ardupilot/libraries/AP_MSP/AP_MSP.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_AHRS/AP_AHRS.h>
#include <AP_RSSI/AP_RSSI.h>
#include "AP_MSP.h"
#include "AP_MSP_Telem_Generic.h"
#include "AP_MSP_Telem_DJI.h"
#include "AP_MSP_Telem_DisplayPort.h"
#include <ctype.h>
#include <stdio.h>
#if HAL_MSP_ENABLED
const uint16_t OSD_FLIGHT_MODE_FOCUS_TIME = 2000;
extern const AP_HAL::HAL& hal;
using namespace MSP;
const AP_Param::GroupInfo AP_MSP::var_info[] = {
// @Param: _OSD_NCELLS
// @DisplayName: Cell count override
// @Description: Used for average cell voltage calculation
// @Values: 0:Auto,1:1,2:2,3:3,4:4,5:5,6:6,7:7,8:8,9:9,10:10,11:11,12:12,13:13,14:14
// @User: Standard
AP_GROUPINFO("_OSD_NCELLS", 1, AP_MSP, _cellcount, 0),
// @Param: _OPTIONS
// @DisplayName: MSP OSD Options
// @Description: A bitmask to set some MSP specific options
// @Bitmask: 0:EnableTelemetryMode, 1: DisableDJIWorkarounds, 2:EnableBTFLFonts
// @User: Standard
AP_GROUPINFO("_OPTIONS", 2, AP_MSP, _options, 0),
AP_GROUPEND
};
AP_MSP *AP_MSP::_singleton;
AP_MSP::AP_MSP()
{
_singleton = this;
AP_Param::setup_object_defaults(this, var_info);
}
bool AP_MSP::init_backend(uint8_t backend_idx, AP_HAL::UARTDriver *uart, AP_SerialManager::SerialProtocol protocol)
{
if (protocol == AP_SerialManager::SerialProtocol_MSP) {
_backends[backend_idx] = new AP_MSP_Telem_Generic(uart);
} else if (protocol == AP_SerialManager::SerialProtocol_DJI_FPV) {
_backends[backend_idx] = new AP_MSP_Telem_DJI(uart);
#if HAL_WITH_MSP_DISPLAYPORT
} else if (protocol == AP_SerialManager::SerialProtocol_MSP_DisplayPort) {
_backends[backend_idx] = new AP_MSP_Telem_DisplayPort(uart);
#endif
} else {
return false;
}
if (_backends[backend_idx] != nullptr) {
_backends[backend_idx]->init();
return true;
}
return false;
}
/*
* init - perform required initialisation
*/
void AP_MSP::init()
{
const AP_SerialManager &serial_manager = AP::serialmanager();
AP_HAL::UARTDriver *uart = nullptr;
uint8_t backends_using_msp_thread = 0;
static const AP_SerialManager::SerialProtocol msp_protocols[] {
AP_SerialManager::SerialProtocol_DJI_FPV,
AP_SerialManager::SerialProtocol_MSP,
#if HAL_WITH_MSP_DISPLAYPORT
AP_SerialManager::SerialProtocol_MSP_DisplayPort,
#endif
};
for (const auto msp_protocol: msp_protocols) {
for (uint8_t protocol_instance=0; protocol_instance<MSP_MAX_INSTANCES-_msp_status.backend_count; protocol_instance++) {
uart = serial_manager.find_serial(msp_protocol, protocol_instance);
if (uart != nullptr) {
if (!init_backend(_msp_status.backend_count, uart, msp_protocol)) {
break;
}
if (_backends[_msp_status.backend_count]->use_msp_thread()) {
backends_using_msp_thread++;
}
_msp_status.backend_count++;
}
}
}
if (backends_using_msp_thread > 0) {
// we've found at least 1 msp backend, start protocol handler
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_MSP::loop, void),
"MSP",
1024, AP_HAL::Scheduler::PRIORITY_IO, 1)) {
return;
}
}
}
void AP_MSP::update_osd_item_settings()
{
#if OSD_ENABLED
AP_OSD* osd = AP::osd();
if (osd == nullptr) {
return;
}
_osd_item_settings[OSD_RSSI_VALUE] = &osd->screen[_msp_status.current_screen].rssi; // OSDn_RSSI
_osd_item_settings[OSD_MAIN_BATT_VOLTAGE] = &osd->screen[_msp_status.current_screen].bat_volt; // OSDn_BAT_VOLT
_osd_item_settings[OSD_CROSSHAIRS] = &osd->screen[_msp_status.current_screen].crosshair; // OSDn_CRSSHAIR
_osd_item_settings[OSD_ARTIFICIAL_HORIZON] = &osd->screen[_msp_status.current_screen].horizon; // OSDn_HORIZON
_osd_item_settings[OSD_HORIZON_SIDEBARS] = &osd->screen[_msp_status.current_screen].sidebars; // OSDn_SIDEBARS
_osd_item_settings[OSD_CRAFT_NAME] = &osd->screen[_msp_status.current_screen].message; // OSDn_MESSAGE
_osd_item_settings[OSD_FLYMODE] = &osd->screen[_msp_status.current_screen].fltmode; // OSDn_FLTMODE
_osd_item_settings[OSD_CURRENT_DRAW] = &osd->screen[_msp_status.current_screen].current; // OSDn_CURRENT
_osd_item_settings[OSD_MAH_DRAWN] = &osd->screen[_msp_status.current_screen].batused; // OSDn_BATUSED
_osd_item_settings[OSD_GPS_SPEED] = &osd->screen[_msp_status.current_screen].gspeed; // OSDn_GSPEED
