Update IRFD to ITelemLink

SuperMK15 · SuperMK15 · commit f38133940992 · 2026-02-12T20:14:12.000-08:00
diff --git a/stm32h753iitx/.cproject b/stm32h753iitx/.cproject
@@ -101,7 +101,7 @@
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/motor"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/queue"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/rc"/>
-									<listOptionValue builtIn="false" value="../boardfiles/drivers/rfd"/>
+									<listOptionValue builtIn="false" value="../boardfiles/drivers/telemlink"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/gps"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/systemutils"/>
 									<listOptionValue builtIn="false" value="../boardfiles/model/inc"/>
@@ -250,7 +250,7 @@
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/motor"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/queue"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/rc"/>
-									<listOptionValue builtIn="false" value="../boardfiles/drivers/rfd"/>
+									<listOptionValue builtIn="false" value="../boardfiles/drivers/telemlink"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/gps"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/systemutils"/>
 									<listOptionValue builtIn="false" value="../boardfiles/model/inc"/>
diff --git a/stm32h753iitx/boardfiles/drivers/telemlink/rfd.cpp b/stm32h753iitx/boardfiles/drivers/telemlink/rfd.cpp
diff --git a/stm32h753iitx/boardfiles/drivers/telemlink/rfd.hpp b/stm32h753iitx/boardfiles/drivers/telemlink/rfd.hpp
@@ -1,10 +1,10 @@
 #pragma once
 
-#include "rfd_iface.hpp"
+#include "telemlink_iface.hpp"
 #include "rfd_defines.hpp"
 #include "stm32h7xx_hal.h"
 
-class RFD : public IRFD {
+class RFD : public ITelemLink {
 
 public:
     static RFD* instance; // assumes only one instance defined at a time
diff --git a/stm32h753iitx/boardfiles/drivers/telemlink/rfd_defines.hpp b/stm32h753iitx/boardfiles/drivers/telemlink/rfd_defines.hpp
diff --git a/stm32h753iitx/boardfiles/model/inc/drivers.hpp b/stm32h753iitx/boardfiles/model/inc/drivers.hpp
@@ -33,7 +33,7 @@ extern MotorControl *steeringMotorHandle;
 extern CRSFReceiver *rcHandle;
 extern GPS *gpsHandle;
 extern IMU *imuHandle;
-extern RFD *rfdHandle;
+extern RFD *telemLinkHandle;
 extern PowerModule *pmHandle;
 
 extern MessageQueue<RCMotorControlMessage_t> *amRCQueueHandle;
diff --git a/stm32h753iitx/boardfiles/model/src/drivers.cpp b/stm32h753iitx/boardfiles/model/src/drivers.cpp
@@ -61,7 +61,7 @@ MotorControl *steeringMotorHandle = nullptr;
 
 GPS *gpsHandle = nullptr;
 CRSFReceiver *rcHandle = nullptr;
-RFD *rfdHandle = nullptr;
+RFD *telemLinkHandle = nullptr;
 IMU *imuHandle = nullptr;
 PowerModule *pmHandle = nullptr;
 
@@ -115,7 +115,7 @@ void initDrivers()
     // Peripherals
     gpsHandle = new (&gpsStorage) GPS(&huart2);
     rcHandle = new (&rcStorage) CRSFReceiver(&huart4);
-    rfdHandle = new (&rfdStorage) RFD(&huart1);
+    telemLinkHandle = new (&rfdStorage) RFD(&huart1);
     imuHandle = new (&imuStorage) IMU(&hspi1, GPIOC, GPIO_PIN_5);
     pmHandle = new (&pmStorage) PowerModule(&hi2c1);
 
@@ -140,7 +140,7 @@ void initDrivers()
     rcHandle->init();
     gpsHandle->init();
     imuHandle->init();
-    rfdHandle->startReceive();
+    telemLinkHandle->startReceive();
 
