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zr-v4/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp

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/*
This program 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.
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_CRSF_Telem.h"
#include "AP_VideoTX.h"
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_Common/AP_FWVersion.h>
#include <AP_GPS/AP_GPS.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_RCProtocol/AP_RCProtocol_CRSF.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Common/AP_FWVersion.h>
#include <AP_OSD/AP_OSD.h>
#include <math.h>
#include <stdio.h>
#if HAL_CRSF_TELEM_ENABLED
// #define CRSF_DEBUG
#ifdef CRSF_DEBUG
# define debug(fmt, args...) hal.console->printf("CRSF: " fmt "\n", ##args)
#else
# define debug(fmt, args...) do {} while(0)
#endif
extern const AP_HAL::HAL& hal;
AP_CRSF_Telem *AP_CRSF_Telem::singleton;
AP_CRSF_Telem::AP_CRSF_Telem() : AP_RCTelemetry(0)
{
singleton = this;
}
AP_CRSF_Telem::~AP_CRSF_Telem(void)
{
singleton = nullptr;
}
bool AP_CRSF_Telem::init(void)
{
// sanity check that we are using a UART for RC input
if (!AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_RCIN, 0)
&& !AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_CRSF, 0)) {
return false;
}
return AP_RCTelemetry::init();
}
/*
setup ready for passthrough telem
*/
void AP_CRSF_Telem::setup_wfq_scheduler(void)
{
// initialize packet weights for the WFQ scheduler
// priority[i] = 1/_scheduler.packet_weight[i]
// rate[i] = LinkRate * ( priority[i] / (sum(priority[1-n])) )
// CSRF telemetry rate is 150Hz (4ms) max, so these rates must fit
add_scheduler_entry(50, 100); // heartbeat 10Hz
add_scheduler_entry(200, 50); // parameters 20Hz (generally not active unless requested by the TX)
add_scheduler_entry(50, 120); // Attitude and compass 8Hz
add_scheduler_entry(200, 1000); // VTX parameters 1Hz
add_scheduler_entry(1300, 500); // battery 2Hz
add_scheduler_entry(550, 280); // GPS 3Hz
add_scheduler_entry(550, 500); // flight mode 2Hz
}
void AP_CRSF_Telem::adjust_packet_weight(bool queue_empty)
{
}
// WFQ scheduler
bool AP_CRSF_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
{
switch (idx) {
case PARAMETERS:
return _request_pending > 0;
case VTX_PARAMETERS:
return AP::vtx().have_params_changed() ||_vtx_power_change_pending || _vtx_freq_change_pending || _vtx_options_change_pending;
default:
return _enable_telemetry;
}
}
// WFQ scheduler
void AP_CRSF_Telem::process_packet(uint8_t idx)
{
// send packet
switch (idx) {
case HEARTBEAT: // HEARTBEAT
calc_heartbeat();
break;
case PARAMETERS: // update parameter settings
update_params();
break;
case ATTITUDE:
calc_attitude();
break;
case VTX_PARAMETERS: // update various VTX parameters
update_vtx_params();
break;
case BATTERY: // BATTERY
calc_battery();
break;
case GPS: // GPS
calc_gps();
break;
case FLIGHT_MODE: // GPS
calc_flight_mode();
break;
default:
break;
}
}
// Process a frame from the CRSF protocol decoder
bool AP_CRSF_Telem::_process_frame(AP_RCProtocol_CRSF::FrameType frame_type, void* data) {
switch (frame_type) {
// this means we are connected to an RC receiver and can send telemetry
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_RC_CHANNELS_PACKED:
// the EVO sends battery frames and we should send telemetry back to populate the OSD
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_BATTERY_SENSOR:
