Refactor telemetry sensors for SmartPort and Crsf

* add new scheduler for telemetry sensors
* used new frsky sensors Not used temp sensor for roll etc... anymore
* add custome telemetry sensors for CRSF

Author: shota3527

src/main/CMakeLists.txt

@@ -626,6 +626,8 @@ main_sources(COMMON_SRC
     telemetry/sim.h
     telemetry/telemetry.c
     telemetry/telemetry.h
+    telemetry/sensors.c
+    telemetry/sensors.h
 )
 
 add_subdirectory(target)

src/main/common/crc.c

@@ -142,4 +142,18 @@ uint8_t crc8_sum_update(uint8_t crc, const void *data, uint32_t length)
         crc += *p;
     }
     return crc;
+}
+
+// Fowler–Noll–Vo hash function; see https://en.wikipedia.org/wiki/Fowler–Noll–Vo_hash_function
+uint32_t fnv_update(uint32_t hash, const void *data, uint32_t length)
+{
+    const uint8_t *ptr = data;
+    const uint8_t *pend = ptr + length;
+
+    while (ptr != pend) {
+        hash *= FNV_PRIME;
+        hash ^= *ptr++;
+    }
+
+    return hash;
 }

src/main/common/crc.h

@@ -19,6 +19,8 @@
 
 #include <stdint.h>
 
+#define FNV_PRIME           16777619
+
 struct sbuf_s;
 
 uint16_t crc16_ccitt(uint16_t crc, unsigned char a);
@@ -35,4 +37,7 @@ void crc8_xor_sbuf_append(struct sbuf_s *dst, uint8_t *start);
 uint8_t crc8(uint8_t crc, uint8_t a);
 uint8_t crc8_update(uint8_t crc, const void *data, uint32_t length);
 
-uint8_t crc8_sum_update(uint8_t crc, const void *data, uint32_t length);
+uint8_t crc8_sum_update(uint8_t crc, const void *data, uint32_t length);
+
+uint32_t fnv_update(uint32_t hash, const void *data, uint32_t length);
+

src/main/fc/fc_core.c

@@ -203,6 +203,13 @@ static void updateArmingStatus(void)
     if (ARMING_FLAG(ARMED)) {
         LED0_ON;
     } else {
+
+        // Check if the power on arming grace time has elapsed
+        if ((isArmingDisabledReason() & ARMING_DISABLED_BOOT_GRACE_TIME)  && (millis() >= 3000)) {
+            // If so, unset the grace time arming disable flag
+            DISABLE_ARMING_FLAG(ARMING_DISABLED_BOOT_GRACE_TIME);
+        }
+
         /* CHECK: Run-time calibration */
         static bool calibratingFinishedBeep = false;
         if (areSensorsCalibrating()) {

src/main/fc/fc_init.c

@@ -611,6 +611,8 @@ void init(void)
     }
 #endif
 
+    ENABLE_ARMING_FLAG(ARMING_DISABLED_BOOT_GRACE_TIME);
+
 #ifdef USE_BLACKBOX
 
     //Do not allow blackbox to be run faster that 1kHz. It can cause UAV to drop dead when digital ESC protocol is used

src/main/fc/runtime_config.c

@@ -58,7 +58,8 @@ const armingFlag_e armDisableReasonsChecklist[] = {
     ARMING_DISABLED_SERVO_AUTOTRIM,
     ARMING_DISABLED_OOM,
     ARMING_DISABLED_NO_PREARM,
-    ARMING_DISABLED_DSHOT_BEEPER
+    ARMING_DISABLED_DSHOT_BEEPER,
+    ARMING_DISABLED_BOOT_GRACE_TIME
 };
 
 armingFlag_e isArmingDisabledReason(void)

src/main/fc/runtime_config.h

@@ -48,6 +48,7 @@ typedef enum {
     ARMING_DISABLED_NO_PREARM                       = (1 << 28),
     ARMING_DISABLED_DSHOT_BEEPER                    = (1 << 29),
     ARMING_DISABLED_LANDING_DETECTED                = (1 << 30),
+    ARMING_DISABLED_BOOT_GRACE_TIME                 = (1 << 31),
 
