Merge branch 'master' into update-OTA_VERSION_ID-to-V4

.github/workflows/build.yml

@@ -193,8 +193,9 @@ jobs:
             exit 0
           fi
 
-          aws s3api head-object --endpoint-url $AWS_ENDPOINT_URL --bucket expresslrs --key ExpressLRS/$GITHUB_SHA/firmware.zip > /dev/null || NOT_EXIST=true
-          if [ $NOT_EXIST ]; then
+          aws s3api head-object --endpoint-url $AWS_ENDPOINT_URL --bucket expresslrs --key ExpressLRS/$GITHUB_SHA/firmware.zip > /dev/null || ALLOW_UPLOAD=true
+          git describe --tags --exact-match HEAD && ALLOW_UPLOAD=true
+          if [ $ALLOW_UPLOAD ]; then
             echo "Uploading firmware to artifactory"
             aws s3 cp --endpoint-url $AWS_ENDPOINT_URL firmware.zip s3://expresslrs/ExpressLRS/$GITHUB_SHA/firmware.zip
 

src/include/targets.h

@@ -289,6 +289,9 @@ extern bool pwmSerialDefined;
 #endif
 
 #if defined(TARGET_UNIFIED_TX) || defined(TARGET_UNIFIED_RX)
+#if defined(PLATFORM_ESP32)
+#include <soc/uart_pins.h>
+#endif
 #if !defined(U0RXD_GPIO_NUM)
 #define U0RXD_GPIO_NUM (3)
 #endif

src/lib/Backpack/devBackpack.cpp

@@ -17,9 +17,9 @@ extern bool headTrackingEnabled;
 bool TxBackpackWiFiReadyToSend = false;
 bool VRxBackpackWiFiReadyToSend = false;
 bool HTEnableFlagReadyToSend = false;
+bool BackpackTelemReadyToSend = false;
 
 bool lastRecordingState = false;
-uint8_t lastLinkMode; // will get set in start() and used in event()
 
 #if defined(GPIO_PIN_BACKPACK_EN)
 
@@ -258,14 +258,20 @@ static void AuxStateToMSPOut()
 #endif // USE_TX_BACKPACK
 }
 
-void crsfTelemToMSPOut(uint8_t *data)
+void sendCRSFTelemetryToBackpack(uint8_t *data)
 {
-    if (config.GetBackpackTlmEnabled() == 0)
+    if (config.GetBackpackTlmMode() == BACKPACK_TELEM_MODE_OFF)
     {
         // Backpack telem is off
         return;
     }
 
+    if (config.GetLinkMode() == TX_MAVLINK_MODE)
+    {
+        // Tx is in MAVLink mode, don't forward CRSF telemetry
+        return;
+    }
+
     mspPacket_t packet;
     packet.reset();
     packet.makeCommand();
@@ -286,6 +292,30 @@ void crsfTelemToMSPOut(uint8_t *data)
     MSP::sendPacket(&packet, TxBackpack); // send to tx-backpack as MSP
 }
 
+void sendMAVLinkTelemetryToBackpack(uint8_t *data)
+{
+    if (config.GetBackpackTlmMode() == BACKPACK_TELEM_MODE_OFF)
+    {
+        // Backpack telem is off
+        return;
+    }
+
+    uint8_t count = data[1];
+    TxBackpack->write(data + CRSF_FRAME_NOT_COUNTED_BYTES, count);
+}
+
+void sendConfigToBackpack()
+{
+    // Send any config values to the tx-backpack, as one key/value pair per MSP msg
+    mspPacket_t packet;
+    packet.reset();
+    packet.makeCommand();
+    packet.function = MSP_ELRS_BACKPACK_CONFIG;
+    packet.addByte(MSP_ELRS_BACKPACK_CONFIG_TLM_MODE); // Backpack tlm mode
+    packet.addByte(config.GetBackpackTlmMode());
+    MSP::sendPacket(&packet, TxBackpack); // send to tx-backpack as MSP
+}
+
 static void initialize()
 {
 #if defined(GPIO_PIN_BACKPACK_EN)
@@ -306,7 +336,6 @@ static void initialize()
 
 static int start()
 {
-    lastLinkMode = config.GetLinkMode();
     if (OPT_USE_TX_BACKPACK)
     {
         return DURATION_IMMEDIATELY;
@@ -354,6 +383,12 @@ static int timeout()
         BackpackHTFlagToMSPOut(headTrackingEnabled);
     }
 