_enable_telemetry = true;
break;
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_VTX:
process_vtx_frame((VTXFrame*)data);
break;
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_VTX_TELEM:
process_vtx_telem_frame((VTXTelemetryFrame*)data);
break;
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAM_DEVICE_PING:
process_ping_frame((ParameterPingFrame*)data);
break;
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAMETER_READ:
process_param_read_frame((ParameterSettingsReadFrame*)data);
break;
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAMETER_WRITE:
process_param_write_frame((ParameterSettingsWriteFrame*)data);
break;
default:
break;
}
return true;
}
void AP_CRSF_Telem::process_vtx_frame(VTXFrame* vtx) {
vtx->user_frequency = be16toh(vtx->user_frequency);
debug("VTX: SmartAudio: %d, Avail: %d, FreqMode: %d, Band: %d, Channel: %d, Freq: %d, PitMode: %d, Pwr: %d, Pit: %d",
vtx->smart_audio_ver, vtx->is_vtx_available, vtx->is_in_user_frequency_mode,
vtx->band, vtx->channel, vtx->is_in_user_frequency_mode ? vtx->user_frequency : AP_VideoTX::get_frequency_mhz(vtx->band, vtx->channel),
vtx->is_in_pitmode, vtx->power, vtx->pitmode);
AP_VideoTX& apvtx = AP::vtx();
apvtx.set_enabled(vtx->is_vtx_available);
apvtx.set_band(vtx->band);
apvtx.set_channel(vtx->channel);
if (vtx->is_in_user_frequency_mode) {
apvtx.set_frequency_mhz(vtx->user_frequency);
} else {
apvtx.set_frequency_mhz(AP_VideoTX::get_frequency_mhz(vtx->band, vtx->channel));
}
// 14dBm (25mW), 20dBm (100mW), 26dBm (400mW), 29dBm (800mW)
switch (vtx->power) {
case 0:
apvtx.set_power_mw(25);
break;
case 1:
apvtx.set_power_mw(200);
break;
case 2:
apvtx.set_power_mw(500);
break;
case 3:
apvtx.set_power_mw(800);
break;
}
if (vtx->is_in_pitmode) {
apvtx.set_options(apvtx.get_options() | uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
} else {
apvtx.set_options(apvtx.get_options() & ~uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
}
// make sure the configured values now reflect reality
apvtx.set_defaults();
_vtx_power_change_pending = _vtx_freq_change_pending = _vtx_options_change_pending = false;
}
void AP_CRSF_Telem::process_vtx_telem_frame(VTXTelemetryFrame* vtx) {
vtx->frequency = be16toh(vtx->frequency);
debug("VTXTelemetry: Freq: %d, PitMode: %d, Power: %d", vtx->frequency, vtx->pitmode, vtx->power);
AP_VideoTX& apvtx = AP::vtx();
apvtx.set_frequency_mhz(vtx->frequency);
AP_VideoTX::VideoBand band;
uint8_t channel;
if (AP_VideoTX::get_band_and_channel(vtx->frequency, band, channel)) {
apvtx.set_band(uint8_t(band));
apvtx.set_channel(channel);
}
apvtx.set_power_dbm(vtx->power);
if (vtx->pitmode) {
apvtx.set_options(apvtx.get_options() | uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
} else {
apvtx.set_options(apvtx.get_options() & ~uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
}
// make sure the configured values now reflect reality
apvtx.set_defaults();
_vtx_power_change_pending = _vtx_freq_change_pending = _vtx_options_change_pending = false;
}
// request for device info
void AP_CRSF_Telem::process_ping_frame(ParameterPingFrame* ping)
{
debug("process_ping_frame: %d -> %d", ping->origin, ping->destination);
if (ping->destination != 0 && ping->destination != AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER) {
return; // request was not for us
}
_param_request.origin = ping->origin;
_request_pending = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAM_DEVICE_PING;
}
void AP_CRSF_Telem::process_param_read_frame(ParameterSettingsReadFrame* read_frame)
{
//debug("process_param_read_frame: %d -> %d for %d[%d]", read_frame->origin, read_frame->destination,
// read_frame->param_number, read_frame->param_chunk);
if (read_frame->destination != 0 && read_frame->destination != AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER) {
return; // request was not for us
}
_param_request = *read_frame;
_request_pending = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAMETER_READ;
}
// process any changed settings and schedule for transmission
void AP_CRSF_Telem::update()
{
}
void AP_CRSF_Telem::update_params()
{
// handle general parameter requests
switch (_request_pending) {
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAM_DEVICE_PING:
calc_device_info();
break;
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAMETER_READ:
calc_parameter();
break;
default:
break;
}
}
void AP_CRSF_Telem::update_vtx_params()
{
AP_VideoTX& vtx = AP::vtx();
_vtx_freq_change_pending = vtx.update_band() || vtx.update_channel() || _vtx_freq_change_pending;
_vtx_power_change_pending = vtx.update_power() || _vtx_power_change_pending;
_vtx_options_change_pending = vtx.update_options() || _vtx_options_change_pending;
if (_vtx_freq_change_pending || _vtx_power_change_pending || _vtx_options_change_pending) {
debug("update_params(): freq %d->%d, chan: %d->%d, band: %d->%d, pwr: %d->%d, opts: %d->%d",
vtx.get_frequency_mhz(),
AP_VideoTX::get_frequency_mhz(vtx.get_configured_band(), vtx.get_configured_channel()),
vtx.get_channel(), vtx.get_configured_channel(),
vtx.get_band(), vtx.get_configured_band(),
vtx.get_power_mw(), vtx.get_configured_power_mw(),
vtx.get_options(), vtx.get_configured_options());
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_COMMAND;
_telem.ext.command.destination = AP_RCProtocol_CRSF::CRSF_ADDRESS_VTX;
_telem.ext.command.origin = AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER;
_telem.ext.command.command_id = AP_RCProtocol_CRSF::CRSF_COMMAND_VTX;
// make the desired frequency match the desired band and channel
if (_vtx_freq_change_pending) {
vtx.set_frequency_mhz(AP_VideoTX::get_frequency_mhz(vtx.get_configured_band(), vtx.get_configured_channel()));
}
uint8_t len = 5;
if (_vtx_freq_change_pending && _vtx_freq_update) {
_telem.ext.command.payload[0] = AP_RCProtocol_CRSF::CRSF_COMMAND_VTX_FREQ;
_telem.ext.command.payload[1] = (vtx.get_frequency_mhz() & 0xFF00) >> 8;
_telem.ext.command.payload[2] = (vtx.get_frequency_mhz() & 0xFF);
_vtx_freq_update = false;
len++;
} else if (_vtx_freq_change_pending) {
_telem.ext.command.payload[0] = AP_RCProtocol_CRSF::CRSF_COMMAND_VTX_CHANNEL;
_telem.ext.command.payload[1] = vtx.get_configured_band() * VTX_MAX_CHANNELS + vtx.get_configured_channel();
_vtx_freq_update = true;
} else if (_vtx_power_change_pending && _vtx_dbm_update) {
_telem.ext.command.payload[0] = AP_RCProtocol_CRSF::CRSF_COMMAND_VTX_POWER_DBM;
_telem.ext.command.payload[1] = vtx.get_configured_power_dbm();
_vtx_dbm_update = false;
} else if (_vtx_power_change_pending) {
_telem.ext.command.payload[0] = AP_RCProtocol_CRSF::CRSF_COMMAND_VTX_POWER;
if (vtx.get_configured_power_mw() < 26) {
vtx.set_configured_power_mw(25);
_telem.ext.command.payload[1] = 0;
} else if (vtx.get_configured_power_mw() < 201) {
