/*
send telemetry frames. Should be called at 50Hz. The high rate is to
allow this code to poll for serial bytes coming from the receiver
for the SPort protocol
*/
void AP_Frsky_Telem::send_frames(uint8_t control_mode, enum FrSkyProtocol protocol)
{
if (!_initialised) {
return;
}
if (protocol == FrSkySPORT) {
// check for sport bytes
check_sport_input();
}
uint32_t now = hal.scheduler->millis();
// send frame1 every 200ms
if (now - _last_frame1_ms > 200) {
_last_frame1_ms = now;
frsky_send_frame1(control_mode);
}
// send frame2 every second
if (now - _last_frame2_ms > 1000) {
_last_frame2_ms = now;
frsky_send_frame2();
}
}
/**
* The daemon thread.
*/
static int frsky_telemetry_thread_main(int argc, char *argv[])
{
/* Default values for arguments */
char *device_name = "/dev/ttyS6"; /* USART8 */
/* Work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
while ((ch = getopt(argc, argv, "d:")) != EOF) {
switch (ch) {
case 'd':
device_name = optarg;
break;
default:
usage();
break;
}
}
/* Open UART assuming D type telemetry */
struct termios uart_config_original;
struct termios uart_config;
const int uart = sPort_open_uart(device_name, &uart_config, &uart_config_original);
if (uart < 0) {
warnx("could not open %s", device_name);
err(1, "could not open %s", device_name);
}
/* poll descriptor */
struct pollfd fds[1];
fds[0].fd = uart;
fds[0].events = POLLIN;
thread_running = true;
/* Main thread loop */
char sbuf[20];
frsky_state = SCANNING;
frsky_state_t baudRate = DTYPE;
while (!thread_should_exit && frsky_state == SCANNING) {
/* 2 byte polling frames indicate SmartPort telemetry
* 11 byte packets indicate D type telemetry
*/
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 3000);
if (status > 0) {
/* traffic on the port, D type is 11 bytes per frame, SmartPort is only 2
* Wait long enough for 11 bytes at 9600 baud
*/
usleep(12000);
int nbytes = read(uart, &sbuf[0], sizeof(sbuf));
PX4_DEBUG("frsky input: %d bytes: %x %x, speed: %d", nbytes, sbuf[0], sbuf[1], baudRate);
// look for valid header byte
if (nbytes > 10) {
if (baudRate == DTYPE) {
// see if we got a valid D-type hostframe
struct adc_linkquality host_frame;
if (frsky_parse_host((uint8_t *)&sbuf[0], nbytes, &host_frame)) {
frsky_state = baudRate;
break;
}
} else {
// check for alternating S.port start bytes
int index = 0;
while (index < 2 && sbuf[index] != 0x7E) { index++; }
if (index < 2) {
int success = 1;
for (int i = index + 2; i < nbytes; i += 2) {
if (sbuf[i] != 0x7E) { success = 0; break; }
}
if (success) {
frsky_state = baudRate;
break;
}
}
}
}
// alternate between S.port and D-type baud rates
if (baudRate == SPORT) {
PX4_DEBUG("setting baud rate to %d", 9600);
set_uart_speed(uart, &uart_config, B9600);
baudRate = DTYPE;
} else {
PX4_DEBUG("setting baud rate to %d", 57600);
set_uart_speed(uart, &uart_config, B57600);
baudRate = SPORT;
}
// wait a second
usleep(1000000);
// flush buffer
read(uart, &sbuf[0], sizeof(sbuf));
}
}
if (frsky_state == SPORT) {
/* Subscribe to topics */
if (!sPort_init()) {
err(1, "could not allocate memory");
}
PX4_INFO("sending FrSky SmartPort telemetry");
struct sensor_baro_s *sensor_baro = malloc(sizeof(struct sensor_baro_s));
if (sensor_baro == NULL) {
err(1, "could not allocate memory");
}
static float filtered_alt = NAN;
int sensor_sub = orb_subscribe(ORB_ID(sensor_baro));
/* send S.port telemetry */
while (!thread_should_exit) {
/* wait for poll frame starting with value 0x7E
* note that only the bus master is supposed to put a 0x7E on the bus.
* slaves use byte stuffing to send 0x7E and 0x7D.