     ARMING_DISABLED_ALL_FLAGS                       = (ARMING_DISABLED_GEOZONE | ARMING_DISABLED_FAILSAFE_SYSTEM | ARMING_DISABLED_NOT_LEVEL | 
                                                        ARMING_DISABLED_SENSORS_CALIBRATING | ARMING_DISABLED_SYSTEM_OVERLOADED | ARMING_DISABLED_NAVIGATION_UNSAFE |
@@ -57,7 +58,7 @@ typedef enum {
                                                        ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU | ARMING_DISABLED_ROLLPITCH_NOT_CENTERED |
                                                        ARMING_DISABLED_SERVO_AUTOTRIM | ARMING_DISABLED_OOM | ARMING_DISABLED_INVALID_SETTING |
                                                        ARMING_DISABLED_PWM_OUTPUT_ERROR | ARMING_DISABLED_NO_PREARM | ARMING_DISABLED_DSHOT_BEEPER |
-                                                       ARMING_DISABLED_LANDING_DETECTED),
+                                                       ARMING_DISABLED_LANDING_DETECTED | ARMING_DISABLED_BOOT_GRACE_TIME),
 } armingFlag_e;
 
 // Arming blockers that can be overriden by emergency arming.
@@ -71,7 +72,9 @@ typedef enum {
                                             | ARMING_DISABLED_COMPASS_NOT_CALIBRATED \
                                             | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED \
                                             | ARMING_DISABLED_ARM_SWITCH \
-                                            | ARMING_DISABLED_HARDWARE_FAILURE)
+                                            | ARMING_DISABLED_HARDWARE_FAILURE  \
+                                            | ARMING_DISABLED_BOOT_GRACE_TIME  \
+                                            )
 
 
 extern uint32_t armingFlags;

src/main/fc/settings.yaml

@@ -103,6 +103,9 @@ tables:
   - name: bat_voltage_source
     values: ["RAW", "SAG_COMP"]
     enum: batVoltageSource_e
+  - name: crsf_telemetry_modes
+    values: [ "OFF", "NATIVE", "CUSTOM" ]
+    enum: crsfTelemetryMode_e
   - name: smartport_fuel_unit
     values: ["PERCENT", "MAH", "MWH"]
     enum: smartportFuelUnit_e
@@ -3113,6 +3116,24 @@ groups:
         description: "Determines if the telemetry protocol default signal inversion is reversed. This should be OFF in most cases unless a custom or hacked RX is used."
         default_value: OFF
         type: bool
+      - name: crsf_telemetry_mode
+        description: "Use extended custom telemetry sensors for CRSF"
+        default_value: NATIVE
+        condition: USE_TELEMETRY_LTM
+        table: crsf_telemetry_modes
+        type: uint8_t
+      - name: crsf_telemetry_link_rate
+        description: "CRSF telemetry link rate"
+        default_value: 250
+        type: uint16_t
+        min: 0
+        max: 50000
+      - name: crsf_telemetry_link_ratio
+        description: "CRSF telemetry link ratio"
+        default_value: 8
+        type: uint16_t
+        min: 0
+        max: 50000
       - name: frsky_pitch_roll
         description: "S.Port telemetry: Send pitch and roll degrees*10 instead of raw accelerometer data"
         default_value: OFF

src/main/io/osd.c

@@ -966,6 +966,8 @@ static const char * osdArmingDisabledReasonMessage(void)
             // Cases without message
         case ARMING_DISABLED_LANDING_DETECTED:
             FALLTHROUGH;
+        case ARMING_DISABLED_BOOT_GRACE_TIME:
+            FALLTHROUGH;
         case ARMING_DISABLED_CMS_MENU:
             FALLTHROUGH;
         case ARMING_DISABLED_OSD_MENU:

src/main/io/osd_dji_hd.c

@@ -520,6 +520,8 @@ static char * osdArmingDisabledReasonMessage(void)
             // Cases without message
         case ARMING_DISABLED_GEOZONE:
             return OSD_MESSAGE_STR("NO FLY ZONE");
+        case ARMING_DISABLED_BOOT_GRACE_TIME:
+            FALLTHROUGH;
         case ARMING_DISABLED_LANDING_DETECTED:
             FALLTHROUGH;
         case ARMING_DISABLED_CMS_MENU: