UNUSED(rxRuntimeConfig);
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/* conversion from RC value to PWM
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* RC PWM
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* min 172 -> 988us
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* mid 992 -> 1500us
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* max 1811 -> 2012us
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* scale factor = (2012-988) / (1811-172) = 0.62477120195241
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* offset = 988 - 172 * 0.62477120195241 = 880.53935326418548
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*/
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return (0.62477120195241f * crsfChannelData[chan]) + 881;
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}
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bool crsfInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
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{
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for (int ii = 0; ii < CRSF_MAX_CHANNEL; ++ii) {
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crsfChannelData[ii] = (16 * rxConfig->midrc) / 10 - 1408;
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}
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rxRuntimeConfig->channelCount = CRSF_MAX_CHANNEL;
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rxRuntimeConfig->rxRefreshRate = 11000; //!!TODO this needs checking
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rxRuntimeConfig->rcReadRawFunc = crsfReadRawRC;
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rxRuntimeConfig->rcFrameStatusFunc = crsfFrameStatus;
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const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
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if (!portConfig) {
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return false;
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}
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#if defined(TELEMETRY) && !defined(CLEANFLIGHT)
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const bool portShared = telemetryCheckRxPortShared(portConfig);
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#else
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const bool portShared = false;
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#endif
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serialPort_t *serialPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, crsfDataReceive, CRSF_BAUDRATE, portShared ? MODE_RXTX : MODE_RX, CRSF_PORT_OPTIONS);
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#if defined(TELEMETRY) && !defined(CLEANFLIGHT)
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if (portShared) {
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telemetrySharedPort = serialPort;
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}
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#endif
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return serialPort != NULL;
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}
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#endif
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@ -0,0 +1,51 @@
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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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#pragma once
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#define CRSF_BAUDRATE 400000
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#define CRSF_PORT_OPTIONS (SERIAL_INVERTED | SERIAL_STOPBITS_1 | SERIAL_PARITY_NO)
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typedef enum {
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CRSF_FRAMETYPE_GPS = 0x02,
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CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
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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_ATTITUDE = 0x1E,
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CRSF_FRAMETYPE_FLIGHT_MODE = 0x21
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} crsfFrameTypes_e;
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enum {
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CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
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CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
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CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
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CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
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CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
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CRSF_FRAME_LENGTH_TYPE = 1, // length of TYPE field
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CRSF_FRAME_LENGTH_CRC = 1, // length of CRC field
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CRSF_FRAME_LENGTH_TYPE_CRC = 2 // length of TYPE and CRC fields combined
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};
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#define CRSF_RECEIVER_ADDRESS 0xEC
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#define CRSF_PAYLOAD_SIZE_MAX 32 // !!TODO needs checking