+    if (BackpackTelemReadyToSend && connectionState < MODE_STATES)
+    {
+        BackpackTelemReadyToSend = false;
+        sendConfigToBackpack();
+    }
+
     return BACKPACK_TIMEOUT;
 }
 
@@ -366,17 +401,7 @@ static int event()
         digitalWrite(GPIO_PIN_BACKPACK_EN, config.GetBackpackDisable() ? LOW : HIGH);
     }
 #endif
-#if !defined(PLATFORM_STM32)
-  // Update the backpack operating mode when the link mode changes
-    uint8_t newMode = config.GetLinkMode();
-    if (lastLinkMode != newMode)
-    {
-        uint8_t mavlinkOutputBuffer[MAVLINK_MAX_PACKET_LEN];
-        uint16_t len = buildMAVLinkELRSModeChange(newMode, mavlinkOutputBuffer);
-        TxBackpack->write(mavlinkOutputBuffer, len);
-    }
-    lastLinkMode = config.GetLinkMode();
-#endif
+
     return DURATION_IGNORE;
 }
 

src/lib/Backpack/devBackpack.h

@@ -3,7 +3,10 @@
 #include "device.h"
 
 void checkBackpackUpdate();
-void crsfTelemToMSPOut(uint8_t *data);
+void sendCRSFTelemetryToBackpack(uint8_t *data);
+void sendMAVLinkTelemetryToBackpack(uint8_t *data);
+
 extern bool HTEnableFlagReadyToSend;
+extern bool BackpackTelemReadyToSend;
 
 extern device_t Backpack_device;

src/lib/CONFIG/config.cpp

@@ -180,7 +180,7 @@ void TxConfig::Load()
         if (nvs_get_u8(handle, "backpackdisable", &value8) == ESP_OK)
             m_config.backpackDisable = value8;
         if (nvs_get_u8(handle, "backpacktlmen", &value8) == ESP_OK)
-            m_config.backpackTlmEnabled = value8;
+            m_config.backpackTlmMode = value8;
     }
 
     for(unsigned i=0; i<CONFIG_TX_MODEL_CNT; i++)
@@ -339,7 +339,7 @@ TxConfig::Commit()
         nvs_set_u8(handle, "fanthresh", m_config.powerFanThreshold);
 
         nvs_set_u8(handle, "backpackdisable", m_config.backpackDisable);
-        nvs_set_u8(handle, "backpacktlmen", m_config.backpackTlmEnabled);
+        nvs_set_u8(handle, "backpacktlmen", m_config.backpackTlmMode);
         nvs_set_u8(handle, "dvraux", m_config.dvrAux);
         nvs_set_u8(handle, "dvrstartdelay", m_config.dvrStartDelay);
         nvs_set_u8(handle, "dvrstopdelay", m_config.dvrStopDelay);
@@ -441,7 +441,6 @@ TxConfig::SetLinkMode(uint8_t linkMode)
         {
             m_model->tlm = TLM_RATIO_1_2;
             m_model->switchMode = smHybridOr16ch; // Force Hybrid / 16ch/2 switch modes for mavlink
-            m_config.backpackTlmEnabled = false; // Disable backpack telemetry since it'd be MSP mixed with MAVLink
         }
         m_modified |= MODEL_CHANGED | MAIN_CHANGED;
     }
@@ -577,11 +576,11 @@ TxConfig::SetBackpackDisable(bool backpackDisable)
 }
 
 void
-TxConfig::SetBackpackTlmEnabled(bool enabled)
+TxConfig::SetBackpackTlmMode(uint8_t mode)
 {
-    if (m_config.backpackTlmEnabled != enabled)
+    if (m_config.backpackTlmMode != mode)
     {
-        m_config.backpackTlmEnabled = enabled;
+        m_config.backpackTlmMode = mode;
         m_modified |= MAIN_CHANGED;
     }
 }
@@ -1236,6 +1235,23 @@ void RxConfig::SetBindStorage(rx_config_bindstorage_t value)
     }
 }
 