if (vtx.get_configured_power_mw() < 101) {
vtx.set_configured_power_mw(100);
} else {
vtx.set_configured_power_mw(200);
}
_telem.ext.command.payload[1] = 1;
} else if (vtx.get_configured_power_mw() < 501) {
if (vtx.get_configured_power_mw() < 401) {
vtx.set_configured_power_mw(400);
} else {
vtx.set_configured_power_mw(500);
}
_telem.ext.command.payload[1] = 2;
} else {
vtx.set_configured_power_mw(800);
_telem.ext.command.payload[1] = 3;
}
_vtx_dbm_update = true;
} else if (_vtx_options_change_pending) {
_telem.ext.command.payload[0] = AP_RCProtocol_CRSF::CRSF_COMMAND_VTX_PITMODE;
if (vtx.get_configured_options() & uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE)) {
_telem.ext.command.payload[1] = 1;
} else {
_telem.ext.command.payload[1] = 0;
}
}
_telem_pending = true;
// calculate command crc
uint8_t* crcptr = &_telem.ext.command.destination;
uint8_t crc = crc8_dvb(0, AP_RCProtocol_CRSF::CRSF_FRAMETYPE_COMMAND, 0xBA);
for (uint8_t i = 0; i < len; i++) {
crc = crc8_dvb(crc, crcptr[i], 0xBA);
}
crcptr[len] = crc;
_telem_size = len + 1;
}
}
// prepare parameter ping data
void AP_CRSF_Telem::calc_parameter_ping()
{
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAM_DEVICE_PING;
_telem.ext.ping.destination = AP_RCProtocol_CRSF::CRSF_ADDRESS_VTX;
_telem.ext.ping.origin = AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER;
_telem_size = sizeof(ParameterPingFrame);
_telem_pending = true;
}
// prepare qos data - mandatory frame that must be sent periodically
void AP_CRSF_Telem::calc_heartbeat()
{
_telem.bcast.heartbeat.origin = AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER;
_telem_size = sizeof(HeartbeatFrame);
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_HEARTBEAT;
_telem_pending = true;
}
// prepare battery data
void AP_CRSF_Telem::calc_battery()
{
const AP_BattMonitor &_battery = AP::battery();
_telem.bcast.battery.voltage = htobe16(uint16_t(roundf(_battery.voltage(0) * 10.0f)));
float current;
if (!_battery.current_amps(current, 0)) {
current = 0;
}
_telem.bcast.battery.current = htobe16(int16_t(roundf(current * 10.0f)));
float used_mah;
if (!_battery.consumed_mah(used_mah, 0)) {
used_mah = 0;
}
_telem.bcast.battery.remaining = _battery.capacity_remaining_pct(0);
const int32_t capacity = used_mah;
_telem.bcast.battery.capacity[0] = (capacity & 0xFF0000) >> 16;
_telem.bcast.battery.capacity[1] = (capacity & 0xFF00) >> 8;
_telem.bcast.battery.capacity[2] = (capacity & 0xFF);
_telem_size = sizeof(BatteryFrame);
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_BATTERY_SENSOR;
_telem_pending = true;
}
// prepare gps data
void AP_CRSF_Telem::calc_gps()
{
const Location &loc = AP::gps().location(0); // use the first gps instance (same as in send_mavlink_gps_raw)
_telem.bcast.gps.latitude = htobe32(loc.lat);
_telem.bcast.gps.longitude = htobe32(loc.lng);
_telem.bcast.gps.groundspeed = htobe16(roundf(AP::gps().ground_speed() * 100000 / 3600));
_telem.bcast.gps.altitude = htobe16(constrain_int16(loc.alt / 100, 0, 5000) + 1000);
_telem.bcast.gps.gps_heading = htobe16(roundf(AP::gps().ground_course() * 100.0f));
_telem.bcast.gps.satellites = AP::gps().num_sats();
_telem_size = sizeof(AP_CRSF_Telem::GPSFrame);
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_GPS;
_telem_pending = true;
}
// prepare attitude data
void AP_CRSF_Telem::calc_attitude()
{
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
