Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             : 
      15             : 
      16             :    i-BUS telemetry for FlySky/Turnigy receivers and other peripherals
      17             :    (eg iA6B, iA10) by Nicole Ashley <[email protected]>.
      18             : 
      19             :    Originally based on work by Jan Verhulst:
      20             :      https://github.com/ArduPilot/ardupilot/pull/16545
      21             : 
      22             :    Libraries used for reference and inspiration:
      23             : 
      24             :    * iBUStelemetry
      25             :      https://github.com/Hrastovc/iBUStelemetry
      26             : 
      27             :    * IBusBM
      28             :      https://github.com/bmellink/IBusBM
      29             : 
      30             :    * BetaFlight
      31             :      https://github.com/betaflight/betaflight/blob/master/src/main/telemetry/ibus_shared.c
      32             :  */
      33             : 
      34             : #pragma once
      35             : 
      36             : #include <AP_HAL/AP_HAL_Boards.h>
      37             : 
      38             : #ifndef AP_IBUS_TELEM_ENABLED
      39             : #define AP_IBUS_TELEM_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 2048
      40             : #endif
      41             : 
      42             : #if AP_IBUS_TELEM_ENABLED
      43             : 
      44             : #include <AP_HAL/AP_HAL.h>
      45             : #include <AP_Math/vector3.h>
      46             : #include <AP_AHRS/AP_AHRS_config.h>
      47             : #include <AP_BattMonitor/AP_BattMonitor_config.h>
      48             : #include <AP_GPS/AP_GPS_config.h>
      49             : #include <AP_RPM/AP_RPM_config.h>
      50             : 
      51             : class AP_IBus_Telem
      52             : {
      53             : public:
      54        2098 :     AP_IBus_Telem() {}
      55             : 
      56             :     CLASS_NO_COPY(AP_IBus_Telem);
      57             : 
      58             :     void init();
      59             : 
      60             :     typedef struct {
      61             :         uint8_t sensor_type;   // Sensor type (IBUS_SENSOR_TYPE_* above)
      62             :         uint8_t sensor_length; // Data length for defined sensor (can be 2 or 4 bytes)
      63             :     } SensorDefinition;
      64             : 
      65             :     typedef struct {
      66             :         uint8_t ap_mode;
      67             :         uint8_t ibus_mode;
      68             :     } ModeMap;
      69             : 
      70             : private:
      71             : 
      72             :     typedef union {
      73             :         uint16_t uint16;
      74             :         uint32_t uint32;
      75             :         int16_t int16;
      76             :         int32_t int32;
      77             :         uint8_t byte[4];
      78             :     } SensorValue;
      79             : 
      80             :     struct PACKED CommandPacket {
      81             :         uint8_t message_length;
      82             :         uint8_t sensor_id : 4;
      83             :         uint8_t command : 4;
      84             :         uint16_t checksum;
      85             :     };
      86             : 
      87             :     void tick();
      88             :     void handle_incoming_message(const CommandPacket &incoming);
      89             :     void handle_discover_command(const CommandPacket &incoming);
      90             :     void handle_type_command(const CommandPacket &incoming, const SensorDefinition &sensor);
      91             :     void handle_value_command(const CommandPacket &incoming, const SensorDefinition &sensor);
      92             :     void handle_2_byte_value_command(const CommandPacket &incoming, const SensorValue &value);
      93             :     void handle_4_byte_value_command(const CommandPacket &incoming, const SensorValue &value);
      94             :     SensorValue get_sensor_value(uint8_t sensor_id);
      95             : #if AP_BATTERY_ENABLED
      96             :     uint16_t get_average_cell_voltage_cV();
      97             :     uint16_t get_current_cAh();
      98             :     uint8_t get_battery_or_fuel_level_pct();
      99             : #endif
     100             : #if AP_RPM_ENABLED
     101             :     uint16_t get_rpm();
     102             : #endif
     103             : #if AP_GPS_ENABLED
     104             :     uint8_t get_gps_status();
     105             : #endif
     106             : #if AP_AHRS_ENABLED
     107             :     uint16_t get_distance_from_home_m();
     108             : #endif
     109             :     uint16_t get_vehicle_mode();
     110             :     void populate_checksum(uint8_t *packet, const uint16_t size);
     111             : 
     112             :     static const uint8_t PROTOCOL_COMMAND_DISCOVER = 0x80; // Command to discover a sensor (lowest 4 bits are sensor)
     113             :     static const uint8_t PROTOCOL_COMMAND_TYPE = 0x90;     // Command to request a sensor type (lowest 4 bits are sensor)
     114             :     static const uint8_t PROTOCOL_COMMAND_VALUE = 0xA0;    // Command to request a sensor's value (lowest 4 bits are sensor)
     115             :     static const uint8_t PROTOCOL_TIMEGAP = 3;             // Packets are received very ~7ms so use ~half that for the gap
     116             :     static const uint8_t PROTOCOL_FOUR_LENGTH = 0x04;      // indicate that the message has 4 bytes
     117             :     static const uint8_t PROTOCOL_SIX_LENGTH = 0x06;       // indicate that the message has 6 bytes
     118             :     static const uint8_t PROTOCOL_EIGHT_LENGTH = 0x08;     // indicate that the message has 8 bytes
     119             :     static const uint8_t PROTOCOL_INCOMING_MESSAGE_LENGTH = PROTOCOL_FOUR_LENGTH; // All incoming messages are the same length
     120             : 
     121             :     AP_HAL::UARTDriver *port;
     122             :     bool initialized;
     123             :     uint32_t last_received_message_time_ms; // When the last message was received
     124             : };
     125             : 
     126             : #endif