+void RxConfig::SetTargetSysId(uint8_t value)
+{
+    if (m_config.targetSysId != value)
+    {
+        m_config.targetSysId = value;
+        m_modified = true;
+    }
+}
+void RxConfig::SetSourceSysId(uint8_t value)
+{
+    if (m_config.sourceSysId != value)
+    {
+        m_config.sourceSysId = value;
+        m_modified = true;
+    }
+}
+
 void RxConfig::ReturnLoan()
 {
     if (IsOnLoan())

src/lib/CONFIG/config.h

@@ -73,6 +73,13 @@ typedef union {
     uint32_t raw;
 } tx_button_color_t;
 
+typedef enum {
+    BACKPACK_TELEM_MODE_OFF,
+    BACKPACK_TELEM_MODE_ESPNOW,
+    BACKPACK_TELEM_MODE_WIFI,
+    BACKPACK_TELEM_MODE_BLUETOOTH,
+} telem_mode_t;
+
 typedef struct {
     uint32_t        version;
     uint8_t         vtxBand;    // 0=Off, else band number
@@ -85,8 +92,7 @@ typedef struct {
     uint8_t         motionMode:2,       // bool, but space for 2 more modes
                     dvrStopDelay:3,
                     backpackDisable:1,  // bool, disable backpack via EN pin if available
-                    backpackTlmEnabled:1,  // bool, enable telemetry via ESPNOW from backpack
-                    unused:1;          // FUTURE available
+                    backpackTlmMode:2;  // 0=Off, 1=Fwd tlm via espnow, 2=fwd tlm via wifi 3=(FUTURE) bluetooth
     uint8_t         dvrStartDelay:3,
                     dvrAux:5;
     tx_button_color_t buttonColors[2];  // FUTURE: TX RGB color / mode (sets color of TX, can be a static color or standard)
@@ -123,7 +129,7 @@ class TxConfig
     uint8_t  GetDvrStartDelay() const { return m_config.dvrStartDelay; }
     uint8_t  GetDvrStopDelay() const { return m_config.dvrStopDelay; }
     bool     GetBackpackDisable() const { return m_config.backpackDisable; }
-    bool     GetBackpackTlmEnabled() const { return m_config.backpackTlmEnabled; }
+    uint8_t  GetBackpackTlmMode() const { return m_config.backpackTlmMode; }
     tx_button_color_t const *GetButtonActions(uint8_t button) const { return &m_config.buttonColors[button]; }
     model_config_t const &GetModelConfig(uint8_t model) const { return m_config.model_config[model]; }
     uint8_t GetPTRStartChannel() const { return m_model->ptrStartChannel; }
@@ -153,7 +159,7 @@ class TxConfig
     void SetDvrStopDelay(uint8_t dvrStopDelay);
     void SetButtonActions(uint8_t button, tx_button_color_t actions[2]);
     void SetBackpackDisable(bool backpackDisable);
-    void SetBackpackTlmEnabled(bool enabled);
+    void SetBackpackTlmMode(uint8_t mode);
     void SetPTRStartChannel(uint8_t ptrStartChannel);
     void SetPTREnableChannel(uint8_t ptrEnableChannel);
 
@@ -229,6 +235,8 @@ typedef struct __attribute__((packed)) {
     uint8_t     teamraceChannel:4,
                 teamracePosition:3,
                 teamracePitMode:1;  // FUTURE: Enable pit mode when disabling model
+    uint8_t     targetSysId;
+    uint8_t     sourceSysId;
 } rx_config_t;
 
 class RxConfig
@@ -263,6 +271,8 @@ class RxConfig
     uint8_t GetTeamraceChannel() const { return m_config.teamraceChannel; }
     uint8_t GetTeamracePosition() const { return m_config.teamracePosition; }
     eFailsafeMode GetFailsafeMode() const { return (eFailsafeMode)m_config.failsafeMode; }
+    uint8_t GetTargetSysId()  const { return m_config.targetSysId; }
+    uint8_t GetSourceSysId()  const { return m_config.sourceSysId; }
     rx_config_bindstorage_t GetBindStorage() const { return (rx_config_bindstorage_t)m_config.bindStorage; }
     bool IsOnLoan() const;
 