const int16_t INT_PI = 31415;
// units are radians * 10000
_telem.bcast.attitude.roll_angle = htobe16(constrain_int16(roundf(wrap_PI(_ahrs.roll) * 10000.0f), -INT_PI, INT_PI));
_telem.bcast.attitude.pitch_angle = htobe16(constrain_int16(roundf(wrap_PI(_ahrs.pitch) * 10000.0f), -INT_PI, INT_PI));
_telem.bcast.attitude.yaw_angle = htobe16(constrain_int16(roundf(wrap_PI(_ahrs.yaw) * 10000.0f), -INT_PI, INT_PI));
_telem_size = sizeof(AP_CRSF_Telem::AttitudeFrame);
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_ATTITUDE;
_telem_pending = true;
}
// prepare flight mode data
void AP_CRSF_Telem::calc_flight_mode()
{
AP_Notify * notify = AP_Notify::get_singleton();
if (notify) {
hal.util->snprintf(_telem.bcast.flightmode.flight_mode, 16, "%s", notify->get_flight_mode_str());
_telem_size = sizeof(AP_CRSF_Telem::FlightModeFrame);
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_FLIGHT_MODE;
_telem_pending = true;
}
}
// return device information about ArduPilot
void AP_CRSF_Telem::calc_device_info() {
#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
_telem.ext.info.destination = _param_request.origin;
_telem.ext.info.origin = AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER;
const AP_FWVersion &fwver = AP::fwversion();
// write out the name with version, max width is 60 - 18 = the meaning of life
int32_t n = strlen(fwver.fw_string);
strncpy((char*)_telem.ext.info.payload, fwver.fw_string, 41);
n = MIN(n + 1, 42);
put_be32_ptr(&_telem.ext.info.payload[n], // serial number
uint32_t(fwver.major) << 24 | uint32_t(fwver.minor) << 16 | uint32_t(fwver.patch) << 8 | uint32_t(fwver.fw_type));
n += 4;
put_be32_ptr(&_telem.ext.info.payload[n], // hardware id
uint32_t(fwver.vehicle_type) << 24 | uint32_t(fwver.board_type) << 16 | uint32_t(fwver.board_subtype));
n += 4;
put_be32_ptr(&_telem.ext.info.payload[n], fwver.os_sw_version); // software id
n += 4;
#if OSD_PARAM_ENABLED
_telem.ext.info.payload[n++] = AP_OSD_ParamScreen::NUM_PARAMS * AP_OSD_NUM_PARAM_SCREENS; // param count
#else
_telem.ext.info.payload[n++] = 0; // param count
#endif
_telem.ext.info.payload[n++] = 0; // param version
_telem_size = n + 2;
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAM_DEVICE_INFO;
_request_pending = 0;
_telem_pending = true;
#endif
}
// return parameter information
void AP_CRSF_Telem::calc_parameter() {
#if OSD_PARAM_ENABLED
AP_OSD* osd = AP::osd();
if (osd == nullptr) {
return;
}
_telem.ext.param_entry.header.destination = _param_request.origin;
_telem.ext.param_entry.header.origin = AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER;
AP_OSD_ParamSetting* param = osd->get_setting((_param_request.param_num - 1) / AP_OSD_ParamScreen::NUM_PARAMS,
(_param_request.param_num - 1) % AP_OSD_ParamScreen::NUM_PARAMS);
if (param == nullptr) {
return;
}
_telem.ext.param_entry.header.param_num = _param_request.param_num;
#if HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED
if (param->get_custom_metadata() != nullptr) {
calc_text_selection(param, _param_request.param_chunk);
return;
}
#endif
size_t idx = 0;
_telem.ext.param_entry.header.chunks_left = 0;
_telem.ext.param_entry.payload[idx++] = 0; // parent folder
idx++; // leave a gap for the type
param->copy_name_camel_case((char*)&_telem.ext.param_entry.payload[idx], 17);
idx += strnlen((char*)&_telem.ext.param_entry.payload[idx], 16) + 1;
switch (param->_param_type) {