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#define CRSF_FRAME_SIZE_MAX (CRSF_PAYLOAD_SIZE_MAX + 4)
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uint8_t crsfFrameStatus(void);
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struct rxConfig_s;
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struct rxRuntimeConfig_s;
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bool crsfInit(const struct rxConfig_s *initialRxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig);
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@ -52,6 +52,7 @@
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#include "rx/xbus.h"
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#include "rx/ibus.h"
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#include "rx/jetiexbus.h"
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#include "rx/crsf.h"
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#include "rx/rx_spi.h"
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@ -187,10 +188,14 @@ bool serialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
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case SERIALRX_JETIEXBUS:
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enabled = jetiExBusInit(rxConfig, rxRuntimeConfig);
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break;
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#endif
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#ifdef USE_SERIALRX_CRSF
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case SERIALRX_CRSF:
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enabled = crsfInit(rxConfig, rxRuntimeConfig);
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break;
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#endif
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default:
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enabled = false;
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break;
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}
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return enabled;
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}
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@ -53,6 +53,7 @@ typedef enum {
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SERIALRX_XBUS_MODE_B_RJ01 = 6,
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SERIALRX_IBUS = 7,
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SERIALRX_JETIEXBUS = 8,
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SERIALRX_CRSF = 9,
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SERIALRX_PROVIDER_COUNT,
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SERIALRX_PROVIDER_MAX = SERIALRX_PROVIDER_COUNT - 1
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} SerialRXType;
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@ -111,6 +111,7 @@
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#undef MAG
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#ifdef CC3D_OPBL
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#undef USE_SERIAL_4WAY_BLHELI_INTERFACE
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#define SKIP_CLI_COMMAND_HELP
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#undef BARO
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#undef SONAR
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@ -44,6 +44,7 @@
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#endif
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#define SERIAL_RX
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#define USE_SERIALRX_CRSF // Team Black Sheep Crossfire protocol
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#define USE_SERIALRX_SPEKTRUM // DSM2 and DSMX protocol
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#define USE_SERIALRX_SBUS // Frsky and Futaba receivers
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#define USE_SERIALRX_IBUS // FlySky and Turnigy receivers
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@ -80,6 +81,7 @@
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#define CMS
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#define USE_DASHBOARD
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#define USE_MSP_DISPLAYPORT
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#define TELEMETRY_CRSF
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#define TELEMETRY_JETIEXBUS
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#define TELEMETRY_MAVLINK
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#define USE_RX_MSP
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@ -0,0 +1,437 @@
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/*
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* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
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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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#ifdef TELEMETRY
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|
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#include "build/version.h"
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|
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#if (FC_VERSION_MAJOR == 3) // not a very good way of finding out if this is betaflight or Cleanflight
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#define BETAFLIGHT
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#else