* we expect a poll frame every 12msec
*/
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
if (status < 1) { continue; }
// read 1 byte
int newBytes = read(uart, &sbuf[0], 1);
if (newBytes < 1 || sbuf[0] != 0x7E) { continue; }
/* wait for ID byte */
status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
if (status < 1) { continue; }
hrt_abstime now = hrt_absolute_time();
newBytes = read(uart, &sbuf[1], 1);
/* get a local copy of the current sensor values
* in order to apply a lowpass filter to baro pressure.
*/
static float last_baro_alt = 0;
bool sensor_updated;
orb_check(sensor_sub, &sensor_updated);
if (sensor_updated) {
orb_copy(ORB_ID(sensor_baro), sensor_sub, sensor_baro);
if (isnan(filtered_alt)) {
filtered_alt = sensor_baro->altitude;
} else {
filtered_alt = .05f * sensor_baro->altitude + .95f * filtered_alt;
}
}
// allow a minimum of 500usec before reply
usleep(500);
sPort_update_topics();
static hrt_abstime lastBATV = 0;
static hrt_abstime lastCUR = 0;
static hrt_abstime lastALT = 0;
static hrt_abstime lastSPD = 0;
static hrt_abstime lastFUEL = 0;
static hrt_abstime lastVSPD = 0;
static hrt_abstime lastGPS = 0;
static hrt_abstime lastNAV_STATE = 0;
static hrt_abstime lastGPS_FIX = 0;
switch (sbuf[1]) {
case SMARTPORT_POLL_1:
/* report BATV at 1Hz */
if (now - lastBATV > 1000 * 1000) {
lastBATV = now;
/* send battery voltage */
sPort_send_BATV(uart);
}
break;
case SMARTPORT_POLL_2:
/* report battery current at 5Hz */
if (now - lastCUR > 200 * 1000) {
lastCUR = now;
/* send battery current */
sPort_send_CUR(uart);
}
break;
case SMARTPORT_POLL_3:
/* report altitude at 5Hz */
if (now - lastALT > 200 * 1000) {
lastALT = now;
/* send altitude */
sPort_send_ALT(uart);
}
break;
case SMARTPORT_POLL_4:
/* report speed at 5Hz */
if (now - lastSPD > 200 * 1000) {
lastSPD = now;
/* send speed */
sPort_send_SPD(uart);
}
break;
case SMARTPORT_POLL_5:
/* report fuel at 1Hz */
if (now - lastFUEL > 1000 * 1000) {
lastFUEL = now;
/* send fuel */
sPort_send_FUEL(uart);
}
break;
case SMARTPORT_POLL_6:
/* report vertical speed at 10Hz */
if (now - lastVSPD > 100 * 1000) {
/* estimate vertical speed using first difference and delta t */
uint64_t dt = now - lastVSPD;
float speed = (filtered_alt - last_baro_alt) / (1e-6f * (float)dt);
/* save current alt and timestamp */
last_baro_alt = filtered_alt;
lastVSPD = now;
sPort_send_VSPD(uart, speed);
}
break;
case SMARTPORT_POLL_7:
/* report GPS data elements at 5*5Hz */
if (now - lastGPS > 100 * 1000) {
static int elementCount = 0;
switch (elementCount) {
case 0:
sPort_send_GPS_LON(uart);
elementCount++;
break;
case 1:
sPort_send_GPS_LAT(uart);
elementCount++;
break;
case 2:
sPort_send_GPS_CRS(uart);
elementCount++;
break;
case 3:
sPort_send_GPS_ALT(uart);
elementCount++;
break;
case 4:
sPort_send_GPS_SPD(uart);
elementCount++;
break;
case 5:
sPort_send_GPS_TIME(uart);
elementCount = 0;
break;
}
}
case SMARTPORT_POLL_8:
/* report nav_state as DIY_NAVSTATE 2Hz */
if (now - lastNAV_STATE > 500 * 1000) {
lastNAV_STATE = now;
/* send T1 */
sPort_send_NAV_STATE(uart);
}
/* report satcount and fix as DIY_GPSFIX at 2Hz */
else if (now - lastGPS_FIX > 500 * 1000) {
lastGPS_FIX = now;
/* send T2 */
sPort_send_GPS_FIX(uart);
}
break;
}
}
PX4_DEBUG("freeing sPort memory");
sPort_deinit();
free(sensor_baro);
/* either no traffic on the port (0=>timeout), or D type packet */
} else if (frsky_state == DTYPE) {
/* detected D type telemetry: reconfigure UART */
PX4_INFO("sending FrSky D type telemetry");
int status = set_uart_speed(uart, &uart_config, B9600);
if (status < 0) {
PX4_DEBUG("error setting speed for %s, quitting", device_name);
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
close(uart);
thread_running = false;
return 0;
}
int iteration = 0;
/* Subscribe to topics */
if (!frsky_init()) {
err(1, "could not allocate memory");
}
struct adc_linkquality host_frame;
/* send D8 mode telemetry */
while (!thread_should_exit) {
/* Sleep 100 ms */
usleep(100000);
/* parse incoming data */
int nbytes = read(uart, &sbuf[0], sizeof(sbuf));
bool new_input = frsky_parse_host((uint8_t *)&sbuf[0], nbytes, &host_frame);
/* the RSSI value could be useful */
if (false && new_input) {
warnx("host frame: ad1:%u, ad2: %u, rssi: %u",
host_frame.ad1, host_frame.ad2, host_frame.linkq);
}
frsky_update_topics();
/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
if (iteration % 2 == 0) {
frsky_send_frame1(uart);
}
/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
if (iteration % 10 == 0) {
frsky_send_frame2(uart);
}
/* Send frame 3 (every 5000ms): date, time */
if (iteration % 50 == 0) {
frsky_send_frame3(uart);
iteration = 0;
}
iteration++;
}
// /* TODO: flush the input buffer if in full duplex mode */
// read(uart, &sbuf[0], sizeof(sbuf));
PX4_DEBUG("freeing frsky memory");
frsky_deinit();
}
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
close(uart);
thread_running = false;
return 0;
}
/**
* The daemon thread.
*/
static int frsky_telemetry_thread_main(int argc, char *argv[])
{
/* Default values for arguments */
char *device_name = "/dev/ttyS6"; /* USART8 */
/* Work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
while ((ch = getopt(argc, argv, "d:")) != EOF) {
switch (ch) {
case 'd':
device_name = optarg;
break;
default:
usage();
break;
}
}
/* Open UART */
warnx("opening uart");
struct termios uart_config_original;
struct termios uart_config;
const int uart = sPort_open_uart(device_name, &uart_config, &uart_config_original);
if (uart < 0) {
warnx("could not open %s", device_name);
err(1, "could not open %s", device_name);
}
/* poll descriptor */
struct pollfd fds[1];
fds[0].fd = uart;
fds[0].events = POLLIN;
thread_running = true;
/* Main thread loop */
char sbuf[20];
/* look for polling bytes indicating SmartPort telemetry
* if not found, send D type telemetry frames instead
*/
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 3000);
if (status > 0) {
/* traffic on the port, assume it's a SmartPort master */
/* Subscribe to topics */
sPort_init();
/* send S.port telemetry */
while (!thread_should_exit) {
/* wait for poll frame starting with value 0x7E
* note that only the bus master is supposed to put a 0x7E on the bus.
* slaves use byte stuffing to send 0x7E and 0x7D.
* we expect a poll frame every 12msec
*/
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
if (status < 1) { continue; }
// read 1 byte
int newBytes = read(uart, &sbuf[0], 1);
if (newBytes < 1 || sbuf[0] != 0x7E) { continue; }
/* wait for ID byte */
status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
if (status < 1) { continue; }
hrt_abstime now = hrt_absolute_time();
newBytes = read(uart, &sbuf[1], 1);
// allow a minimum of 500usec before reply
usleep(500);
static hrt_abstime lastBATV = 0;
static hrt_abstime lastCUR = 0;
static hrt_abstime lastALT = 0;
static hrt_abstime lastSPD = 0;
static hrt_abstime lastFUEL = 0;
switch (sbuf[1]) {
case SMARTPORT_POLL_1:
/* report BATV at 1Hz */
if (now - lastBATV > 1000 * 1000) {
lastBATV = now;
/* send battery voltage */
sPort_send_BATV(uart);
}
break;
case SMARTPORT_POLL_2:
/* report battery current at 5Hz */
if (now - lastCUR > 200 * 1000) {
lastCUR = now;
/* send battery current */
sPort_send_CUR(uart);
}
break;
case SMARTPORT_POLL_3:
/* report altitude at 5Hz */
if (now - lastALT > 200 * 1000) {
lastALT = now;
/* send altitude */
sPort_send_ALT(uart);
}
break;
case SMARTPORT_POLL_4:
/* report speed at 5Hz */
if (now - lastSPD > 200 * 1000) {
lastSPD = now;
/* send speed */
sPort_send_SPD(uart);
}
break;
case SMARTPORT_POLL_5:
/* report fuel at 1Hz */
if (now - lastFUEL > 1000 * 1000) {
lastFUEL = now;
/* send fuel */
sPort_send_FUEL(uart);
}
break;
}
}
} else {