_osd_item_settings[OSD_GPS_SATS] = &osd->screen[_msp_status.current_screen].sats; // OSDn_SATS
_osd_item_settings[OSD_ALTITUDE] = &osd->screen[_msp_status.current_screen].altitude; // OSDn_ALTITUDE
_osd_item_settings[OSD_POWER] = &osd->screen[_msp_status.current_screen].power; // OSDn_POWER
_osd_item_settings[OSD_AVG_CELL_VOLTAGE] = &osd->screen[_msp_status.current_screen].cell_volt; // OSDn_CELLVOLT
_osd_item_settings[OSD_GPS_LON] = &osd->screen[_msp_status.current_screen].gps_longitude; // OSDn_GPSLONG
_osd_item_settings[OSD_GPS_LAT] = &osd->screen[_msp_status.current_screen].gps_latitude; // OSDn_GPSLAT
_osd_item_settings[OSD_PITCH_ANGLE] = &osd->screen[_msp_status.current_screen].pitch_angle; // OSDn_PITCH
_osd_item_settings[OSD_ROLL_ANGLE] = &osd->screen[_msp_status.current_screen].roll_angle; // OSDn_ROLL
_osd_item_settings[OSD_MAIN_BATT_USAGE] = &osd->screen[_msp_status.current_screen].batt_bar; // OSDn_BATBAR
_osd_item_settings[OSD_DISARMED] = &osd->screen[_msp_status.current_screen].arming; // OSDn_ARMING
_osd_item_settings[OSD_HOME_DIR] = &osd->screen[_msp_status.current_screen].home_dir; // OSDn_HOMEDIR
_osd_item_settings[OSD_HOME_DIST] = &osd->screen[_msp_status.current_screen].home_dist; // OSDn_HOMEDIST
_osd_item_settings[OSD_NUMERICAL_HEADING] = &osd->screen[_msp_status.current_screen].heading; // OSDn_HEADING
_osd_item_settings[OSD_NUMERICAL_VARIO] = &osd->screen[_msp_status.current_screen].vspeed; // OSDn_VSPEED
#if HAL_WITH_ESC_TELEM
_osd_item_settings[OSD_ESC_TMP] = &osd->screen[_msp_status.current_screen].esc_temp; // OSDn_ESCTEMP
#endif
_osd_item_settings[OSD_RTC_DATETIME] = &osd->screen[_msp_status.current_screen].clk; // OSDn_CLK
#endif // OSD_ENABLED
_msp_status.osd_initialized = true;
}
void AP_MSP::loop(void)
{
for (uint8_t i=0; i<_msp_status.backend_count; i++) {
// one time uart init
// note: we do not access a uart for a backend handled by another thread
if (_backends[i] != nullptr && _backends[i]->use_msp_thread()) {
_backends[i]->init_uart();
}
}
while (true) {
hal.scheduler->delay(10); // 115200 baud, 18 MSP packets @4Hz, 100Hz should be OK
const uint32_t now = AP_HAL::millis();
// toggle flashing every 0.7 seconds and every 2 seconds
if ((uint32_t(now * 0.00143) & 0x01) != _msp_status.flashing_on) {
_msp_status.flashing_on = !_msp_status.flashing_on;
}
if ((uint32_t(now * 0.0005) & 0x01) != _msp_status.slow_flashing_on) {
_msp_status.slow_flashing_on = !_msp_status.slow_flashing_on;
}
// detect flight mode changes and steal focus from text messages
if (AP::notify().flags.flight_mode != _msp_status.last_flight_mode) {
_msp_status.flight_mode_focus = true;
_msp_status.last_flight_mode = AP::notify().flags.flight_mode;
_msp_status.last_flight_mode_change_ms = AP_HAL::millis();
} else if (now - _msp_status.last_flight_mode_change_ms > OSD_FLIGHT_MODE_FOCUS_TIME) {
_msp_status.flight_mode_focus = false;
}
#if OSD_ENABLED
// check if we had a screen change
AP_OSD* osd = AP::osd();
if (osd != nullptr) {
const uint8_t screen = osd->is_readonly_screen() ? osd->get_current_screen() : _msp_status.current_screen;
if (_msp_status.current_screen != screen || !_msp_status.osd_initialized) {
_msp_status.current_screen = screen;
update_osd_item_settings();
}
}
#endif // OSD_ENABLED
for (uint8_t i=0; i< _msp_status.backend_count; i++) {
// note: we do not access a uart for a backend handled by another thread
if (_backends[i] != nullptr && _backends[i]->use_msp_thread()) {
// dynamically hide/unhide
_backends[i]->hide_osd_items();
// process incoming MSP frames (and reply if needed)
_backends[i]->process_incoming_data();
// push outgoing telemetry frames
_backends[i]->process_outgoing_data();
}
}
}
}
AP_MSP_Telem_Backend* AP_MSP::find_protocol(const AP_SerialManager::SerialProtocol protocol) const {
for (uint8_t i=0; i< _msp_status.backend_count; i++) {
if (_backends[i] != nullptr && _backends[i]->get_serial_protocol() == protocol) {
return _backends[i];
}
}
return nullptr;
}
bool AP_MSP::is_option_enabled(Option option) const
{
return (_options & (uint8_t)option) != 0;
}
namespace AP
{
AP_MSP *msp()
{
return AP_MSP::get_singleton();
}
};
#endif //HAL_MSP_ENABLED