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#define CLEANFLIGHT
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#endif
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#ifdef CLEANFLIGHT
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#endif
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#include "build/build_config.h"
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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 "common/maths.h"
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#include "common/streambuf.h"
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#include "common/utils.h"
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|
||||
#include "drivers/system.h"
|
||||
#include "drivers/sensor.h"
|
||||
#include "drivers/accgyro.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/serial.h"
|
||||
#include "drivers/pwm_rx.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/acceleration.h"
|
||||
#include "sensors/gyro.h"
|
||||
#include "sensors/barometer.h"
|
||||
#include "sensors/boardalignment.h"
|
||||
#include "sensors/battery.h"
|
||||
|
||||
#include "io/gps.h"
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
||||
#include "io/gps.h"
|
||||
|
||||
#include "flight/mixer.h"
|
||||
#include "flight/pid.h"
|
||||
#include "flight/imu.h"
|
||||
#include "flight/failsafe.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "rx/crsf.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "telemetry/crsf.h"
|
||||
|
||||
#ifdef CLEANFLIGHT
|
||||
#include "fc/fc_serial.h"
|
||||
#include "sensors/amperage.h"
|
||||
#else
|
||||
#include "fc/config.h"
|
||||
#endif
|
||||
|
||||
#define TELEMETRY_CRSF_INITIAL_PORT_MODE MODE_RXTX
|
||||
#define CRSF_CYCLETIME_US 100000
|
||||
|
||||
static serialPort_t *serialPort;
|
||||
static serialPortConfig_t *serialPortConfig;
|
||||
static portSharing_e portSharing;
|
||||
static bool crsfTelemetryEnabled;
|
||||
static uint8_t crsfCrc;
|
||||
static uint8_t crsfFrame[CRSF_FRAME_SIZE_MAX];
|
||||
|
||||
static void crsfInitializeFrame(sbuf_t *dst)
|
||||
{
|
||||
crsfCrc = 0;
|
||||
dst->ptr = crsfFrame;
|
||||
dst->end = ARRAYEND(crsfFrame);
|
||||
|
||||
sbufWriteU8(dst, CRSF_RECEIVER_ADDRESS);
|
||||
}
|
||||
|
||||
static void crsfSerialize8(sbuf_t *dst, uint8_t v)
|
||||
{
|
||||
sbufWriteU8(dst, v);
|
||||
crsfCrc = crc8_dvb_s2(crsfCrc, v);
|
||||
}
|
||||
|
||||
static void crsfSerialize16(sbuf_t *dst, uint16_t v)
|
||||
{
|
||||
// Use BigEndian format
|
||||
crsfSerialize8(dst, (v >> 8));
|
||||
crsfSerialize8(dst, (uint8_t)v);
|
||||
}
|
||||
|
||||
static void crsfSerialize32(sbuf_t *dst, uint32_t v)
|
||||
{
|
||||
// Use BigEndian format
|
||||
crsfSerialize8(dst, (v >> 24));
|
||||
crsfSerialize8(dst, (v >> 16));
|
||||
crsfSerialize8(dst, (v >> 8));
|
||||
crsfSerialize8(dst, (uint8_t)v);
|
||||
}
|
||||
|
||||
static void crsfFinalize(sbuf_t *dst)
|
||||
{
|
||||
sbufWriteU8(dst, crsfCrc);
|
||||
sbufSwitchToReader(dst, crsfFrame);
|
||||
serialWriteBuf(serialPort, sbufPtr(dst), sbufBytesRemaining(dst));
|
||||
}
|
||||
|
||||
static int crsfFinalizeBuf(sbuf_t *dst, uint8_t *frame)
|
||||
{
|
||||
sbufWriteU8(dst, crsfCrc);
|
||||
sbufSwitchToReader(dst, crsfFrame);
|
||||
const int frameSize = sbufBytesRemaining(dst);
|
||||
for (int ii = 0; sbufBytesRemaining(dst); ++ii) {
|
||||
frame[ii] = sbufReadU8(dst);
|
||||
}
|
||||
return frameSize;
|
||||
}
|
||||
/*
|
||||
CRSF frame has the structure:
|
||||
<Device address> <Frame length> <Type> <Payload> <CRC>
|
||||
Device address: (uint8_t)
|
||||
Frame length: length in bytes including Type (uint8_t)
|
||||
Type: (uint8_t)
|
||||
CRC: (uint8_t)
|
||||
*/
|
||||
|
||||
/*
|
||||
0x02 GPS
|
||||
Payload:
|
||||
int32_t Latitude ( degree / 10`000`000 )
|
||||
int32_t Longitude (degree / 10`000`000 )
|
||||
uint16_t Groundspeed ( km/h / 100 )
|
||||
uint16_t GPS heading ( degree / 100 )
|
||||
uint16 Altitude ( meter 1000m offset )
|
||||
uint8_t Satellites in use ( counter )
|
||||
*/
|
||||
void crsfFrameGps(sbuf_t *dst)
|
||||
{
|
||||
// use sbufWrite since CRC does not include frame length
|
||||
sbufWriteU8(dst, CRSF_FRAME_GPS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
|
||||
crsfSerialize8(dst, CRSF_FRAMETYPE_GPS);
|
||||
crsfSerialize32(dst, GPS_coord[LAT]); // CRSF and betaflight use same units for degrees
|
||||
crsfSerialize32(dst, GPS_coord[LON]);
|
||||
crsfSerialize16(dst, GPS_speed * 36); // GPS_speed is in 0.1m/s
|
||||
crsfSerialize16(dst, GPS_ground_course * 10); // GPS_ground_course is degrees * 10
|
||||
//Send real GPS altitude only if it's reliable (there's a GPS fix)
|
||||
const uint16_t altitude = (STATE(GPS_FIX) ? GPS_altitude : 0) + 1000;
|
||||
crsfSerialize16(dst, altitude);
|
||||
crsfSerialize8(dst, GPS_numSat);
|
||||
}
|
||||
|
||||
/*
|
||||
0x08 Battery sensor
|
||||
Payload:
|
||||
uint16_t Voltage ( mV * 100 )
|
||||
uint16_t Current ( mA * 100 )
|
||||
uint24_t Capacity ( mAh )
|
||||
uint8_t Battery remaining ( percent )
|
||||
*/
|
||||
void crsfFrameBatterySensor(sbuf_t *dst)
|
||||
{
|
||||
// use sbufWrite since CRC does not include frame length
|
||||
sbufWriteU8(dst, CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
|
||||
crsfSerialize8(dst, CRSF_FRAMETYPE_BATTERY_SENSOR);
|
||||
crsfSerialize16(dst, vbat); // vbat is in units of 0.1V
|
||||
#ifdef CLEANFLIGHT
|
||||