     // Motor instance bindings
     leftAileronMotorInstance = {leftAileronMotorHandle, true, 0};
diff --git a/stm32h753iitx/boardfiles/model/src/managers.cpp b/stm32h753iitx/boardfiles/model/src/managers.cpp
@@ -45,7 +45,7 @@ void initManagers()
     // TM initialization
     tmHandle = new (&tmHandleStorage) TelemetryManager(
         systemUtilsHandle,
-        rfdHandle,
+        telemLinkHandle,
         tmQueueHandle,
         amRCQueueHandle,
         messageBufferHandle
diff --git a/stm32h753iitx/boardfiles/override.cpp b/stm32h753iitx/boardfiles/override.cpp
@@ -46,8 +46,8 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
         rcHandle->parse();
         rcHandle->startDMA();
     } 
-    else if (huart == rfdHandle->getHuart()) {
-      rfdHandle->receiveCallback(Size);
+    else if (huart == telemLinkHandle->getHuart()) {
+      telemLinkHandle->receiveCallback(Size);
     }
     // GPS dma callback
     else if (huart == gpsHandle->getHUART()) {
diff --git a/stm32l552xx/.cproject b/stm32l552xx/.cproject
@@ -91,7 +91,7 @@
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/motor"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/queue"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/rc"/>
-									<listOptionValue builtIn="false" value="../boardfiles/drivers/rfd"/>
+									<listOptionValue builtIn="false" value="../boardfiles/drivers/telemlink"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/gps"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/systemutils"/>
 									<listOptionValue builtIn="false" value="../boardfiles/model/inc"/>
@@ -217,7 +217,7 @@
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/motor"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/queue"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/rc"/>
-									<listOptionValue builtIn="false" value="../boardfiles/drivers/rfd"/>
+									<listOptionValue builtIn="false" value="../boardfiles/drivers/telemlink"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/gps"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/systemutils"/>
 									<listOptionValue builtIn="false" value="../boardfiles/model/inc"/>
@@ -234,8 +234,6 @@
 									<listOptionValue builtIn="false" value="../FATFS/Target"/>
 									<listOptionValue builtIn="false" value="../FATFS/App"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FatFs/src"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/boardfiles/drivers/rfd}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/boardfiles/drivers/imu}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.358133794" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -255,7 +253,7 @@
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/motor"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/queue"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/rc"/>
-									<listOptionValue builtIn="false" value="../boardfiles/drivers/rfd"/>
+									<listOptionValue builtIn="false" value="../boardfiles/drivers/telemlink"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/gps"/>
 									<listOptionValue builtIn="false" value="../boardfiles/drivers/systemutils"/>
 									<listOptionValue builtIn="false" value="../boardfiles/model/inc"/>
diff --git a/stm32l552xx/boardfiles/drivers/telemlink/rfd.cpp b/stm32l552xx/boardfiles/drivers/telemlink/rfd.cpp
diff --git a/stm32l552xx/boardfiles/drivers/telemlink/rfd.hpp b/stm32l552xx/boardfiles/drivers/telemlink/rfd.hpp
@@ -1,10 +1,10 @@
 #pragma once
 
-#include "rfd_iface.hpp"
+#include "telemlink_iface.hpp"
 #include "rfd_defines.hpp"
 #include "stm32l5xx_hal.h"
 
-class RFD : public IRFD {
+class RFD : public ITelemLink {
 
 public:
     static RFD* instance; // assumes only one instance defined at a time
diff --git a/stm32l552xx/boardfiles/drivers/telemlink/rfd_defines.hpp b/stm32l552xx/boardfiles/drivers/telemlink/rfd_defines.hpp
diff --git a/stm32l552xx/boardfiles/model/inc/drivers.hpp b/stm32l552xx/boardfiles/model/inc/drivers.hpp
@@ -32,7 +32,7 @@ extern MotorControl *steeringMotorHandle;
 
 extern CRSFReceiver *rcHandle;
 extern GPS *gpsHandle;
-extern RFD *rfdHandle;
+extern RFD *telemLinkHandle;
 extern IMU *imuHandle;
 extern PowerModule *pmHandle;
 
diff --git a/stm32l552xx/boardfiles/model/src/drivers.cpp b/stm32l552xx/boardfiles/model/src/drivers.cpp
@@ -58,7 +58,7 @@ MotorControl *steeringMotorHandle = nullptr;
 
 GPS *gpsHandle = nullptr;
 CRSFReceiver *rcHandle = nullptr;
-RFD *rfdHandle = nullptr;
+RFD *telemLinkHandle = nullptr;
 IMU *imuHandle = nullptr;
 PowerModule *pmHandle = nullptr;
 
@@ -112,7 +112,7 @@ void initDrivers()
     // Peripherals
     gpsHandle = new (&gpsStorage) GPS(&huart2);
     rcHandle = new (&crsfStorage) CRSFReceiver(&huart4);
-    rfdHandle = new (&rfdStorage) RFD(&huart3);
+    telemLinkHandle = new (&rfdStorage) RFD(&huart3);
     imuHandle = new (&imuStorage) IMU(&hspi2, GPIOD, GPIO_PIN_0);
     pmHandle = new (&pmStorage) PowerModule(&hi2c1);
 
@@ -136,7 +136,7 @@ void initDrivers()
     gpsHandle->init();
     imuHandle->init();
     pmHandle->init();
-    rfdHandle->startReceive();
+    telemLinkHandle->startReceive();
 
     // Motor instance bindings
     leftAileronMotorInstance = {leftAileronMotorHandle, true, 0};
diff --git a/stm32l552xx/boardfiles/model/src/managers.cpp b/stm32l552xx/boardfiles/model/src/managers.cpp
@@ -45,7 +45,7 @@ void initManagers()
     // TM initialization
     tmHandle = new (&tmHandleStorage) TelemetryManager(
         systemUtilsHandle,
-        rfdHandle,
+        telemLinkHandle,
         tmQueueHandle,
         amRCQueueHandle,
         messageBufferHandle
diff --git a/stm32l552xx/boardfiles/override.cpp b/stm32l552xx/boardfiles/override.cpp
@@ -51,8 +51,8 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
     if (huart == rcHandle->getHUART()){
         rcHandle->parse();
         rcHandle->startDMA();
-    } else if (huart == rfdHandle->getHuart()) {
-      rfdHandle->receiveCallback(Size);
+    } else if (huart == telemLinkHandle->getHuart()) {
+      telemLinkHandle->receiveCallback(Size);
     }
     // GPS dma callback
     else if (huart == gpsHandle->getHUART()) {
diff --git a/zeropilot4.0/include/driver_ifaces/telemlink_iface.hpp b/zeropilot4.0/include/driver_ifaces/telemlink_iface.hpp
@@ -2,12 +2,12 @@
 
 #include <cstdint>
 
-class IRFD {
+class ITelemLink {
 protected:
-	IRFD() = default;
+	ITelemLink() = default;
 
 public:
-    virtual ~IRFD() = default;
+    virtual ~ITelemLink() = default;
     virtual void transmit(const uint8_t* data, uint16_t size) = 0;
     virtual uint16_t receive(uint8_t* buffer, uint16_t bufferSize) = 0;
 };
diff --git a/zeropilot4.0/include/telemetry_manager/telemetry_manager.hpp b/zeropilot4.0/include/telemetry_manager/telemetry_manager.hpp
@@ -3,27 +3,27 @@
 #define MAVLINK_MAX_IDENTIFIER_LEN 17
 #define RX_BUFFER_LEN 8192
 
-#define TM_RFD_BAUDRATE 57600
+#define TM_LINK_BAUDRATE 57600
 #define TM_SCHEDULING_RATE_HZ 20
-#define TM_RFD_TX_LOADING_FACTOR 0.8f
+#define TM_LINK_TX_LOADING_FACTOR 0.8f
 
-#define TM_MAX_TRANSCEIVE (uint16_t) ((TM_RFD_BAUDRATE / (8 * TM_SCHEDULING_RATE_HZ)))
-#define TM_MAX_TX_BYTES (uint16_t) (TM_RFD_TX_LOADING_FACTOR * TM_MAX_TRANSCEIVE)
+#define TM_MAX_TRANSCEIVE (uint16_t) ((TM_LINK_BAUDRATE / (8 * TM_SCHEDULING_RATE_HZ)))
+#define TM_MAX_TX_BYTES (uint16_t) (TM_LINK_TX_LOADING_FACTOR * TM_MAX_TRANSCEIVE)
 #define TM_MAX_RX_BYTES (uint16_t) (TM_MAX_TRANSCEIVE + MAVLINK_MSG_MAX_SIZE)
 
 #include "systemutils_iface.hpp"
 #include "mavlink.h"
 #include "queue_iface.hpp"
 #include "tm_queue.hpp"
 #include "rc_motor_control.hpp"
-#include "rfd_iface.hpp"
+#include "telemlink_iface.hpp"
 class TelemetryManager {
   private:
-    ISystemUtils *systemUtilsDriver;			                  // System Utils Driver
-    IRFD *rfdDriver;										                    // Driver used to actually send mavlink messages
-    IMessageQueue<TMMessage_t> *tmTXQueueDriver;				      // Driver that receives messages from other managers
-    IMessageQueue<RCMotorControlMessage_t> *amQueueDriver;	// Driver that currently is only used to set arm/disarm
-    IMessageQueue<mavlink_message_t> *packedMsgBuffer{};	  	// GPOS, Attitude and Heartbeat/Connection Messages
+    ISystemUtils *systemUtilsDriver;                        // System Utils Driver
+    ITelemLink *telemLinkDriver;                            // Driver used to actually send mavlink messages
+    IMessageQueue<TMMessage_t> *tmTXQueueDriver;            // Driver that receives messages from other managers
+    IMessageQueue<RCMotorControlMessage_t> *amQueueDriver;   // Driver that currently is only used to set arm/disarm
+    IMessageQueue<mavlink_message_t> *packedMsgBuffer{};    // GPOS, Attitude and Heartbeat/Connection Messages
     mavlink_status_t status;
     mavlink_message_t message;
     mavlink_message_t overflowBuf;
@@ -38,7 +38,7 @@ class TelemetryManager {
     void receive();
 
   public:
-    TelemetryManager(ISystemUtils *systemUtilsDriver, IRFD *rfdDriver, IMessageQueue<TMMessage_t>  *tmTXQueueDriver,  IMessageQueue<RCMotorControlMessage_t> *amQueueDriver,IMessageQueue<mavlink_message_t> *packedMsgBuffer);
+    TelemetryManager(ISystemUtils *systemUtilsDriver, ITelemLink *telemLinkDriver, IMessageQueue<TMMessage_t>  *tmTXQueueDriver,  IMessageQueue<RCMotorControlMessage_t> *amQueueDriver,IMessageQueue<mavlink_message_t> *packedMsgBuffer);
     ~TelemetryManager();
 
     void tmUpdate();
diff --git a/zeropilot4.0/src/telemetry_manager/telemetry_manager.cpp b/zeropilot4.0/src/telemetry_manager/telemetry_manager.cpp
@@ -4,13 +4,13 @@
 
 TelemetryManager::TelemetryManager(
     ISystemUtils *systemUtilsDriver,
-    IRFD *rfdDriver,
+    ITelemLink *telemLinkDriver,
     IMessageQueue<TMMessage_t> *tmTXQueueDriver,
     IMessageQueue<RCMotorControlMessage_t> *amQueueDriver,
     IMessageQueue<mavlink_message_t> *packedMsgBuffer
 ) :
     systemUtilsDriver(systemUtilsDriver),
-    rfdDriver(rfdDriver),
+    telemLinkDriver(telemLinkDriver),
     tmTXQueueDriver(tmTXQueueDriver),
     amQueueDriver(amQueueDriver),
     packedMsgBuffer(packedMsgBuffer),
@@ -127,13 +127,13 @@ void TelemetryManager::transmit() {
         txBufIdx += MSG_LEN;
     }
 
-    rfdDriver->transmit(txBuffer, txBufIdx);
+    telemLinkDriver->transmit(txBuffer, txBufIdx);
 }
 
 void TelemetryManager::receive() {
     mavlink_message_t msgToRX{};
 
-    const uint16_t RECEIVED_BYTES = rfdDriver->receive(rxBuffer, sizeof(rxBuffer));
+    const uint16_t RECEIVED_BYTES = telemLinkDriver->receive(rxBuffer, sizeof(rxBuffer));
 
     // Use mavlink_parse_char to process one byte at a time
     for (uint16_t i = 0; i < RECEIVED_BYTES; ++i) {
diff --git a/zp_sitl/sitl_drivers/sitl_driver_configs.hpp b/zp_sitl/sitl_drivers/sitl_driver_configs.hpp
@@ -26,7 +26,7 @@ namespace SITL_Driver_Configs {
         static constexpr float MAX_BATTERY_CAPACITY_AH = 5.0f; // 5000mAh
     };
 
-    struct SITL_RFD_Config {
+    struct SITL_TELEM_Config {
         static constexpr uint32_t RX_BUF_SZ_BYTES = 1048576; // 1 MB receive buffer
     };
 }
diff --git a/zp_sitl/sitl_drivers/sitl_telemlink.hpp b/zp_sitl/sitl_drivers/sitl_telemlink.hpp
@@ -1,5 +1,5 @@
 #pragma once
-#include "rfd_iface.hpp"
+#include "telemlink_iface.hpp"
 #include <cstring>
 #include <functional>
 #include <string>
@@ -25,9 +25,9 @@
     #include <fcntl.h>
 #endif
 
-class SITL_RFD : public IRFD {
+class SITL_TELEM : public ITelemLink {
 private:
-    using Config = SITL_Driver_Configs::SITL_RFD_Config;
+    using Config = SITL_Driver_Configs::SITL_TELEM_Config;
 #ifdef _WIN32
     SOCKET sockfd; // Windows uses a specific SOCKET type
 #else
@@ -37,7 +37,7 @@ class SITL_RFD : public IRFD {
     std::function<void(const std::string&, uint8_t)> telemLogCallback;
 
 public:
-    SITL_RFD(const char* ip, int port, std::function<void(const std::string&, uint8_t)> telemLogCallback = nullptr)
+    SITL_TELEM(const char* ip, int port, std::function<void(const std::string&, uint8_t)> telemLogCallback = nullptr)
         : telemLogCallback(telemLogCallback) {
 #ifdef _WIN32
         // Initialize Windows Sockets (Required on Windows)
@@ -72,7 +72,7 @@ class SITL_RFD : public IRFD {
         inet_pton(AF_INET, ip, &destAddr.sin_addr);
     }
     
-    ~SITL_RFD() {
+    ~SITL_TELEM() {
 #ifdef _WIN32
         if (sockfd != INVALID_SOCKET) {
             closesocket(sockfd); // Windows uses closesocket()
diff --git a/zp_sitl/sitl_main.py b/zp_sitl/sitl_main.py
@@ -178,14 +178,14 @@ async def websocket_handler(request):
 # Initialize MAVLink decoder
 mavlink_decoder = MAVLinkDecoder()
 
-async def rfd_viewer_handler(request):
-    """Handles real-time RFD message streaming."""
+async def telem_viewer_handler(request):
+    """Handles real-time TELEM message streaming."""
     ws = web.WebSocketResponse()
     await ws.prepare(request)
     
     try:
         while True:
-            messages = sitl.zp.get_rfd_messages()
+            messages = sitl.zp.get_telem_messages()
             for direction, message in messages:
                 # Try to decode as MAVLink
                 # TODO: If a message is split between two UDP messages, we currently don't handle it correctly and just stream the bytes. Currently ZP never splits messages, so it is not yet an issue.
@@ -220,7 +220,7 @@ def start_webserver():
     app = web.Application()
     app.router.add_get('/', index)
     app.router.add_get('/ws', websocket_handler)
-    app.router.add_get('/rfd', rfd_viewer_handler)
+    app.router.add_get('/telem', telem_viewer_handler)
     
     app.router.add_static('/', path=UI_PATH, name='static')
     
diff --git a/zp_sitl/ui/script.js b/zp_sitl/ui/script.js
@@ -21,7 +21,7 @@ $(document).ready(function() {
         initSimulation(config);
     });
 
-    startRFDViewer();
+    startTelemViewer();
 });
 
 function initSimulation(config) {
@@ -143,14 +143,14 @@ function handleJoystick(ws, controls) {
     }
 }
 
-function startRFDViewer() {
+function startTelemViewer() {
     const MAX_MESSAGES = 1000;
 
-    const rfdWs = new WebSocket('ws://localhost:8080/rfd');
+    const telemWs = new WebSocket('ws://localhost:8080/telem');
     const txDiv = document.getElementById('telem-tx');
     const rxDiv = document.getElementById('telem-rx');
     
-    rfdWs.onmessage = (event) => {
+    telemWs.onmessage = (event) => {
         const data = JSON.parse(event.data);
         const div = data.direction === 1 ? txDiv : rxDiv;
         const msgElem = document.createElement('div');
diff --git a/zp_sitl/zeropilot_wrapper.cpp b/zp_sitl/zeropilot_wrapper.cpp

Original file line number	Diff line number	Diff line change
`@@ -46,8 +46,8 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {`
`46`	`46`	`rcHandle->parse();`
`47`	`47`	`rcHandle->startDMA();`
`48`	`48`	`}`
`49`		`- else if (huart == rfdHandle->getHuart()) {`
`50`		`- rfdHandle->receiveCallback(Size);`
	`49`	`+ else if (huart == telemLinkHandle->getHuart()) {`
	`50`	`+ telemLinkHandle->receiveCallback(Size);`
`51`	`51`	`}`
`52`	`52`	`// GPS dma callback`
`53`	`53`	`else if (huart == gpsHandle->getHUART()) {`