/* timed out: reconfigure UART and send D type telemetry */
warnx("SmartPort receiver not detected, sending FrSky D type telemetry");
status = set_uart_speed(uart, &uart_config, B9600);
if (status < 0) {
warnx("error setting speed for %s, quitting", device_name);
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
close(uart);
thread_running = false;
return 0;
}
int iteration = 0;
/* Subscribe to topics */
frsky_init();
/* send D8 mode telemetry */
while (!thread_should_exit) {
/* Sleep 200 ms */
usleep(200000);
/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
frsky_send_frame1(uart);
/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
if (iteration % 5 == 0) {
frsky_send_frame2(uart);
}
/* Send frame 3 (every 5000ms): date, time */
if (iteration % 25 == 0) {
frsky_send_frame3(uart);
iteration = 0;
}
iteration++;
}
/* TODO: flush the input buffer if in full duplex mode */
read(uart, &sbuf[0], sizeof(sbuf));
}
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
close(uart);
thread_running = false;
return 0;
}
/**
* The daemon thread.
*/
static int frsky_telemetry_thread_main(int argc, char *argv[])
{
/* Default values for arguments */
char *device_name = "/dev/ttyS1"; /* USART2 */
/* Work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
while ((ch = getopt(argc, argv, "d:")) != EOF) {
switch (ch) {
case 'd':
device_name = optarg;
break;
default:
usage();
break;
}
}
/* Open UART */
struct termios uart_config_original;
const int uart = frsky_open_uart(device_name, &uart_config_original);
if (uart < 0) {
err(1, "could not open %s", device_name);
}
/* Subscribe to topics */
frsky_init();
thread_running = true;
/* Main thread loop */
unsigned int iteration = 0;
while (!thread_should_exit) {
/* Sleep 200 ms */
usleep(200000);
/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
frsky_send_frame1(uart);
/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
if (iteration % 5 == 0) {
frsky_send_frame2(uart);
}
/* Send frame 3 (every 5000ms): date, time */
if (iteration % 25 == 0) {
frsky_send_frame3(uart);
iteration = 0;
}
iteration++;
}
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
close(uart);
thread_running = false;
return 0;
}
/**
* The daemon thread.
*/
static int frsky_telemetry_thread_main(int argc, char *argv[])
{
/* Default values for arguments */
char *device_name = "/dev/ttyS6"; /* USART8 */
/* Work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
while ((ch = getopt(argc, argv, "d:")) != EOF) {
switch (ch) {
case 'd':
device_name = optarg;
break;
default:
usage();
break;
}
}
/* Open UART assuming SmartPort telemetry */
warnx("opening uart");
struct termios uart_config_original;
struct termios uart_config;
const int uart = sPort_open_uart(device_name, &uart_config, &uart_config_original);
if (uart < 0) {
warnx("could not open %s", device_name);
err(1, "could not open %s", device_name);
}
/* poll descriptor */
struct pollfd fds[1];
fds[0].fd = uart;
fds[0].events = POLLIN;
thread_running = true;
/* Main thread loop */
char sbuf[20];
/* 2 byte polling frames indicate SmartPort telemetry
* 11 byte packets, indicate D type telemetry
*/
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 3000);
// warnx("poll status: %u", status);
if (status > 0) {
/* received some data; check size of packet */
usleep(5000);
status = read(uart, &sbuf[0], sizeof(sbuf));
// warnx("received %u bytes", status);
}
if (status > 0 && status < 3) {
/* traffic on the port, D type is 11 bytes per frame, SmartPort is only 2 */
/* Subscribe to topics */
sPort_init();
warnx("sending FrSky SmartPort telemetry");
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
/* send S.port telemetry */
while (!thread_should_exit) {
/* wait for poll frame starting with value 0x7E
* note that only the bus master is supposed to put a 0x7E on the bus.
* slaves use byte stuffing to send 0x7E and 0x7D.
* we expect a poll frame every 12msec
*/
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
if (status < 1) { continue; }
// read 1 byte
int newBytes = read(uart, &sbuf[0], 1);
if (newBytes < 1 || sbuf[0] != 0x7E) { continue; }
/* wait for ID byte */
status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
if (status < 1) { continue; }
hrt_abstime now = hrt_absolute_time();
newBytes = read(uart, &sbuf[1], 1);
/* get a local copy of the current sensor values
* in order to apply a lowpass filter to baro pressure.
*/
static float last_baro_alt = 0;
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
static float filtered_alt = NAN;
if (isnan(filtered_alt)) {
filtered_alt = raw.baro_alt_meter[0];
} else {
filtered_alt = .05f * raw.baro_alt_meter[0] + (1.0f - .05f) * filtered_alt;
}
// allow a minimum of 500usec before reply
usleep(500);
static hrt_abstime lastBATV = 0;
static hrt_abstime lastCUR = 0;
static hrt_abstime lastALT = 0;
static hrt_abstime lastSPD = 0;
static hrt_abstime lastFUEL = 0;
static hrt_abstime lastVSPD = 0;
switch (sbuf[1]) {
case SMARTPORT_POLL_1:
/* report BATV at 1Hz */
if (now - lastBATV > 1000 * 1000) {
lastBATV = now;
/* send battery voltage */
sPort_send_BATV(uart);
}
break;
case SMARTPORT_POLL_2:
/* report battery current at 5Hz */
if (now - lastCUR > 200 * 1000) {
lastCUR = now;
/* send battery current */
sPort_send_CUR(uart);
}
break;
case SMARTPORT_POLL_3:
/* report altitude at 5Hz */
if (now - lastALT > 200 * 1000) {
lastALT = now;
/* send altitude */
sPort_send_ALT(uart);
}
break;
case SMARTPORT_POLL_4:
/* report speed at 5Hz */
if (now - lastSPD > 200 * 1000) {
lastSPD = now;
/* send speed */
sPort_send_SPD(uart);
}
break;
case SMARTPORT_POLL_5:
/* report fuel at 1Hz */
if (now - lastFUEL > 1000 * 1000) {
lastFUEL = now;
/* send fuel */
sPort_send_FUEL(uart);
}
break;
case SMARTPORT_POLL_6:
/* report vertical speed at 10Hz */
if (now - lastVSPD > 100 * 1000) {
/* estimate vertical speed using first difference and delta t */
uint64_t dt = now - lastVSPD;
float speed = (filtered_alt - last_baro_alt) / (1e-6f * (float)dt);
/* save current alt and timestamp */
last_baro_alt = filtered_alt;
lastVSPD = now;
sPort_send_VSPD(uart, speed);
}
break;
}
}
} else if (status >= 0) {
/* either no traffic on the port (0=>timeout), or D type packet */
/* detected D type telemetry: reconfigure UART */
status = set_uart_speed(uart, &uart_config, B9600);
if (status < 0) {
warnx("error setting speed for %s, quitting", device_name);
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
close(uart);
thread_running = false;
return 0;
}
int iteration = 0;
/* Subscribe to topics */
frsky_init();
warnx("sending FrSky D type telemetry");
struct adc_linkquality host_frame;
uint8_t dbuf[45];
/* send D8 mode telemetry */
while (!thread_should_exit) {
/* Sleep 100 ms */
usleep(100000);
/* parse incoming data */
int nbytes = read(uart, &dbuf[0], sizeof(dbuf));
bool new_input = frsky_parse_host(&dbuf[0], nbytes, &host_frame);
/* the RSSI value could be useful */
if (false && new_input) {
warnx("host frame: ad1:%u, ad2: %u, rssi: %u",
host_frame.ad1, host_frame.ad2, host_frame.linkq);
}
/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
if (iteration % 2 == 0) {
frsky_send_frame1(uart);
}
/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
if (iteration % 10 == 0) {
frsky_send_frame2(uart);
}
/* Send frame 3 (every 5000ms): date, time */
if (iteration % 50 == 0) {
frsky_send_frame3(uart);
iteration = 0;
}
iteration++;
}
/* TODO: flush the input buffer if in full duplex mode */
read(uart, &sbuf[0], sizeof(sbuf));
}
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
close(uart);
thread_running = false;
return 0;
}