const amperageMeter_t *amperageMeter = getAmperageMeter(batteryConfig()->amperageMeterSource);
|
||||
const int16_t amperage = constrain(amperageMeter->amperage, -0x8000, 0x7FFF) / 10; // send amperage in 0.01 A steps, range is -320A to 320A
|
||||
crsfSerialize16(dst, amperage); // amperage is in units of 0.1A
|
||||
const uint32_t batteryCapacity = batteryConfig()->batteryCapacity;
|
||||
const uint8_t batteryRemainingPercentage = batteryCapacityRemainingPercentage();
|
||||
#else
|
||||
crsfSerialize16(dst, amperage / 10);
|
||||
const uint32_t batteryCapacity = batteryConfig->batteryCapacity;
|
||||
const uint8_t batteryRemainingPercentage = calculateBatteryCapacityRemainingPercentage();
|
||||
#endif
|
||||
crsfSerialize8(dst, (batteryCapacity >> 16));
|
||||
crsfSerialize8(dst, (batteryCapacity >> 8));
|
||||
crsfSerialize8(dst, (uint8_t)batteryCapacity);
|
||||
|
||||
crsfSerialize8(dst, batteryRemainingPercentage);
|
||||
}
|
||||
|
||||
typedef enum {
|
||||
CRSF_ACTIVE_ANTENNA1 = 0,
|
||||
CRSF_ACTIVE_ANTENNA2 = 1,
|
||||
} crsfActiveAntenna_e;
|
||||
|
||||
typedef enum {
|
||||
CRSF_RF_MODE_4_HZ = 0,
|
||||
CRSF_RF_MODE_50_HZ = 1,
|
||||
CRSF_RF_MODE_150_HZ = 2,
|
||||
} crsrRfMode_e;
|
||||
|
||||
typedef enum {
|
||||
CRSF_RF_POWER_0_mW = 0,
|
||||
CRSF_RF_POWER_10_mW = 1,
|
||||
CRSF_RF_POWER_25_mW = 2,
|
||||
CRSF_RF_POWER_100_mW = 3,
|
||||
CRSF_RF_POWER_500_mW = 4,
|
||||
CRSF_RF_POWER_1000_mW = 5,
|
||||
CRSF_RF_POWER_2000_mW = 6,
|
||||
} crsrRfPower_e;
|
||||
|
||||
/*
|
||||
0x14 Link statistics
|
||||
Uplink is the connection from the ground to the UAV and downlink the opposite direction.
|
||||
Payload:
|
||||
uint8_t UplinkRSSI Ant.1(dBm*1)
|
||||
uint8_t UplinkRSSI Ant.2(dBm*1)
|
||||
uint8_t Uplink Package success rate / Link quality ( % )
|
||||
int8_t Uplink SNR ( db )
|
||||
uint8_t Diversity active antenna ( enum ant. 1 = 0, ant. 2 )
|
||||
uint8_t RF Mode ( enum 4fps = 0 , 50fps, 150hz)
|
||||
uint8_t Uplink TX Power ( enum 0mW = 0, 10mW, 25 mW, 100 mW, 500 mW, 1000 mW, 2000mW )
|
||||
uint8_t Downlink RSSI ( dBm * -1 )
|
||||
uint8_t Downlink package success rate / Link quality ( % )
|
||||
int8_t Downlink SNR ( db )
|
||||
*/
|
||||
|
||||
void crsfFrameLinkStatistics(sbuf_t *dst)
|
||||
{
|
||||
// use sbufWrite since CRC does not include frame length
|
||||
sbufWriteU8(dst, CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
|
||||
crsfSerialize8(dst, CRSF_FRAMETYPE_LINK_STATISTICS);
|
||||
crsfSerialize8(dst, 0);
|
||||
crsfSerialize8(dst, 0);
|
||||
crsfSerialize8(dst, 0);
|
||||
crsfSerialize8(dst, 0);
|
||||
crsfSerialize8(dst, 0);
|
||||
crsfSerialize8(dst, 0);
|
||||
crsfSerialize8(dst, 0);
|
||||
crsfSerialize8(dst, 0);
|
||||
crsfSerialize8(dst, 0);
|
||||
crsfSerialize8(dst, 0);
|
||||
}
|
||||
|
||||
/*
|
||||
0x1E Attitude
|
||||
Payload:
|
||||
int16_t Pitch angle ( rad / 10000 )
|
||||
int16_t Roll angle ( rad / 10000 )
|
||||
int16_t Yaw angle ( rad / 10000 )
|
||||
*/
|
||||
|
||||
#define DECIDEGREES_TO_RADIANS10000(angle) (1000.0f * (angle) * RAD)
|
||||
|
||||
void crsfFrameAttitude(sbuf_t *dst)
|
||||
{
|
||||
sbufWriteU8(dst, CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
|
||||
crsfSerialize8(dst, CRSF_FRAMETYPE_ATTITUDE);
|
||||
crsfSerialize16(dst, DECIDEGREES_TO_RADIANS10000(attitude.values.pitch));
|
||||
crsfSerialize16(dst, DECIDEGREES_TO_RADIANS10000(attitude.values.roll));
|
||||
crsfSerialize16(dst, DECIDEGREES_TO_RADIANS10000(attitude.values.yaw));
|
||||
}
|
||||
|
||||
/*
|
||||
0x21 Flight mode text based
|
||||
Payload:
|
||||
char[] Flight mode ( Nullterminated string )
|
||||
*/
|
||||
void crsfFrameFlightMode(sbuf_t *dst)
|
||||
{
|
||||
// just do Angle for the moment as a placeholder
|
||||
const char *flightMode = "Angle";
|
||||
// use sbufWrite since CRC does not include frame length
|
||||
sbufWriteU8(dst, strlen(flightMode) + 1 + CRSF_FRAME_LENGTH_TYPE_CRC);
|
||||
crsfSerialize8(dst, CRSF_FRAMETYPE_FLIGHT_MODE);
|
||||
const int len = strlen(flightMode);
|
||||
for (int ii = 0; ii< len; ++ii) {
|
||||
crsfSerialize8(dst, flightMode[ii]);
|
||||
}
|
||||
crsfSerialize8(dst, 0);
|
||||
}
|
||||
|
||||
#define BV(x) (1 << (x)) // bit value
|
||||
|
||||
// schedule array to decide how often each type of frame is sent
|
||||
#define CRSF_SCHEDULE_COUNT 5
|
||||
static uint8_t crsfSchedule[CRSF_SCHEDULE_COUNT] = {
|
||||
BV(CRSF_FRAME_ATTITUDE),
|
||||
BV(CRSF_FRAME_BATTERY_SENSOR),
|
||||
BV(CRSF_FRAME_LINK_STATISTICS),
|
||||
BV(CRSF_FRAME_FLIGHT_MODE),
|
||||
BV(CRSF_FRAME_GPS),
|
||||
};
|
||||
|
||||
static void processCrsf(void)
|
||||
{
|
||||
static uint8_t crsfScheduleIndex = 0;
|
||||
const uint8_t currentSchedule = crsfSchedule[crsfScheduleIndex];
|
||||
|
||||
sbuf_t crsfPayloadBuf;
|
||||
sbuf_t *dst = &crsfPayloadBuf;
|
||||
|
||||
if (currentSchedule & BV(CRSF_FRAME_ATTITUDE)) {
|
||||
crsfInitializeFrame(dst);
|
||||
crsfFrameAttitude(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
if (currentSchedule & BV(CRSF_FRAME_BATTERY_SENSOR)) {
|
||||
crsfInitializeFrame(dst);
|
||||
crsfFrameBatterySensor(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
if (currentSchedule & BV(CRSF_FRAME_LINK_STATISTICS)) {
|
||||
crsfInitializeFrame(dst);
|
||||
crsfFrameLinkStatistics(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
if (currentSchedule & BV(CRSF_FRAME_FLIGHT_MODE)) {
|
||||
crsfInitializeFrame(dst);
|
||||