case AP_PARAM_INT8: {
AP_Int8* p = (AP_Int8*)param->_param;
_telem.ext.param_entry.payload[1] = ParameterType::INT8;
_telem.ext.param_entry.payload[idx] = p->get(); // value
_telem.ext.param_entry.payload[idx+1] = int8_t(param->_param_min); // min
_telem.ext.param_entry.payload[idx+2] = int8_t(param->_param_max); // max
_telem.ext.param_entry.payload[idx+3] = int8_t(0); // default
idx += 4;
break;
}
case AP_PARAM_INT16: {
AP_Int16* p = (AP_Int16*)param->_param;
_telem.ext.param_entry.payload[1] = ParameterType::INT16;
put_be16_ptr(&_telem.ext.param_entry.payload[idx], p->get()); // value
put_be16_ptr(&_telem.ext.param_entry.payload[idx+2], param->_param_min); // min
put_be16_ptr(&_telem.ext.param_entry.payload[idx+4], param->_param_max); // max
put_be16_ptr(&_telem.ext.param_entry.payload[idx+6], 0); // default
idx += 8;
break;
}
case AP_PARAM_INT32: {
AP_Int32* p = (AP_Int32*)param->_param;
_telem.ext.param_entry.payload[1] = ParameterType::FLOAT;
#define FLOAT_ENCODE(f) (int32_t(roundf(f)))
put_be32_ptr(&_telem.ext.param_entry.payload[idx], p->get()); // value
put_be32_ptr(&_telem.ext.param_entry.payload[idx+4], FLOAT_ENCODE(param->_param_min)); // min
put_be32_ptr(&_telem.ext.param_entry.payload[idx+8], FLOAT_ENCODE(param->_param_max)); // max
put_be32_ptr(&_telem.ext.param_entry.payload[idx+12], FLOAT_ENCODE(0.0f)); // default
#undef FLOAT_ENCODE
_telem.ext.param_entry.payload[idx+16] = 0; // decimal point
put_be32_ptr(&_telem.ext.param_entry.payload[idx+17], 1); // step size
idx += 21;
break;
}
case AP_PARAM_FLOAT: {
AP_Float* p = (AP_Float*)param->_param;
_telem.ext.param_entry.payload[1] = ParameterType::FLOAT;
uint8_t digits = 0;
const float incr = MAX(0.001f, param->_param_incr); // a bug in OpenTX prevents this going any smaller
for (float floatp = incr; floatp < 1.0f; floatp *= 10) {
digits++;
}
const float mult = powf(10, digits);
#define FLOAT_ENCODE(f) (int32_t(roundf(mult * f)))
put_be32_ptr(&_telem.ext.param_entry.payload[idx], FLOAT_ENCODE(p->get())); // value
put_be32_ptr(&_telem.ext.param_entry.payload[idx+4], FLOAT_ENCODE(param->_param_min)); // min
put_be32_ptr(&_telem.ext.param_entry.payload[idx+8], FLOAT_ENCODE(param->_param_max)); // max
put_be32_ptr(&_telem.ext.param_entry.payload[idx+12], FLOAT_ENCODE(0.0f)); // default
_telem.ext.param_entry.payload[idx+16] = digits; // decimal point
put_be32_ptr(&_telem.ext.param_entry.payload[idx+17], FLOAT_ENCODE(incr)); // step size
#undef FLOAT_ENCODE
//debug("Encoding param %f(%f -> %f, %f) as %d(%d) (%d -> %d, %d)", p->get(),
// param->_param_min.get(), param->_param_max.get(), param->_param_incr.get(),
// int(FLOAT_ENCODE(p->get())), digits, int(FLOAT_ENCODE(param->_param_min)),
// int(FLOAT_ENCODE(param->_param_max)), int(FLOAT_ENCODE(param->_param_incr)));
idx += 21;
break;
}
default:
return;
}
_telem.ext.param_entry.payload[idx] = 0; // units
_telem_size = sizeof(AP_CRSF_Telem::ParameterSettingsEntryHeader) + 1 + idx;
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY;
_request_pending = 0;
_telem_pending = true;
#endif
}
#if HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED
// class that spits out a chunk of data from a larger stream of contiguous chunks
// the caller describes which chunk it needs and provides this class with all of the data
// data is not written until the start position is reached and after a whole chunk
// is accumulated the rest of the data is skipped in order to determine how many chunks
// are left to be sent
class BufferChunker {
public:
BufferChunker(uint8_t* buf, uint16_t chunk_size, uint16_t start_chunk) :
_buf(buf), _idx(0), _start_chunk(start_chunk), _chunk_size(chunk_size), _chunk(0), _bytes(0) {
}
// accumulate a string, writing to the underlying buffer as required
void put_string(const char* str, uint16_t str_len) {
// skip over data we have already written or have yet to write
if (_chunk != _start_chunk) {
if (skip_bytes(str_len)) {
// partial write
strncpy((char*)_buf, &str[str_len - _idx], _idx);
_bytes += _idx;
}
return;
}
uint16_t rem = remaining();
if (rem > str_len) {
strncpy_noterm((char*)&_buf[_idx], str, str_len);
_idx += str_len;
_bytes += str_len;
} else {
strncpy_noterm((char*)&_buf[_idx], str, rem);
_chunk++;
_idx += str_len;
_bytes += rem;
_idx %= _chunk_size;
}
}
// accumulate a byte, writing to the underlying buffer as required
void put_byte(uint8_t b) {
if (_chunk != _start_chunk) {
if (skip_bytes(1)) {
_buf[0] = b;
_bytes++;
}
return;
}
if (remaining() > 0) {
_buf[_idx++] = b;
_bytes++;
} else {
_chunk++;
_idx = 0;
}
}
uint8_t chunks_remaining() const { return _chunk - _start_chunk; }
uint8_t bytes_written() const { return _bytes; }
private:
uint16_t remaining() const { return _chunk_size - _bytes; }
// skip over the requested number of bytes
// returns true if we overflow into a chunk that needs to be written
bool skip_bytes(uint16_t len) {
_idx += len;
if (_idx >= _chunk_size) {
_chunk++;
_idx %= _chunk_size;
// partial write
if (_chunk == _start_chunk && _idx > 0) {
return true;
}
}
return false;
}
uint8_t* _buf;
uint16_t _idx;
uint16_t _bytes;
uint8_t _chunk;
const uint16_t _start_chunk;
const uint16_t _chunk_size;
};
// provide information about a text selection, possibly over multiple chunks
void AP_CRSF_Telem::calc_text_selection(AP_OSD_ParamSetting* param, uint8_t chunk)
{
const uint8_t CHUNK_SIZE = 56;
const AP_OSD_ParamSetting::ParamMetadata* metadata = param->get_custom_metadata();
// chunk the output
BufferChunker chunker(_telem.ext.param_entry.payload, CHUNK_SIZE, chunk);
chunker.put_byte(0); // parent folder
chunker.put_byte(ParameterType::TEXT_SELECTION); // parameter type
char name[17];
param->copy_name_camel_case(name, 17);
chunker.put_string(name, strnlen(name, 16)); // parameter name
chunker.put_byte(0); // trailing null
for (uint8_t i = 0; i < metadata->values_max; i++) {
uint8_t len = strnlen(metadata->values[i], 16);
if (len == 0) {
chunker.put_string("---", 3);
} else {
chunker.put_string(metadata->values[i], len);
}
if (i == metadata->values_max - 1) {
chunker.put_byte(0);
} else {
chunker.put_byte(';');
}
}
int32_t val = -1;
switch (param->_param_type) {
case AP_PARAM_INT8:
val = ((AP_Int8*)param->_param)->get();
break;
case AP_PARAM_INT16:
val = ((AP_Int16*)param->_param)->get();
break;
case AP_PARAM_INT32:
val = ((AP_Int32*)param->_param)->get();
break;
default:
return;
}
// out of range values really confuse the TX
val = constrain_int16(val, 0, metadata->values_max - 1);
chunker.put_byte(val); // value
chunker.put_byte(0); // min
chunker.put_byte(metadata->values_max); // max
chunker.put_byte(0); // default
chunker.put_byte(0); // units
_telem.ext.param_entry.header.chunks_left = chunker.chunks_remaining();
_telem_size = sizeof(AP_CRSF_Telem::ParameterSettingsEntryHeader) + chunker.bytes_written();
