Ghost protocol

ghst: add ghost protocol

src/drivers/rc_input/CMakeLists.txt

@@ -37,6 +37,7 @@ px4_add_module(
 	SRCS
 		RCInput.cpp
 		crsf_telemetry.cpp
+		ghst_telemetry.cpp
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS

src/drivers/rc_input/RCInput.cpp

@@ -72,6 +72,7 @@ RCInput::~RCInput()
 	dsm_deinit();
 
 	delete _crsf_telemetry;
+	delete _ghst_telemetry;
 
 	perf_free(_cycle_perf);
 	perf_free(_publish_interval_perf);
@@ -625,6 +626,53 @@ void RCInput::Run()
 					}
 				}
 
+			} else {
+				// Scan the next protocol
+				set_rc_scan_state(RC_SCAN_GHST);
+			}
+
+			break;
+
+		case RC_SCAN_GHST:
+			if (_rc_scan_begin == 0) {
+				_rc_scan_begin = cycle_timestamp;
+				// Configure serial port for GHST
+				ghst_config(_rcs_fd);
+				rc_io_invert(false);
+
+			} else if (_rc_scan_locked
+				   || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
+
+				// parse new data
+				if (newBytes > 0) {
+					int8_t ghst_rssi = -1;
+					rc_updated = ghst_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &ghst_rssi,
+								&_raw_rc_count, input_rc_s::RC_INPUT_MAX_CHANNELS);
+
+					if (rc_updated) {
+						// we have a new GHST frame. Publish it.
+						_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST;
+						fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi);
+
+						// Enable GHST Telemetry only on the Omnibus, because on Pixhawk (-related) boards
+						// we cannot write to the RC UART
+						// It might work on FMU-v5. Or another option is to use a different UART port
+#ifdef CONFIG_ARCH_BOARD_OMNIBUS_F4SD
+
+						if (!_rc_scan_locked && !_ghst_telemetry) {
+							_ghst_telemetry = new GHSTTelemetry(_rcs_fd);
+						}
+
+#endif /* CONFIG_ARCH_BOARD_OMNIBUS_F4SD */
+
+						_rc_scan_locked = true;
+
+						if (_ghst_telemetry) {
+							_ghst_telemetry->update(cycle_timestamp);
+						}
+					}
+				}
+
 			} else {
 				// Scan the next protocol
 				set_rc_scan_state(RC_SCAN_SBUS);
@@ -732,6 +780,10 @@ int RCInput::print_status()
 			PX4_INFO("CRSF Telemetry: %s", _crsf_telemetry ? "yes" : "no");
 			break;
 
+		case RC_SCAN_GHST:
+			PX4_INFO("GHST Telemetry: %s", _ghst_telemetry ? "yes" : "no");
+			break;
+
 		case RC_SCAN_SBUS:
 			PX4_INFO("SBUS frame drops: %u", sbus_dropped_frames());
 			break;

src/drivers/rc_input/RCInput.hpp

@@ -41,6 +41,7 @@
 #include <drivers/drv_rc_input.h>
 #include <lib/perf/perf_counter.h>
 #include <lib/rc/crsf.h>
+#include <lib/rc/ghst.h>
 #include <lib/rc/dsm.h>
 #include <lib/rc/sbus.h>
 #include <lib/rc/st24.h>
@@ -60,6 +61,7 @@
 #include <uORB/topics/vehicle_command.h>
 
 #include "crsf_telemetry.h"
+#include "ghst_telemetry.h"
 
 #ifdef HRT_PPM_CHANNEL
 # include <systemlib/ppm_decode.h>
@@ -94,16 +96,18 @@ private:
 		RC_SCAN_DSM,
 		RC_SCAN_SUMD,
 		RC_SCAN_ST24,
-		RC_SCAN_CRSF
+		RC_SCAN_CRSF,
+		RC_SCAN_GHST
 	} _rc_scan_state{RC_SCAN_SBUS};
 
-	static constexpr char const *RC_SCAN_STRING[6] {
+	static constexpr char const *RC_SCAN_STRING[7] {
 		"PPM",
 		"SBUS",
 		"DSM",
 		"SUMD",
 		"ST24",
-		"CRSF"
+		"CRSF",
+		"GHST"
 	};
 
 	void Run() override;
@@ -159,6 +163,7 @@ private:
 	uint16_t _raw_rc_count{};
 
 	CRSFTelemetry *_crsf_telemetry{nullptr};
+	GHSTTelemetry *_ghst_telemetry{nullptr};
 
 	perf_counter_t	_cycle_perf;
 	perf_counter_t	_publish_interval_perf;

src/drivers/rc_input/ghst_telemetry.cpp

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ghst_telemetry.cpp
+ *
+ * IRC Ghost (Immersion RC Ghost) telemetry.
+ *
+ * @author Igor Misic <igy1000mb@gmail.com>
+ * @author Juraj Ciberlin <jciberlin1@gmail.com>
+ */
+
+#include "ghst_telemetry.h"
+#include <lib/rc/ghst.h>
+
+GHSTTelemetry::GHSTTelemetry(int uart_fd) :
+	_uart_fd(uart_fd)
+{
+}
+
+bool GHSTTelemetry::update(const hrt_abstime &now)
+{
+	const int update_rate_hz = 10;
+
+	if (now - _last_update <= 1_s / (update_rate_hz * num_data_types)) {
+		return false;
+	}
+
+	bool sent = false;
+
+	switch (_next_type) {
+	case 0:
+		sent = send_battery_status();
+		break;
+	}
+
+	_last_update = now;
+	_next_type = (_next_type + 1) % num_data_types;
+
+	return sent;
+}
+
+bool GHSTTelemetry::send_battery_status()
+{
+	battery_status_s battery_status;
+
+	if (!_battery_status_sub.update(&battery_status)) {
+		return false;
+	}
+
+	uint16_t voltage = battery_status.voltage_filtered_v * 10;
+	uint16_t current = battery_status.current_filtered_a * 10;
+	uint16_t fuel = battery_status.discharged_mah;
+	return ghst_send_telemetry_battery(_uart_fd, voltage, current, fuel);
+}

src/drivers/rc_input/ghst_telemetry.h

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ghst_telemetry.cpp
+ *
+ * IRC Ghost (Immersion RC Ghost) telemetry.
+ *
+ * @author Igor Misic <igy1000mb@gmail.com>
+ * @author Juraj Ciberlin <jciberlin1@gmail.com>
+ */
+
+#pragma once
+
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/battery_status.h>
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+/**
+ * High-level class that handles sending of GHST telemetry data
+ */
+class GHSTTelemetry
+{
+public:
+	/**
+	 * @param uart_fd file descriptor for the UART to use. It is expected to be configured
+	 * already.
+	 */
+	GHSTTelemetry(int uart_fd);
+
+	~GHSTTelemetry() = default;
+
+	/**
+	 * Send telemetry data. Call this regularly (i.e. at 100Hz), it will automatically
+	 * limit the sending rate.
+	 * @return true if new data sent
+	 */
+	bool update(const hrt_abstime &now);
+
+private:
+	bool send_battery_status();
+
+	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
+
+	hrt_abstime _last_update{0};
+
+	static constexpr int num_data_types{1}; // number of different telemetry data types
+	int _next_type{0};
+
+	int _uart_fd;
+};