crsfFrameFlightMode(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
#ifdef GPS
|
||||
if (currentSchedule & BV(CRSF_FRAME_GPS)) {
|
||||
crsfInitializeFrame(dst);
|
||||
crsfFrameGps(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
#endif
|
||||
crsfScheduleIndex = (crsfScheduleIndex + 1) % CRSF_SCHEDULE_COUNT;
|
||||
}
|
||||
|
||||
void handleCrsfTelemetry(uint32_t currentTime)
|
||||
{
|
||||
static uint32_t crsfLastCycleTime;
|
||||
if (!crsfTelemetryEnabled) {
|
||||
return;
|
||||
}
|
||||
if (!serialPort) {
|
||||
return;
|
||||
}
|
||||
if ((currentTime - crsfLastCycleTime) >= CRSF_CYCLETIME_US) {
|
||||
processCrsf();
|
||||
crsfLastCycleTime = currentTime;
|
||||
}
|
||||
}
|
||||
|
||||
void freeCrsfTelemetryPort(void)
|
||||
{
|
||||
closeSerialPort(serialPort);
|
||||
serialPort = NULL;
|
||||
crsfTelemetryEnabled = false;
|
||||
}
|
||||
|
||||
void initCrsfTelemetry(void)
|
||||
{
|
||||
serialPortConfig = findSerialPortConfig(FUNCTION_TELEMETRY_CRSF);
|
||||
portSharing = determinePortSharing(serialPortConfig, FUNCTION_TELEMETRY_CRSF);
|
||||
}
|
||||
|
||||
void configureCrsfTelemetryPort(void)
|
||||
{
|
||||
if (!serialPortConfig) {
|
||||
return;
|
||||
}
|
||||
serialPort = openSerialPort(serialPortConfig->identifier, FUNCTION_TELEMETRY_CRSF, NULL, CRSF_BAUDRATE, TELEMETRY_CRSF_INITIAL_PORT_MODE, CRSF_PORT_OPTIONS);
|
||||
if (!serialPort) {
|
||||
return;
|
||||
}
|
||||
crsfTelemetryEnabled = true;
|
||||
}
|
||||
|
||||
bool checkCrsfTelemetryState(void)
|
||||
{
|
||||
const bool newTelemetryEnabled = telemetryDetermineEnabledState(portSharing);
|
||||
if (newTelemetryEnabled == crsfTelemetryEnabled) {
|
||||
return false;
|
||||
}
|
||||
if (newTelemetryEnabled) {
|
||||
configureCrsfTelemetryPort();
|
||||
} else {
|
||||
freeCrsfTelemetryPort();
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType)
|
||||
{
|
||||
sbuf_t crsfFrameBuf;
|
||||
sbuf_t *sbuf = &crsfFrameBuf;
|
||||
|
||||
crsfInitializeFrame(sbuf);
|
||||
switch (frameType) {
|
||||
default:
|
||||
case CRSF_FRAME_ATTITUDE:
|
||||
crsfFrameAttitude(sbuf);
|
||||
break;
|
||||
case CRSF_FRAME_BATTERY_SENSOR:
|
||||
crsfFrameBatterySensor(sbuf);
|
||||
break;
|
||||
case CRSF_FRAME_LINK_STATISTICS:
|
||||
crsfFrameLinkStatistics(sbuf);
|
||||
break;
|
||||
case CRSF_FRAME_FLIGHT_MODE:
|
||||
crsfFrameFlightMode(sbuf);
|
||||
break;
|
||||
#if defined(GPS)
|
||||
case CRSF_FRAME_GPS:
|
||||
crsfFrameGps(sbuf);
|
||||
break;
|
||||
#endif
|
||||
}
|
||||
const int frameSize = crsfFinalizeBuf(sbuf, frame);
|
||||
return frameSize;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
/*
|
||||
* ltm.h
|
||||
*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
typedef enum {
|
||||
CRSF_FRAME_START = 0,
|
||||
CRSF_FRAME_ATTITUDE = CRSF_FRAME_START,
|
||||
CRSF_FRAME_BATTERY_SENSOR,
|
||||
CRSF_FRAME_LINK_STATISTICS,
|
||||
CRSF_FRAME_FLIGHT_MODE,
|
||||
CRSF_FRAME_GPS,
|
||||
CRSF_FRAME_COUNT
|
||||
} crsfFrameType_e;
|
||||
|
||||
void initCrsfTelemetry(void);
|
||||
void handleCrsfTelemetry(uint32_t currentTime);
|
||||
bool checkCrsfTelemetryState(void);
|
||||
|
||||
void freeCrsfTelemetryPort(void);
|
||||
void configureCrsfTelemetryPort(void);
|
||||
|
||||
int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType);
|
||||
|
||||
|
|
@ -44,6 +44,7 @@
|
|||
#include "telemetry/ltm.h"
|
||||
#include "telemetry/jetiexbus.h"
|
||||
#include "telemetry/mavlink.h"
|
||||
#include "telemetry/crsf.h"
|
||||
|
||||
static telemetryConfig_t *telemetryConfig;
|
||||
|
||||
|
|
@ -72,6 +73,9 @@ void telemetryInit(void)
|
|||
#ifdef TELEMETRY_MAVLINK
|
||||
initMAVLinkTelemetry();
|
||||
#endif
|
||||
#ifdef TELEMETRY_CRSF
|
||||
initCrsfTelemetry();
|
||||
#endif
|
||||
|
||||
telemetryCheckState();
|
||||
}
|
||||
|
|
@ -117,6 +121,9 @@ void telemetryCheckState(void)
|
|||
#ifdef TELEMETRY_MAVLINK
|
||||
checkMAVLinkTelemetryState();
|
||||
#endif
|
||||
#ifdef TELEMETRY_CRSF
|
||||
checkCrsfTelemetryState();
|
||||
#endif
|
||||
}
|
||||
|
||||
void telemetryProcess(uint32_t currentTime, rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
|
||||
|
|
@ -144,6 +151,9 @@ void telemetryProcess(uint32_t currentTime, rxConfig_t *rxConfig, uint16_t deadb
|
|||
#ifdef TELEMETRY_MAVLINK
|
||||
handleMAVLinkTelemetry();
|
||||
#endif
|
||||
#ifdef TELEMETRY_CRSF
|
||||
handleCrsfTelemetry(currentTime);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -141,6 +141,15 @@ $(OBJECT_DIR)/common_filter_unittest : \
|
|||
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
|
||||
$(OBJECT_DIR)/common/streambuf.o : \
|
||||
$(USER_DIR)/common/streambuf.c \
|
||||
$(USER_DIR)/common/streambuf.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'__TARGET__="TEST"' -D'__REVISION__="revision"' -c $(USER_DIR)/common/streambuf.c -o $@
|
||||
|
||||
|
||||
$(OBJECT_DIR)/drivers/io.o : \
|
||||
$(USER_DIR)/drivers/io.c \
|
||||
$(USER_DIR)/drivers/io.h \
|
||||
|
|
@ -149,6 +158,16 @@ $(OBJECT_DIR)/drivers/io.o : \
|
|||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/io.c -o $@
|
||||
|
||||
|
||||
$(OBJECT_DIR)/fc/runtime_config.o : \
|
||||
$(USER_DIR)/fc/runtime_config.c \
|
||||
$(USER_DIR)/fc/runtime_config.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'FLASH_SIZE = 128' -DSTM32F10X_MD -c $(USER_DIR)/fc/runtime_config.c -o $@
|
||||
|
||||
|
||||
$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
|
||||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