@@ -287,6 +297,8 @@ class RxConfig
     void SetTeamraceChannel(uint8_t teamraceChannel);
     void SetTeamracePosition(uint8_t teamracePosition);
     void SetFailsafeMode(eFailsafeMode failsafeMode);
+    void SetTargetSysId(uint8_t sysID);
+    void SetSourceSysId(uint8_t sysID);
     void SetBindStorage(rx_config_bindstorage_t value);
     void ReturnLoan();
 

src/lib/Handset/AutoDetect.cpp

@@ -9,7 +9,7 @@
 
 #include <driver/rmt.h>
 
-constexpr auto RMT_TICKS_PER_US = 10;
+constexpr auto RMT_TICKS_PER_US = 4;
 
 void AutoDetect::Begin()
 {

src/lib/Handset/PPMHandset.cpp

@@ -9,7 +9,7 @@
 
 #include <driver/rmt.h>
 
-constexpr auto RMT_TICKS_PER_US = 10;
+constexpr auto RMT_TICKS_PER_US = 4;
 
 void PPMHandset::Begin()
 {

src/lib/LED/devLED.cpp

@@ -51,7 +51,9 @@ static const uint8_t *_durations;
 static uint8_t _count;
 static uint8_t _counter = 0;
 static bool hasRGBLeds = false;
+#if defined(TARGET_TX)
 static bool hasGBLeds = false;
+#endif
 
 static uint16_t updateLED()
 {
@@ -141,6 +143,7 @@ static int timeout()
     return updateLED();
 }
 
+#if !defined(TARGET_RX)
 static void setPowerLEDs()
 {
     if (hasGBLeds)
@@ -166,6 +169,7 @@ static void setPowerLEDs()
         }
     }
 }
+#endif
 
 static int event()
 {

src/lib/LUA/rx_devLUA.cpp

@@ -39,6 +39,29 @@ static struct luaItem_selection luaSBUSFailsafeMode = {
     STR_EMPTYSPACE
 };
 
+static struct luaItem_int8 luaTargetSysId = {
+  {"Target SysID", CRSF_UINT8},
+  {
+    {
+      (uint8_t)1,       // value - default to 1
+      (uint8_t)1,       // min
+      (uint8_t)255,     // max
+    }
+  },
+  STR_EMPTYSPACE
+};
+static struct luaItem_int8 luaSourceSysId = {
+  {"Source SysID", CRSF_UINT8},
+  {
+    {
+      (uint8_t)255,       // value - default to 255
+      (uint8_t)1,         // min
+      (uint8_t)255,       // max
+    }
+  },
+  STR_EMPTYSPACE
+};
+
 #if defined(POWER_OUTPUT_VALUES)
 static struct luaItem_selection luaTlmPower = {
     {"Tlm Power", CRSF_TEXT_SELECTION},
@@ -510,6 +533,23 @@ static void registerLuaParameters()
     config.SetFailsafeMode((eFailsafeMode)arg);
   });
 
+eSerialProtocol prot0 = config.GetSerialProtocol();
+bool hasMavlink = prot0 == PROTOCOL_MAVLINK;
+#if defined(PLATFORM_ESP32)
+  eSerial1Protocol prot1 = config.GetSerial1Protocol();
+  hasMavlink = hasMavlink || (prot1 == PROTOCOL_MAVLINK);
+#endif
+
+  if (hasMavlink)
+  {
+    registerLUAParameter(&luaTargetSysId, [](struct luaPropertiesCommon* item, uint8_t arg){
+      config.SetTargetSysId((uint8_t)arg);
+    });
+    registerLUAParameter(&luaSourceSysId, [](struct luaPropertiesCommon* item, uint8_t arg){
+      config.SetSourceSysId((uint8_t)arg);
+    });
+  }
+
   if (GPIO_PIN_ANT_CTRL != UNDEF_PIN)
   {
     registerLUAParameter(&luaAntennaMode, [](struct luaPropertiesCommon* item, uint8_t arg){
@@ -627,6 +667,10 @@ static int event()
   }
   setLuaTextSelectionValue(&luaBindStorage, config.GetBindStorage());
   updateBindModeLabel();
+
+  setLuaUint8Value(&luaSourceSysId, config.GetSourceSysId() == 0 ? 255 : config.GetSourceSysId());  //display Source sysID if 0 display 255 to mimic logic in SerialMavlink.cpp
+  setLuaUint8Value(&luaTargetSysId, config.GetTargetSysId() == 0 ? 1 : config.GetTargetSysId());  //display Target sysID if 0 display 1 to mimic logic in SerialMavlink.cpp
+
   return DURATION_IMMEDIATELY;
 }