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY;
_request_pending = 0;
_telem_pending = true;
}
#endif
// write parameter information back into AP - assumes we already know the encoding for floats
void AP_CRSF_Telem::process_param_write_frame(ParameterSettingsWriteFrame* write_frame)
{
debug("process_param_write_frame: %d -> %d", write_frame->origin, write_frame->destination);
if (write_frame->destination != AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER) {
return; // request was not for us
}
#if OSD_PARAM_ENABLED
AP_OSD* osd = AP::osd();
if (osd == nullptr) {
return;
}
AP_OSD_ParamSetting* param = osd->get_setting((write_frame->param_num - 1) / AP_OSD_ParamScreen::NUM_PARAMS,
(write_frame->param_num - 1) % AP_OSD_ParamScreen::NUM_PARAMS);
if (param == nullptr) {
return;
}
#if HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED
bool text_selection = param->get_custom_metadata() != nullptr;
#else
bool text_selection = false;
#endif
switch (param->_param_type) {
case AP_PARAM_INT8: {
AP_Int8* p = (AP_Int8*)param->_param;
p->set_and_save(write_frame->payload[0]);
break;
}
case AP_PARAM_INT16: {
AP_Int16* p = (AP_Int16*)param->_param;
if (text_selection) {
// if we have custom metadata then the parameter is a text selection
p->set_and_save(write_frame->payload[0]);
} else {
p->set_and_save(be16toh_ptr(write_frame->payload));
}
break;
}
case AP_PARAM_INT32: {
AP_Int32* p = (AP_Int32*)param->_param;
if (text_selection) {
// if we have custom metadata then the parameter is a text selection
p->set_and_save(write_frame->payload[0]);
} else {
p->set_and_save(be32toh_ptr(write_frame->payload));
}
break;
}
case AP_PARAM_FLOAT: {
AP_Float* p = (AP_Float*)param->_param;
const int32_t val = be32toh_ptr(write_frame->payload);
uint8_t digits = 0;
const float incr = MAX(0.001f, param->_param_incr); // a bug in OpenTX prevents this going any smaller
for (float floatp = incr; floatp < 1.0f; floatp *= 10) {
digits++;
}
p->set_and_save(float(val) / powf(10, digits));
break;
}
default:
break;
}
#endif
}
/*
fetch CRSF frame data
*/
bool AP_CRSF_Telem::_get_telem_data(AP_RCProtocol_CRSF::Frame* data)
{
memset(&_telem, 0, sizeof(TelemetryPayload));
run_wfq_scheduler();
if (!_telem_pending) {
return false;
}
memcpy(data->payload, &_telem, _telem_size);
data->device_address = AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER; // sync byte
data->length = _telem_size + 2;
data->type = _telem_type;
_telem_pending = false;
return true;
}
/*
fetch data for an external transport, such as CRSF
*/
bool AP_CRSF_Telem::process_frame(AP_RCProtocol_CRSF::FrameType frame_type, void* data)
{
if (!get_singleton()) {
return false;
}
return singleton->_process_frame(frame_type, data);
}
/*
fetch data for an external transport, such as CRSF
*/
bool AP_CRSF_Telem::get_telem_data(AP_RCProtocol_CRSF::Frame* data)
{
if (!get_singleton()) {
return false;
}
return singleton->_get_telem_data(data);
}
AP_CRSF_Telem *AP_CRSF_Telem::get_singleton(void) {
if (!singleton && !hal.util->get_soft_armed()) {
// if telem data is requested when we are disarmed and don't
// yet have a AP_CRSF_Telem object then try to allocate one
new AP_CRSF_Telem();
// initialize the passthrough scheduler
if (singleton) {
singleton->init();
}
}
return singleton;
}
namespace AP {
AP_CRSF_Telem *crsf_telem() {
return AP_CRSF_Telem::get_singleton();
}
};
#endif