|
||||
|
|
@ -471,6 +490,70 @@ $(OBJECT_DIR)/rx_rx_unittest : \
|
|||
|
||||
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
$(OBJECT_DIR)/telemetry/crsf.o : \
|
||||
$(USER_DIR)/telemetry/crsf.c \
|
||||
$(USER_DIR)/telemetry/crsf.h \
|
||||
$(USER_DIR)/rx/crsf.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/crsf.c -o $@
|
||||
|
||||
$(OBJECT_DIR)/telemetry_crsf_unittest.o : \
|
||||
$(TEST_DIR)/telemetry_crsf_unittest.cc \
|
||||
$(USER_DIR)/telemetry/crsf.h \
|
||||
$(USER_DIR)/telemetry/crsf.c \
|
||||
$(USER_DIR)/rx/crsf.c \
|
||||
$(USER_DIR)/rx/crsf.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_crsf_unittest.cc -o $@
|
||||
|
||||
$(OBJECT_DIR)/telemetry_crsf_unittest : \
|
||||
$(OBJECT_DIR)/telemetry/crsf.o \
|
||||
$(OBJECT_DIR)/telemetry_crsf_unittest.o \
|
||||
$(OBJECT_DIR)/common/maths.o \
|
||||
$(OBJECT_DIR)/common/streambuf.o \
|
||||
$(OBJECT_DIR)/flight/gps_conversion.o \
|
||||
$(OBJECT_DIR)/fc/runtime_config.o \
|
||||
$(OBJECT_DIR)/gtest_main.a
|
||||
|
||||
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
$(OBJECT_DIR)/rx/crsf.o : \
|
||||
$(USER_DIR)/rx/crsf.c \
|
||||
$(USER_DIR)/rx/crsf.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/rx/crsf.c -o $@
|
||||
|
||||
$(OBJECT_DIR)/telemetry/crsf.o : \
|
||||
$(USER_DIR)/telemetry/crsf.c \
|
||||
$(USER_DIR)/telemetry/crsf.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/crsf.c -o $@
|
||||
|
||||
$(OBJECT_DIR)/rx_crsf_unittest.o : \
|
||||
$(TEST_DIR)/rx_crsf_unittest.cc \
|
||||
$(USER_DIR)/rx/crsf.h \
|
||||
$(USER_DIR)/rx/crsf.c \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_crsf_unittest.cc -o $@
|
||||
|
||||
$(OBJECT_DIR)/rx_crsf_unittest : \
|
||||
$(OBJECT_DIR)/rx/crsf.o \
|
||||
$(OBJECT_DIR)/common/maths.o \
|
||||
$(OBJECT_DIR)/rx_crsf_unittest.o \
|
||||
$(OBJECT_DIR)/gtest_main.a
|
||||
|
||||
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
$(OBJECT_DIR)/rx_ranges_unittest.o : \
|
||||
$(TEST_DIR)/rx_ranges_unittest.cc \
|
||||
$(USER_DIR)/rx/rx.h \
|
||||
|
|
|
|||
|
|
@ -52,6 +52,11 @@ typedef struct
|
|||
void *test;
|
||||
} GPIO_TypeDef;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
void* test;
|
||||
} TIM_TypeDef;
|
||||
|
||||
typedef struct {
|
||||
void* test;
|
||||
} DMA_Channel_TypeDef;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,99 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include <limits.h>
|
||||
#include <algorithm>
|
||||
|
||||
extern "C" {
|
||||
#include <platform.h>
|
||||
|
||||
#include "config/parameter_group.h"
|
||||
#include "config/parameter_group_ids.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "common/maths.h"
|
||||
#include "common/utils.h"
|
||||
|
||||
}
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
// CRC8 implementation with polynom = x^8+x^7+x^6+x^4+x^2+1 (0xD5)
|
||||
unsigned char crc8tab[256] = {
|
||||
0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54, 0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D,
|
||||
0x52, 0x87, 0x2D, 0xF8, 0xAC, 0x79, 0xD3, 0x06, 0x7B, 0xAE, 0x04, 0xD1, 0x85, 0x50, 0xFA, 0x2F,
|
||||
0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0, 0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9,
|
||||
0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2, 0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B,
|
||||
0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9, 0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0,
|
||||
0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B, 0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2,
|
||||
0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D, 0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44,
|
||||
0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F, 0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16,
|
||||
0xEF, 0x3A, 0x90, 0x45, 0x11, 0xC4, 0x6E, 0xBB, 0xC6, 0x13, 0xB9, 0x6C, 0x38, 0xED, 0x47, 0x92,
|
||||
0xBD, 0x68, 0xC2, 0x17, 0x43, 0x96, 0x3C, 0xE9, 0x94, 0x41, 0xEB, 0x3E, 0x6A, 0xBF, 0x15, 0xC0,
|
||||
0x4B, 0x9E, 0x34, 0xE1, 0xB5, 0x60, 0xCA, 0x1F, 0x62, 0xB7, 0x1D, 0xC8, 0x9C, 0x49, 0xE3, 0x36,
|
||||
0x19, 0xCC, 0x66, 0xB3, 0xE7, 0x32, 0x98, 0x4D, 0x30, 0xE5, 0x4F, 0x9A, 0xCE, 0x1B, 0xB1, 0x64,
|
||||
0x72, 0xA7, 0x0D, 0xD8, 0x8C, 0x59, 0xF3, 0x26, 0x5B, 0x8E, 0x24, 0xF1, 0xA5, 0x70, 0xDA, 0x0F,
|
||||
0x20, 0xF5, 0x5F, 0x8A, 0xDE, 0x0B, 0xA1, 0x74, 0x09, 0xDC, 0x76, 0xA3, 0xF7, 0x22, 0x88, 0x5D,
|
||||
0xD6, 0x03, 0xA9, 0x7C, 0x28, 0xFD, 0x57, 0x82, 0xFF, 0x2A, 0x80, 0x55, 0x01, 0xD4, 0x7E, 0xAB,
|
||||
0x84, 0x51, 0xFB, 0x2E, 0x7A, 0xAF, 0x05, 0xD0, 0xAD, 0x78, 0xD2, 0x07, 0x53, 0x86, 0x2C, 0xF9
|
||||
};
|
||||
|
||||
uint8_t crc8_buf(const uint8_t * ptr, uint8_t len)
|
||||
{
|
||||
uint8_t crc = 0;
|
||||
for (uint8_t i=0; i<len; i++) {
|
||||
crc = crc8tab[crc ^ *ptr++];
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
uint8_t crc8_dvb_s2_buf(const uint8_t * ptr, uint8_t len)
|
||||
{
|
||||
uint8_t crc = 0;
|
||||
for (uint8_t i=0; i<len; i++) {
|
||||
crc = crc8_dvb_s2(crc, *ptr++);
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
TEST(CrossFireTest, CRC)
|
||||
{
|
||||
static const uint8_t buf1[] ="abcdefghijklmnopqrstuvwxyz";
|
||||
|
||||
uint8_t crc1 = 0;
|
||||
uint8_t crc2 = 0;
|
||||
|
||||
crc1 = crc8tab[1];
|
||||
crc2 = crc8_dvb_s2(0, 1);
|
||||
EXPECT_EQ(crc1, crc2);
|
||||
|
||||
crc1 = crc8tab[2];
|
||||
