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Merge pull request #133 from raul-ortega/development
11.2.0 RC2 to master
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,124 @@ | ||
| #include <stdbool.h> | ||
| #include <stdint.h> | ||
| #include <stdlib.h> | ||
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| #include "platform.h" | ||
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| #ifdef TELEMETRY | ||
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| #include "common/maths.h" | ||
| #include "common/axis.h" | ||
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| #include "drivers/system.h" | ||
| #include "drivers/sensor.h" | ||
| #include "drivers/accgyro.h" | ||
| #include "drivers/gpio.h" | ||
| #include "drivers/timer.h" | ||
| #include "drivers/serial.h" | ||
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| #include "sensors/sensors.h" | ||
| #include "sensors/acceleration.h" | ||
| #include "sensors/gyro.h" | ||
| #include "sensors/barometer.h" | ||
| #include "sensors/battery.h" | ||
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| #include "io/serial.h" | ||
| #include "io/rc_controls.h" | ||
| #include "io/gps.h" | ||
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| #include "rx/rx.h" | ||
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| #include "flight/mixer.h" | ||
| #include "flight/pid.h" | ||
| #include "flight/imu.h" | ||
| #include "flight/altitudehold.h" | ||
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| #include "config/runtime_config.h" | ||
| #include "config/config.h" | ||
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| #include "telemetry/telemetry.h" | ||
| #include "telemetry/forward.h" | ||
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| static serialPort_t *forwardPort = NULL; | ||
| static serialPortConfig_t *portConfig; | ||
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| #define FORWARD_BAUDRATE 57600 | ||
| #define FORWARD_INITIAL_PORT_MODE MODE_RXTX | ||
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| static telemetryConfig_t *telemetryConfig; | ||
| static bool forwardTelemetryEnabled = false; | ||
| static portSharing_e forwardPortSharing; | ||
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| #define CYCLETIME 125 | ||
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| static uint32_t lastCycleTime = 0; | ||
| static uint8_t cycleNum = 0; | ||
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| void initForwardTelemetry(telemetryConfig_t *initialTelemetryConfig) | ||
| { | ||
| telemetryConfig = initialTelemetryConfig; | ||
| portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_FORWARD); | ||
| forwardPortSharing = determinePortSharing(portConfig, FUNCTION_TELEMETRY_FORWARD); | ||
| } | ||
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| void freeForwardTelemetryPort(void) | ||
| { | ||
| closeSerialPort(forwardPort); | ||
| forwardPort = NULL; | ||
| forwardTelemetryEnabled = false; | ||
| } | ||
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| void configureForwardTelemetryPort(void) | ||
| { | ||
| if (!portConfig) { | ||
| return; | ||
| } | ||
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| forwardPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_FORWARD, NULL, FORWARD_BAUDRATE, FORWARD_INITIAL_PORT_MODE, telemetryConfig->telemetry_inversion ? SERIAL_INVERTED : SERIAL_NOT_INVERTED); | ||
| if (!forwardPort) { | ||
| return; | ||
| } | ||
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| forwardTelemetryEnabled = true; | ||
| } | ||
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| void checkForwardTelemetryState(void) | ||
| { | ||
| bool newTelemetryEnabledValue = telemetryDetermineEnabledState(forwardPortSharing); | ||
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| if (newTelemetryEnabledValue == forwardTelemetryEnabled) { | ||
| return; | ||
| } | ||
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| if (newTelemetryEnabledValue) | ||
| configureForwardTelemetryPort(); | ||
| else | ||
| freeForwardTelemetryPort(); | ||
| } | ||
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| void handleForwardTelemetry(rxConfig_t *rxConfig, uint16_t deadband3d_throttle) | ||
| { | ||
| if (!forwardTelemetryEnabled) { | ||
| return; | ||
| } | ||
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| while (serialRxBytesWaiting(forwardPort) > 0) { | ||
| uint8_t c = serialRead(forwardPort); | ||
| evaluateOtherData(forwardPort,c); | ||
| } | ||
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| } | ||
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| void forwardTelemetry(uint8_t c){ | ||
| serialWrite(forwardPort, c); | ||
| } | ||
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| bool forwardEnabled(void){ | ||
| return(forwardTelemetryEnabled); | ||
| } | ||
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| #endif | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| #include "rx/rx.h" | ||
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| #ifndef TELEMETRY_FORWARD_ | ||
| #define TELEMETRY_FORWARD_ | ||
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| void handleForwardTelemetryvoid(rxConfig_t *rxConfig, uint16_t deadband3d_throttle); | ||
| void checkForwardTelemetryState(void); | ||
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| void initForwardTelemetry(telemetryConfig_t *telemetryConfig); | ||
| void configureForwardTelemetryPort(void); | ||
| void freeForwardTelemetryPort(void); | ||
| bool forwardEnabled(void); | ||
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| #endif /* TELEMETRY_FORWARD_ */ |
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