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Moved telemetry processing to module interface

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This commit is contained in:
Raphael Coeffic
2022-08-11 12:15:46 +02:00
committed by Raphael Coeffic
parent 39c61408e7
commit 246840f065
17 changed files with 525 additions and 601 deletions
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radio/src/telemetry/telemetry.cpp
+34 -174
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@@ -177,13 +177,7 @@ void telemetryStop()
void processTelemetryData(uint8_t data)
{
#if defined(CROSSFIRE)
if (telemetryProtocol == PROTOCOL_TELEMETRY_CROSSFIRE) {
processCrossfireTelemetryData(data, EXTERNAL_MODULE);
return;
}
#endif
// TODO: move these to new interface
#if defined(GHOST)
if (telemetryProtocol == PROTOCOL_TELEMETRY_GHOST) {
processGhostTelemetryData(data);
@@ -198,32 +192,21 @@ void processTelemetryData(uint8_t data)
return;
}
// TODO: move these to new interface
#if defined(MULTIMODULE)
if (telemetryProtocol == PROTOCOL_TELEMETRY_FLYSKY_IBUS) {
processFlySkyTelemetryData(data, telemetryRxBuffer, telemetryRxBufferCount);
return;
}
if (telemetryProtocol == PROTOCOL_TELEMETRY_MULTIMODULE) {
processMultiTelemetryData(data, EXTERNAL_MODULE);
return;
}
#endif
#if defined(AFHDS2)
if(telemetryProtocol == PROTOCOL_TELEMETRY_FLYSKY_NV14) {
processInternalFlySkyTelemetryData(data);
return;
#if defined(PXX1)
if (telemetryProtocol == PROTOCOL_TELEMETRY_FRSKY_SPORT ||
telemetryProtocol == PROTOCOL_TELEMETRY_FRSKY_D ||
telemetryProtocol == PROTOCOL_TELEMETRY_FRSKY_D_SECONDARY) {
processFrskyTelemetryData(data);
}
#endif
#if defined(AFHDS3)
if (telemetryProtocol == PROTOCOL_TELEMETRY_AFHDS3) {
afhds3::processTelemetryData(data, EXTERNAL_MODULE);
return;
}
#endif
processFrskyTelemetryData(data);
}
inline bool isBadAntennaDetected()
@@ -241,6 +224,7 @@ inline bool isBadAntennaDetected()
}
#if defined(MULTI_PROTOLIST)
// TODO: FreeRTOS timer instead...
static inline void pollMultiProtolist(uint8_t idx)
{
if ((moduleState[idx].protocol == PROTOCOL_CHANNELS_MULTIMODULE) &&
@@ -250,89 +234,25 @@ static inline void pollMultiProtolist(uint8_t idx)
}
#endif
static inline void pollIntTelemetry(void (*processData)(uint8_t, uint8_t))
static inline void pollTelemetry(uint8_t module, const etx_module_driver_t* drv, void* ctx)
{
auto drv = getIntModuleDriver();
auto ctx = getIntModuleCtx();
if (!drv || !drv->getByte || !drv->processData) return;
uint8_t* rxBuffer = getTelemetryRxBuffer(module);
uint8_t& rxBufferCount = getTelemetryRxBufferCount(module);
if (!drv || !drv->getByte || !processData) return;
uint8_t data;
if (drv->getByte(ctx, &data) > 0) {
LOG_TELEMETRY_WRITE_START();
do {
telemetryMirrorSend(data);
processData(data, INTERNAL_MODULE);
drv->processData(ctx, data, rxBuffer, &rxBufferCount);
LOG_TELEMETRY_WRITE_BYTE(data);
} while (drv->getByte(ctx, &data) > 0);
}
}
#if defined(INTERNAL_MODULE_PXX2)
static void pollIntPXX2()
{
pollIntTelemetry(processPXX2TelemetryData);
}
#endif
#if defined(PXX2) && defined(EXTMODULE_USART)
static void pollExtPXX2()
{
auto drv = getExtModuleDriver();
auto ctx = getExtModuleCtx();
if (!drv || !drv->getByte) return;
uint8_t data;
if (drv->getByte(ctx, &data) > 0) {
LOG_TELEMETRY_WRITE_START();
do {
telemetryMirrorSend(data);
processPXX2TelemetryData(data, EXTERNAL_MODULE);
LOG_TELEMETRY_WRITE_BYTE(data);
} while (drv->getByte(ctx, &data) > 0);
}
}
#endif
#if defined(INTERNAL_MODULE_MULTI)
static void pollIntMulti()
{
pollIntTelemetry(processMultiTelemetryData);
#if defined(MULTI_PROTOLIST)
pollMultiProtolist(INTERNAL_MODULE);
#endif
}
#endif
#if defined(INTERNAL_MODULE_CRSF)
static void pollIntCrossfire()
{
pollIntTelemetry(processCrossfireTelemetryData);
}
#endif
#if defined(INTERNAL_MODULE_AFHDS2A)
static void processFlySkyTelemetryData(uint8_t data, uint8_t idx)
{
(void)idx;
processInternalFlySkyTelemetryData(data);
}
static void pollIntAFHDS2A()
{
pollIntTelemetry(processFlySkyTelemetryData);
}
#endif
#if defined(INTERNAL_MODULE_AFHDS3)
static void pollIntAFHDS3()
{
pollIntTelemetry(afhds3::processTelemetryData);
}
#endif
static void pollExtTelemetry()
static inline void pollExtTelemetryLegacy()
{
uint8_t data;
if (telemetryGetByte(&data)) {
@@ -343,63 +263,30 @@ static void pollExtTelemetry()
LOG_TELEMETRY_WRITE_BYTE(data);
} while (telemetryGetByte(&data));
}
#if defined(MULTI_PROTOLIST)
if (isModuleMultimodule(EXTERNAL_MODULE)) {
pollMultiProtolist(EXTERNAL_MODULE);
}
#endif
#if defined(PXX2) && defined(EXTMODULE_USART)
if (isModulePXX2(EXTERNAL_MODULE)) {
pollExtPXX2();
}
#endif
}
// TODO: this needs to be rewritten completely
// - telemetry polling needs to happen for each enabled module
void telemetryWakeup()
{
uint8_t requiredTelemetryProtocol = modelTelemetryProtocol();
auto int_drv = getIntModuleDriver();
if (int_drv) pollTelemetry(INTERNAL_MODULE, int_drv, getIntModuleCtx());
auto ext_drv = getExtModuleDriver();
if (ext_drv) pollTelemetry(EXTERNAL_MODULE, ext_drv, getExtModuleCtx());
// TODO: needs to be moved to protocol/module init
// as-is, it implies only ONE telemetry protocol
// enabled at the same time
uint8_t requiredTelemetryProtocol = modelTelemetryProtocol();
if (telemetryProtocol != requiredTelemetryProtocol) {
telemetryInit(requiredTelemetryProtocol);
}
// Poll internal modules
#if defined(INTERNAL_MODULE_PXX2)
if (isModuleISRM(INTERNAL_MODULE)) {
pollIntPXX2();
}
#endif
#if defined(INTERNAL_MODULE_MULTI)
if (isModuleMultimodule(INTERNAL_MODULE)) {
pollIntMulti();
}
#endif
#if defined(INTERNAL_MODULE_CRSF)
if (isModuleCrossfire(INTERNAL_MODULE)) {
pollIntCrossfire();
}
#endif
#if defined(INTERNAL_MODULE_AFHDS2A)
//! moduleUpdateActive(INTERNAL_MODULE) &&
if (isModuleAFHDS2A(INTERNAL_MODULE)) {
pollIntAFHDS2A();
}
#endif
#if defined(INTERNAL_MODULE_AFHDS3)
//! moduleUpdateActive(INTERNAL_MODULE) &&
if (isModuleAFHDS3(INTERNAL_MODULE)) {
pollIntAFHDS3();
}
#endif
// Poll external / S.PORT telemetry
// TODO: how to switch this OFF ???
pollExtTelemetry();
pollExtTelemetryLegacy();
for (int i=0; i<MAX_TELEMETRY_SENSORS; i++) {
const TelemetrySensor & sensor = g_model.telemetrySensors[i];
@@ -462,6 +349,7 @@ void telemetryWakeup()
if (telemetryState == TELEMETRY_KO) {
AUDIO_TELEMETRY_BACK();
#if defined(CROSSFIRE)
// TODO: move to crossfire code
if (isModuleCrossfire(EXTERNAL_MODULE)) {
moduleState[EXTERNAL_MODULE].counter = CRSF_FRAME_MODELID;
}
@@ -530,32 +418,22 @@ void telemetryInit(uint8_t protocol)
if (protocol == PROTOCOL_TELEMETRY_FRSKY_D) {
telemetryPortInit(FRSKY_D_BAUDRATE, TELEMETRY_SERIAL_DEFAULT);
}
#if defined(MULTIMODULE)
else if (protocol == PROTOCOL_TELEMETRY_MULTIMODULE || protocol == PROTOCOL_TELEMETRY_FLYSKY_IBUS) {
// The DIY Multi module always speaks 100000 baud regardless of the telemetry protocol in use
else if (protocol == PROTOCOL_TELEMETRY_MULTIMODULE) {
// The DIY Multi module always speaks 100000 baud regardless of the
// telemetry protocol in use
telemetryPortInit(MULTIMODULE_BAUDRATE, TELEMETRY_SERIAL_8E2);
#if defined(LUA)
outputTelemetryBuffer.reset();
#endif
telemetryPortSetDirectionInput();
}
else if (protocol == PROTOCOL_TELEMETRY_SPEKTRUM) {
// Spektrum's own small race RX (SPM4648) uses 125000 8N1, use the same since there is no real standard
} else if (protocol == PROTOCOL_TELEMETRY_SPEKTRUM) {
// Spektrum's own small race RX (SPM4648) uses 125000 8N1, use the same
// since there is no real standard
telemetryPortInit(125000, TELEMETRY_SERIAL_DEFAULT);
}
#endif
#if defined(CROSSFIRE)
else if (protocol == PROTOCOL_TELEMETRY_CROSSFIRE) {
telemetryPortInit(EXT_CROSSFIRE_BAUDRATE, TELEMETRY_SERIAL_DEFAULT);
#if defined(LUA)
outputTelemetryBuffer.reset();
#endif
telemetryPortSetDirectionOutput();
}
#endif
#if defined(GHOST)
else if (protocol == PROTOCOL_TELEMETRY_GHOST) {
telemetryPortInit(GHOST_BAUDRATE, TELEMETRY_SERIAL_DEFAULT);
@@ -569,39 +447,19 @@ void telemetryInit(uint8_t protocol)
#if defined(AUX_SERIAL)
else if (protocol == PROTOCOL_TELEMETRY_FRSKY_D_SECONDARY) {
telemetryPortInit(0, TELEMETRY_SERIAL_DEFAULT);
// Note: this is done in initSerialPorts()
//auxSerialTelemetryInit(PROTOCOL_TELEMETRY_FRSKY_D_SECONDARY);
}
#endif
#if defined(AFHDS3)
else if (protocol == PROTOCOL_TELEMETRY_AFHDS3) {
// TODO:
// telemetryPortInvertedInit(AFHDS3_BAUDRATE);
// telemetryPortSetDirectionInput();
}
#endif
#if defined(AFHDS2)
else if (protocol == PROTOCOL_TELEMETRY_FLYSKY_NV14) {
telemetryPortInit(INTMODULE_USART_AFHDS2_BAUDRATE, TELEMETRY_SERIAL_DEFAULT);
telemetryPortSetDirectionInput();
}
#endif
else if (protocol == PROTOCOL_TELEMETRY_DSMP) {
// soft serial
telemetryPortInvertedInit(115200);
}
else {
} else {
telemetryPortInit(FRSKY_SPORT_BAUDRATE, TELEMETRY_SERIAL_WITHOUT_DMA);
#if defined(LUA)
outputTelemetryBuffer.reset();
#endif
}
}
#if defined(LOG_TELEMETRY) && !defined(SIMU)
extern FIL g_telemetryFile;
void logTelemetryWriteStart()
@@ -611,7 +469,9 @@ void logTelemetryWriteStart()
if (lastTime != newTime) {
struct gtm utm;
gettime(&utm);
f_printf(&g_telemetryFile, "\r\n%4d-%02d-%02d,%02d:%02d:%02d.%02d0:", utm.tm_year+TM_YEAR_BASE, utm.tm_mon+1, utm.tm_mday, utm.tm_hour, utm.tm_min, utm.tm_sec, g_ms100);
f_printf(&g_telemetryFile, "\r\n%4d-%02d-%02d,%02d:%02d:%02d.%02d0:",
utm.tm_year + TM_YEAR_BASE, utm.tm_mon + 1, utm.tm_mday,
utm.tm_hour, utm.tm_min, utm.tm_sec, g_ms100);
lastTime = newTime;
}
}