crc2 = crc8_dvb_s2(0, 2);
|
||||
EXPECT_EQ(crc1, crc2);
|
||||
|
||||
crc1 = crc8_buf(buf1, 26);
|
||||
crc2 = crc8_dvb_s2_buf(buf1, 26);
|
||||
EXPECT_EQ(crc1, crc2);
|
||||
}
|
||||
|
||||
// STUBS
|
||||
|
||||
|
|
@ -0,0 +1,328 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
extern "C" {
|
||||
#include "build/debug.h"
|
||||
|
||||
#include <platform.h>
|
||||
|
||||
#include "common/axis.h"
|
||||
#include "common/filter.h"
|
||||
#include "common/maths.h"
|
||||
|
||||
#include "config/parameter_group.h"
|
||||
#include "config/parameter_group_ids.h"
|
||||
|
||||
#include "drivers/system.h"
|
||||
#include "drivers/serial.h"
|
||||
|
||||
#include "fc/runtime_config.h"
|
||||
|
||||
#include "io/gps.h"
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "rx/crsf.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/battery.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "telemetry/crsf.h"
|
||||
|
||||
#include "flight/pid.h"
|
||||
#include "flight/imu.h"
|
||||
#include "flight/gps_conversion.h"
|
||||
|
||||
}
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
uint8_t crfsCrc(uint8_t *frame, int frameLen)
|
||||
{
|
||||
uint8_t crc = 0;
|
||||
for (int ii = 2; ii < frameLen - 1; ++ii) {
|
||||
crc = crc8_dvb_s2(crc, frame[ii]);
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
/*
|
||||
int32_t Latitude ( degree / 10`000`000 )
|
||||
int32_t Longitude (degree / 10`000`000 )
|
||||
uint16_t Groundspeed ( km/h / 100 )
|
||||
uint16_t GPS heading ( degree / 100 )
|
||||
uint16 Altitude ( meter 1000m offset )
|
||||
uint8_t Satellites in use ( counter )
|
||||
uint8_t GPS_numSat;
|
||||
int32_t GPS_coord[2];
|
||||
uint16_t GPS_distanceToHome; // distance to home point in meters
|
||||
uint16_t GPS_altitude; // altitude in m
|
||||
uint16_t GPS_speed; // speed in 0.1m/s
|
||||
uint16_t GPS_ground_course = 0; // degrees * 10
|
||||
|
||||
*/
|
||||
TEST(TelemetryCrsfTest, TestGPS)
|
||||
{
|
||||
uint8_t frame[CRSF_FRAME_SIZE_MAX];
|
||||
|
||||
int frameLen = getCrsfFrame(frame, CRSF_FRAME_GPS);
|
||||
EXPECT_EQ(CRSF_FRAME_GPS_PAYLOAD_SIZE + 4, frameLen);
|
||||
EXPECT_EQ(CRSF_RECEIVER_ADDRESS, frame[0]); // address
|
||||
EXPECT_EQ(17, frame[1]); // length
|
||||
EXPECT_EQ(0x02, frame[2]); // type
|
||||
int32_t lattitude = frame[3] << 24 | frame[4] << 16 | frame[5] << 8 | frame[6];
|
||||
EXPECT_EQ(0, lattitude);
|
||||
int32_t longitude = frame[7] << 24 | frame[8] << 16 | frame[9] << 8 | frame[10];
|
||||
EXPECT_EQ(0, longitude);
|
||||
uint16_t groundSpeed = frame[11] << 8 | frame[12];
|
||||
EXPECT_EQ(0, groundSpeed);
|
||||
uint16_t GPSheading = frame[13] << 8 | frame[14];
|
||||
EXPECT_EQ(0, GPSheading);
|
||||
uint16_t altitude = frame[15] << 8 | frame[16];
|
||||
EXPECT_EQ(1000, altitude);
|
||||
uint8_t satelliteCount = frame[17];
|
||||
EXPECT_EQ(0, satelliteCount);
|
||||
EXPECT_EQ(crfsCrc(frame, frameLen), frame[18]);
|
||||
|
||||
GPS_coord[LAT] = 56 * GPS_DEGREES_DIVIDER;
|
||||
GPS_coord[LON] = 163 * GPS_DEGREES_DIVIDER;
|
||||
ENABLE_STATE(GPS_FIX);
|
||||
GPS_altitude = 2345; // altitude in m
|
||||
GPS_speed = 163; // speed in 0.1m/s, 16.3 m/s = 58.68 km/h
|
||||
GPS_numSat = 9;
|
||||
GPS_ground_course = 1479; // degrees * 10
|
||||
frameLen = getCrsfFrame(frame, CRSF_FRAME_GPS);
|
||||
lattitude = frame[3] << 24 | frame[4] << 16 | frame[5] << 8 | frame[6];
|
||||
EXPECT_EQ(560000000, lattitude);
|
||||
longitude = frame[7] << 24 | frame[8] << 16 | frame[9] << 8 | frame[10];
|
||||
EXPECT_EQ(1630000000, longitude);
|
||||
groundSpeed = frame[11] << 8 | frame[12];
|
||||
EXPECT_EQ(5868, groundSpeed);
|
||||
GPSheading = frame[13] << 8 | frame[14];
|
||||
EXPECT_EQ(14790, GPSheading);
|
||||
altitude = frame[15] << 8 | frame[16];
|
||||
EXPECT_EQ(3345, altitude);
|
||||
satelliteCount = frame[17];
|
||||
EXPECT_EQ(9, satelliteCount);
|
||||
EXPECT_EQ(crfsCrc(frame, frameLen), frame[18]);
|
||||
}
|
||||
|
||||
TEST(TelemetryCrsfTest, TestBattery)
|
||||
{
|
||||
uint8_t frame[CRSF_FRAME_SIZE_MAX];
|
||||
batteryConfig_t workingBatteryConfig;
|
||||
|
||||
batteryConfig = &workingBatteryConfig;
|
||||
memset(batteryConfig, 0, sizeof(batteryConfig_t));
|
||||
vbat = 0; // 0.1V units
|
||||
int frameLen = getCrsfFrame(frame, CRSF_FRAME_BATTERY_SENSOR);
|
||||
EXPECT_EQ(CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE + 4, frameLen);
|
||||
EXPECT_EQ(CRSF_RECEIVER_ADDRESS, frame[0]); // address
|
||||
EXPECT_EQ(10, frame[1]); // length
|
||||
EXPECT_EQ(0x08, frame[2]); // type
|
||||
uint16_t voltage = frame[3] << 8 | frame[4]; // mV * 100
|
||||
EXPECT_EQ(0, voltage);
|
||||
uint16_t current = frame[5] << 8 | frame[6]; // mA * 100
|
||||
EXPECT_EQ(0, current);
|
||||
uint32_t capacity = frame[7] << 16 | frame[8] << 8 | frame [9]; // mAh
|
||||
EXPECT_EQ(0, capacity);
|
||||
uint16_t remaining = frame[10]; // percent
|
||||
EXPECT_EQ(67, remaining);
|
||||
EXPECT_EQ(crfsCrc(frame, frameLen), frame[11]);
|
||||
|
||||
vbat = 33; // 3.3V = 3300 mv
|
||||
amperage = 2960; // = 29.60A = 29600mA - amperage is in 0.01A steps
|
||||
batteryConfig->batteryCapacity = 1234;
|
||||
frameLen = getCrsfFrame(frame, CRSF_FRAME_BATTERY_SENSOR);
|
||||
voltage = frame[3] << 8 | frame[4]; // mV * 100
|
||||
EXPECT_EQ(33, voltage);
|
||||
current = frame[5] << 8 | frame[6]; // mA * 100
|
||||
EXPECT_EQ(296, current);
|
||||
capacity = frame[7] << 16 | frame[8] << 8 | frame [9]; // mAh
|
||||
EXPECT_EQ(1234, capacity);
|
||||
remaining = frame[10]; // percent
|
||||
EXPECT_EQ(67, remaining);
|
||||
EXPECT_EQ(crfsCrc(frame, frameLen), frame[11]);
|
||||
}
|
||||
|
||||
TEST(TelemetryCrsfTest, TestLinkStatistics)
|
||||
{
|
||||
uint8_t frame[CRSF_FRAME_SIZE_MAX];
|
||||
|
||||
int frameLen = getCrsfFrame(frame, CRSF_FRAME_LINK_STATISTICS);
|
||||
EXPECT_EQ(CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE + 4, frameLen);
|
||||
EXPECT_EQ(CRSF_RECEIVER_ADDRESS, frame[0]); // address
|
||||
EXPECT_EQ(12, frame[1]); // length
|
||||
EXPECT_EQ(0x14, frame[2]); // type
|
||||
EXPECT_EQ(crfsCrc(frame, frameLen), frame[13]);
|
||||
}
|
||||
|
||||
TEST(TelemetryCrsfTest, TestAttitude)
|
||||
{
|
||||
uint8_t frame[CRSF_FRAME_SIZE_MAX];
|
||||
|
||||
attitude.values.pitch = 0;
|
||||
attitude.values.roll = 0;
|
||||
attitude.values.yaw = 0;
|
||||
int frameLen = getCrsfFrame(frame, CRSF_FRAME_ATTITUDE);
|
||||
EXPECT_EQ(CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE + 4, frameLen);
|
||||
EXPECT_EQ(CRSF_RECEIVER_ADDRESS, frame[0]); // address
|
||||
EXPECT_EQ(8, frame[1]); // length
|
||||
EXPECT_EQ(0x1e, frame[2]); // type
|
||||
int16_t pitch = frame[3] << 8 | frame[4]; // rad / 10000
|
||||
EXPECT_EQ(0, pitch);
|
||||
int16_t roll = frame[5] << 8 | frame[6];
|
||||
EXPECT_EQ(0, roll);
|
||||
int16_t yaw = frame[7] << 8 | frame[8];
|
||||
EXPECT_EQ(0, yaw);
|
||||
EXPECT_EQ(crfsCrc(frame, frameLen), frame[9]);
|
||||
|
||||
attitude.values.pitch = 678; // decidegrees == 1.183333232852155 rad
|
||||
attitude.values.roll = 1495; // 2.609267231731523 rad
|
||||
attitude.values.yaw = -1799; //3.139847324337799 rad
|
||||
frameLen = getCrsfFrame(frame, CRSF_FRAME_ATTITUDE);
|
||||
pitch = frame[3] << 8 | frame[4]; // rad / 10000
|
||||
EXPECT_EQ(11833, pitch);
|
||||
roll = frame[5] << 8 | frame[6];
|
||||
EXPECT_EQ(26092, roll);
|
||||
yaw = frame[7] << 8 | frame[8];
|
||||
EXPECT_EQ(-31398, yaw);
|
||||
EXPECT_EQ(crfsCrc(frame, frameLen), frame[9]);
|
||||
}
|
||||
|
||||
TEST(TelemetryCrsfTest, TestFlightMode)
|
||||
{
|
||||
uint8_t frame[CRSF_FRAME_SIZE_MAX];
|
||||
|
||||
int frameLen = getCrsfFrame(frame, CRSF_FRAME_FLIGHT_MODE);
|
||||
EXPECT_EQ(6 + 4, frameLen);
|
||||
enableFlightMode(ANGLE_MODE);
|
||||
EXPECT_EQ(1, FLIGHT_MODE(ANGLE_MODE));
|
||||
EXPECT_EQ(CRSF_RECEIVER_ADDRESS, frame[0]); // address
|
||||
EXPECT_EQ(8, frame[1]); // length
|
||||
EXPECT_EQ(0x21, frame[2]); // type
|
||||
EXPECT_EQ('A', frame[3]); // type
|
||||
EXPECT_EQ('n', frame[4]); // type
|
||||
EXPECT_EQ('g', frame[5]); // type
|
||||
EXPECT_EQ('l', frame[6]); // type
|
||||
EXPECT_EQ('e', frame[7]); // type
|
||||
EXPECT_EQ(0, frame[8]); // type
|
||||
EXPECT_EQ(crfsCrc(frame, frameLen), frame[9]);
|
||||
}
|
||||
|
||||
// STUBS
|
||||
|
||||
extern "C" {
|
||||
|
||||
int16_t debug[DEBUG16_VALUE_COUNT];
|
||||
|
||||
const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000, 400000}; // see baudRate_e
|
||||
|
||||
uint16_t batteryWarningVoltage;
|
||||
uint8_t useHottAlarmSoundPeriod (void) { return 0; }
|
||||
|
||||
attitudeEulerAngles_t attitude = { { 0, 0, 0 } }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
|
||||
|
||||
uint8_t GPS_numSat;
|
||||
int32_t GPS_coord[2];
|
||||
uint16_t GPS_distanceToHome; // distance to home point in meters
|
||||
uint16_t GPS_altitude; // altitude in m
|
||||
uint16_t GPS_speed; // speed in 0.1m/s
|
||||
uint16_t GPS_ground_course = 0; // degrees * 10
|
||||
uint16_t vbat;
|
||||
|
||||
int32_t amperage;
|
||||
int32_t mAhDrawn;
|
||||
|
||||
void beeperConfirmationBeeps(uint8_t beepCount) {UNUSED(beepCount);}
|
||||
|
||||
uint32_t serialRxBytesWaiting(const serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t serialTxBytesFree(const serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t serialRead(serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void serialWrite(serialPort_t *instance, uint8_t ch) {
|
||||
UNUSED(instance);
|
||||
UNUSED(ch);
|
||||
}
|
||||
void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count) {
|
||||
UNUSED(instance);
|
||||
UNUSED(data);
|
||||
UNUSED(count);
|
||||
}
|
||||
|
||||
void serialSetMode(serialPort_t *instance, portMode_t mode) {
|
||||
UNUSED(instance);
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
|
||||
serialPort_t *openSerialPort(serialPortIdentifier_e identifier, serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, portOptions_t options) {
|
||||
UNUSED(identifier);
|
||||
UNUSED(functionMask);
|
||||
UNUSED(baudRate);
|
||||
UNUSED(callback);
|
||||
UNUSED(mode);
|
||||
UNUSED(options);
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
void closeSerialPort(serialPort_t *serialPort) {
|
||||
UNUSED(serialPort);
|
||||
}
|
||||
|
||||
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function) {
|
||||
UNUSED(function);
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
bool telemetryDetermineEnabledState(portSharing_e) {
|
||||
return true;
|
||||
}
|
||||
|
||||
portSharing_e determinePortSharing(serialPortConfig_t *, serialPortFunction_e) {
|
||||
return PORTSHARING_NOT_SHARED;
|
||||
}
|
||||
|
||||
uint8_t batteryCapacityRemainingPercentage(void) {return 67;}
|
||||
|
||||
uint8_t calculateBatteryCapacityRemainingPercentage(void) {return 67;}
|
||||
|
||||
batteryState_e getBatteryState(void) {
|
||||
return BATTERY_OK;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue