mirror of https://github.com/ArduPilot/ardupilot
AP_VideoTX: new library to support the SmartAudio protocol
set the VTX parameters to what was actually configured by the VTX use change band/change frequency when appropriate set power levels appropriately for protocol version. Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
This commit is contained in:
Andy Piper
Andrew Tridgell
parent
7aa1e2d63b
commit
6f91e053d5
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@ -0,0 +1,623 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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SmartAudio protocol parsing and data structures taken from betaflight
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*/
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#include "AP_SmartAudio.h"
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#include <AP_Math/crc.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#if HAL_SMARTAUDIO_ENABLED
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#ifdef SA_DEBUG
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# define debug(fmt, args...) do { hal.console->printf("SA: " fmt "\n", ##args); } while (0)
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#else
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# define debug(fmt, args...) do {} while(0)
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#endif
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extern const AP_HAL::HAL &hal;
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AP_SmartAudio::AP_SmartAudio()
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{
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_singleton = this;
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}
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AP_SmartAudio *AP_SmartAudio::_singleton;
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// initialization start making a request settings to the vtx
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bool AP_SmartAudio::init()
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{
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debug("SmartAudio init");
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if (AP::vtx().get_enabled()==0) {
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debug("SmartAudio protocol it's not active");
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return false;
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}
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// init uart
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_port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SmartAudio, 0);
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if (_port!=nullptr) {
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_port->configure_parity(0);
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_port->set_stop_bits(2);
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_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
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_port->set_options((_port->get_options() & ~AP_HAL::UARTDriver::OPTION_RXINV)
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| AP_HAL::UARTDriver::OPTION_HDPLEX | AP_HAL::UARTDriver::OPTION_PULLDOWN_TX | AP_HAL::UARTDriver::OPTION_PULLDOWN_RX);
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if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_SmartAudio::loop, void),
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"SmartAudio",
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512, AP_HAL::Scheduler::PRIORITY_IO, -1)) {
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return false;
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}
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return true;
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}
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return false;
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}
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void AP_SmartAudio::loop()
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{
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while (!hal.scheduler->is_system_initialized()) {
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hal.scheduler->delay(100);
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}
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uint8_t res_retries=0;
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// allocate response buffer
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uint8_t _response_buffer[AP_SMARTAUDIO_MAX_PACKET_SIZE];
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// initialise uart (this must be called from within tick b/c the UART begin must be called from the same thread as it is used from)
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_port->begin(_smartbaud, AP_SMARTAUDIO_UART_BUFSIZE_RX, AP_SMARTAUDIO_UART_BUFSIZE_TX);
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//bool tried = false;
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while (true) {
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// now time to control loop switching
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uint32_t now = AP_HAL::millis();
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// when pending request and last request sended is timeout, take another packet to send
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if (!_is_waiting_response) {
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// command to process
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Packet current_command;
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// repeatedly initialize UART until we know what the VTX is
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if (!_initialised) {
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// request settings every second
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if (requests_queue.is_empty() && !hal.util->get_soft_armed() && now - _last_request_sent_ms > 1000) {
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request_settings();
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}
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}
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if (requests_queue.pop(current_command)) {
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// send the popped command from bugger
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send_request(current_command.frame, current_command.frame_size);
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now = AP_HAL::millis();
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// it takes roughly 15ms to send a request, don't turn around and try and read until
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// this time has elapsed
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hal.scheduler->delay(20);
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_last_request_sent_ms = now;
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// next loop we expect a response
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_is_waiting_response = true;
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}
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}
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// nothing going on so give CPU to someone else
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if (!_is_waiting_response && !_initialised) {
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hal.scheduler->delay(100);
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}
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// On my Unify Pro32 the SmartAudio response is sent exactly 100ms after the request
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// and the initial response is 40ms long so we should wait at least 140ms before giving up
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if (now - _last_request_sent_ms < 200 && _is_waiting_response) {
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// setup sheduler delay to 50 ms again after response processes
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if (!read_response(_response_buffer)) {
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hal.scheduler->delay(10);
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res_retries++;
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} else {
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res_retries = 0;
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}
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} else if (_is_waiting_response) { // timeout
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// process autobaud routine
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update_baud_rate();
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_port->discard_input();
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_inline_buffer_length = 0;
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_is_waiting_response = false;
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} else {
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if (AP::vtx().have_params_changed() ||_vtx_power_change_pending
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|| _vtx_freq_change_pending || _vtx_options_change_pending) {
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update_vtx_params();
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_vtx_gcs_pending = true;
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// we've tried to udpate something, re-request the settings so that they
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// are reflected correctly
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request_settings();
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} else if (_vtx_gcs_pending) {
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AP::vtx().announce_vtx_settings();
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_vtx_gcs_pending = false;
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}
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}
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}
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}
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// send requests to the VTX to match the configured VTX parameters
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void AP_SmartAudio::update_vtx_params()
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{
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AP_VideoTX& vtx = AP::vtx();
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_vtx_freq_change_pending = vtx.update_band() || vtx.update_channel() || vtx.update_frequency() || _vtx_freq_change_pending;
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_vtx_power_change_pending = vtx.update_power() || _vtx_power_change_pending;
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_vtx_options_change_pending = vtx.update_options() || _vtx_options_change_pending;
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if (_vtx_freq_change_pending || _vtx_power_change_pending || _vtx_options_change_pending) {
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// make the desired frequency match the desired band and channel
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if (_vtx_freq_change_pending) {
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if (vtx.update_band() || vtx.update_channel()) {
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vtx.update_configured_frequency();
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} else {
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vtx.update_configured_channel_and_band();
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}
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}
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debug("update_params(): freq %d->%d, chan: %d->%d, band: %d->%d, pwr: %d->%d, opts: %d->%d",
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vtx.get_frequency_mhz(), vtx.get_configured_frequency_mhz(),
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vtx.get_channel(), vtx.get_configured_channel(),
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vtx.get_band(), vtx.get_configured_band(),
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vtx.get_power_mw(), vtx.get_configured_power_mw(),
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vtx.get_options(), vtx.get_configured_options());
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uint8_t opts = vtx.get_configured_options();
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uint8_t pitModeRunning = (vtx.get_options() & uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
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uint8_t pitMode = opts & uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE);
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uint8_t mode;
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// check if we are turning pitmode on or off
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if (pitMode != pitModeRunning) {
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if (pitModeRunning) {
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debug("Turning OFF pitmode");
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// turn it off
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mode = 0x04 | ((opts & uint8_t(AP_VideoTX::VideoOptions::VTX_UNLOCKED)) << 2);
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} else {
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debug("Turning ON pitmode");
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// turn it on
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mode = 0x01 | ((opts & uint8_t(AP_VideoTX::VideoOptions::VTX_UNLOCKED)) << 2);
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}
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} else {
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mode = ((opts & uint8_t(AP_VideoTX::VideoOptions::VTX_UNLOCKED)) << 2);
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if (pitMode) {
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mode |= 0x01;
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}
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}
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if (_vtx_freq_change_pending) {
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if (_vtx_use_set_freq) {
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set_frequency(vtx.get_configured_frequency_mhz(), false);
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} else {
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set_channel(vtx.get_configured_band() * VTX_MAX_CHANNELS + vtx.get_configured_channel());
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}
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} else if (_vtx_power_change_pending) {
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switch (_protocol_version) {
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case SMARTAUDIO_SPEC_PROTOCOL_v21:
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set_power(vtx.get_configured_power_dbm() | 0x80);
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break;
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case SMARTAUDIO_SPEC_PROTOCOL_v2:
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set_power(vtx.get_configured_power_level());
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break;
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default: // v1
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switch(vtx.get_configured_power_level()) {
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case 1: set_power(16); break; // 200mw
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case 2: set_power(25); break; // 500mw
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case 3: set_power(40); break; // 800mw
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default: set_power(7); break; // 25mw
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}
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break;
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}
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} else if (_vtx_options_change_pending) {
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set_operation_mode(mode);
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}
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}
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}
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/**
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* Sends an SmartAudio Command to the vtx, waits response on the update event
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* @param frameBuffer frameBuffer to send over the wire
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* @param size size of the framebuffer wich needs to be sended
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*/
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void AP_SmartAudio::send_request(const Frame& requestFrame, uint8_t size)
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{
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if (size <= 0 || _port == nullptr) {
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return;
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}
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const uint8_t *request = reinterpret_cast<const uint8_t*>(&requestFrame);
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// write request
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_port->write(request, size);
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_port->flush();
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_packets_sent++;
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#ifdef SA_DEBUG
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print_bytes_to_hex_string("send_request():", request, size,0);
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#endif
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}
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/**
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* Reads the response from vtx in the wire
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* - response_buffer, response buffer to fill in
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* - inline_buffer_length , used to passthrought the response lenght in case the response where splitted
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**/
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bool AP_SmartAudio::read_response(uint8_t *response_buffer)
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{
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int16_t incoming_bytes_count = _port->available();
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const uint8_t response_header_size= sizeof(FrameHeader);
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// check if it is a response in the wire
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if (incoming_bytes_count <= 0) {
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return false;
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}
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// wait until we have enough bytes to read a header
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if (incoming_bytes_count < response_header_size && _inline_buffer_length == 0) {
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return false;
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}
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// now have at least the header, read it if necessary
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if (_inline_buffer_length == 0) {
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uint8_t b = _port->read();
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// didn't see a sync byte, discard and go around again
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if (b != SMARTAUDIO_SYNC_BYTE) {
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return false;
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}
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response_buffer[_inline_buffer_length++] = b;
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b = _port->read();
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// didn't see a header byte, discard and reset
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if (b != SMARTAUDIO_HEADER_BYTE) {
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_inline_buffer_length = 0;
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return false;
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}
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response_buffer[_inline_buffer_length++] = b;
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// read the rest of the header
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for (; _inline_buffer_length < response_header_size; _inline_buffer_length++) {
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b = _port->read();
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response_buffer[_inline_buffer_length] = b;
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}
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FrameHeader* header = (FrameHeader*)response_buffer;
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incoming_bytes_count -= response_header_size;
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_packet_size = header->length;
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}
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// read the rest of the packet
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for (uint8_t i= 0; i < incoming_bytes_count && _inline_buffer_length < _packet_size + response_header_size; i++) {
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uint8_t response_in_bytes = _port->read();
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// check for overflow
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if (_inline_buffer_length >= AP_SMARTAUDIO_MAX_PACKET_SIZE) {
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_inline_buffer_length = 0;
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_is_waiting_response = false;
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return false;
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}
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response_buffer[_inline_buffer_length++] = response_in_bytes;
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}
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// didn't get the whole packet
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if (_inline_buffer_length < _packet_size + response_header_size) {
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return false;
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}
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#ifdef SA_DEBUG
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print_bytes_to_hex_string("read_response():", response_buffer, incoming_bytes_count,(_inline_buffer_length-incoming_bytes_count)>=0?(_inline_buffer_length-incoming_bytes_count):0);
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#endif
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_is_waiting_response=false;
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bool correct_parse = parse_response_buffer(response_buffer);
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response_buffer=nullptr;
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_inline_buffer_length=0;
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_packet_size = 0;
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_packets_rcvd++;
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// reset the lost packets to 0
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_packets_sent =_packets_rcvd;
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return correct_parse;
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}
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// format a simple command and push into the request queue
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void AP_SmartAudio::push_command_only_frame(uint8_t cmd_id)
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{
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Packet command;
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command.frame.header.init(cmd_id, 0);
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command.frame_size = SMARTAUDIO_COMMAND_FRAME_SIZE;
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command.frame.payload[0] = crc8_dvb_s2_update(0, &command.frame, SMARTAUDIO_COMMAND_FRAME_SIZE - 1);
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requests_queue.push_force(command);
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}
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// format an 8-bit command and push into the request queue
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void AP_SmartAudio::push_uint8_command_frame(uint8_t cmd_id, uint8_t data)
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{
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Packet command;
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command.frame.header.init(cmd_id, sizeof(uint8_t));
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command.frame_size = SMARTAUDIO_U8_COMMAND_FRAME_SIZE;
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command.frame.payload[0] = data;
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command.frame.payload[1] = crc8_dvb_s2_update(0, &command.frame, SMARTAUDIO_U8_COMMAND_FRAME_SIZE - 1);
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requests_queue.push_force(command);
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}
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// format an 16-bit command and push into the request queue
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void AP_SmartAudio::push_uint16_command_frame(uint8_t cmd_id, uint16_t data)
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{
|
||||||
|
Packet command;
|
||||||
|
command.frame.header.init(cmd_id, sizeof(uint16_t));
|
||||||
|
command.frame_size = SMARTAUDIO_U16_COMMAND_FRAME_SIZE;
|
||||||
|
put_be16_ptr(command.frame.payload, data);
|
||||||
|
command.frame.payload[2] = crc8_dvb_s2_update(0, &command.frame, SMARTAUDIO_U16_COMMAND_FRAME_SIZE - 1);
|
||||||
|
requests_queue.push_force(command);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Sends get settings command.
|
||||||
|
* */
|
||||||
|
void AP_SmartAudio::request_settings()
|
||||||
|
{
|
||||||
|
debug("request_settings()");
|
||||||
|
push_command_only_frame(SMARTAUDIO_CMD_GET_SETTINGS);
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_SmartAudio::set_operation_mode(uint8_t mode)
|
||||||
|
{
|
||||||
|
debug("Setting mode to 0x%x", mode);
|
||||||
|
push_uint8_command_frame(SMARTAUDIO_CMD_SET_MODE, mode);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Sets the frequency to transmit in the vtx.
|
||||||
|
* When isPitModeFreq active the freq will be set to be used when in pitmode (in range)
|
||||||
|
*/
|
||||||
|
void AP_SmartAudio::set_frequency(uint16_t frequency, bool isPitModeFreq)
|
||||||
|
{
|
||||||
|
debug("Setting frequency to %d with pitmode == %d", frequency, isPitModeFreq);
|
||||||
|
push_uint16_command_frame(SMARTAUDIO_CMD_SET_FREQUENCY,
|
||||||
|
frequency | (isPitModeFreq ? SMARTAUDIO_SET_PITMODE_FREQ : 0x00));
|
||||||
|
}
|
||||||
|
|
||||||
|
// enqueue a set channel request
|
||||||
|
void AP_SmartAudio::set_channel(uint8_t channel)
|
||||||
|
{
|
||||||
|
debug("Setting channel to %d", channel);
|
||||||
|
push_uint8_command_frame(SMARTAUDIO_CMD_SET_CHANNEL, channel);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Request pitMode Frequency setted into the vtx hardware
|
||||||
|
* */
|
||||||
|
void AP_SmartAudio::request_pit_mode_frequency()
|
||||||
|
{
|
||||||
|
debug("Requesting pit mode frequency");
|
||||||
|
push_uint16_command_frame(SMARTAUDIO_CMD_SET_FREQUENCY, SMARTAUDIO_GET_PITMODE_FREQ);
|
||||||
|
}
|
||||||
|
|
||||||
|
// send vtx request to set power
|
||||||
|
void AP_SmartAudio::set_power(uint8_t power_level)
|
||||||
|
{
|
||||||
|
debug("Setting power to %d", power_level);
|
||||||
|
push_uint8_command_frame(SMARTAUDIO_CMD_SET_POWER, power_level);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void AP_SmartAudio::set_band_channel(const uint8_t band, const uint8_t channel)
|
||||||
|
{
|
||||||
|
debug("Setting band/channel to %d/%d", band, channel);
|
||||||
|
push_uint16_command_frame(SMARTAUDIO_CMD_SET_CHANNEL, SMARTAUDIO_BANDCHAN_TO_INDEX(band, channel));
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_SmartAudio::unpack_frequency(AP_SmartAudio::Settings *settings, const uint16_t frequency)
|
||||||
|
{
|
||||||
|
if (frequency & SMARTAUDIO_GET_PITMODE_FREQ) {
|
||||||
|
settings->pitmodeFrequency = frequency;
|
||||||
|
} else {
|
||||||
|
settings->frequency = frequency;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_SmartAudio::unpack_settings(Settings *settings, const SettingsResponseFrame *frame)
|
||||||
|
{
|
||||||
|
settings->channel = frame->channel % VTX_MAX_CHANNELS;
|
||||||
|
settings->band = frame->channel / VTX_MAX_CHANNELS;
|
||||||
|
settings->power = frame->power;
|
||||||
|
settings->mode = frame->operationMode;
|
||||||
|
unpack_frequency(settings, be16toh(frame->frequency));
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_SmartAudio::unpack_settings(Settings *settings, const SettingsExtendedResponseFrame *frame)
|
||||||
|
{
|
||||||
|
settings->channel = frame->channel % VTX_MAX_CHANNELS;
|
||||||
|
settings->band = frame->channel / VTX_MAX_CHANNELS;
|
||||||
|
settings->power = frame->power;
|
||||||
|
settings->power_in_dbm=frame->power_dbm;
|
||||||
|
settings->mode = frame->operationMode;
|
||||||
|
unpack_frequency(settings, be16toh(frame->frequency));
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef SA_DEBUG
|
||||||
|
void AP_SmartAudio::print_bytes_to_hex_string(const char* msg, const uint8_t buf[], uint8_t len,uint8_t offset)
|
||||||
|
{
|
||||||
|
hal.console->printf("SA: %s ", msg);
|
||||||
|
for (uint8_t i = 0; i < len; i++) {
|
||||||
|
hal.console->printf("0x%02X ", buf[i+offset]);
|
||||||
|
}
|
||||||
|
hal.console->printf("\n");
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
void AP_SmartAudio::print_settings(const Settings* settings)
|
||||||
|
{
|
||||||
|
debug("SETTINGS: VER: %u, MD: 0x%x, CH: %u, PWR: %u, FREQ: %u, BND: %u",
|
||||||
|
settings->version, settings->mode, settings->channel, settings->power, settings->frequency, settings->band);
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_SmartAudio::update_vtx_settings(const Settings& settings)
|
||||||
|
{
|
||||||
|
AP_VideoTX& vtx = AP::vtx();
|
||||||
|
|
||||||
|
vtx.set_enabled(true);
|
||||||
|
vtx.set_frequency_mhz(settings.frequency);
|
||||||
|
vtx.set_band(settings.band);
|
||||||
|
vtx.set_channel(settings.channel);
|
||||||
|
vtx.set_power_dbm(settings.power_in_dbm);
|
||||||
|
// it seems like the spec is wrong, on a unify pro32 this setting is inverted
|
||||||
|
_vtx_use_set_freq = !(settings.mode & 1);
|
||||||
|
|
||||||
|
// PITMODE | UNLOCKED
|
||||||
|
// SmartAudio 2.1 dropped support for outband pitmode so we won't support it
|
||||||
|
uint8_t opts = ((settings.mode & 0x2) >> 1) | ((settings.mode & 0x10) >> 3);
|
||||||
|
vtx.set_options(opts);
|
||||||
|
|
||||||
|
// make sure the configured values now reflect reality
|
||||||
|
vtx.set_defaults();
|
||||||
|
|
||||||
|
_initialised = true;
|
||||||
|
|
||||||
|
_vtx_power_change_pending = _vtx_freq_change_pending = _vtx_options_change_pending = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool AP_SmartAudio::parse_response_buffer(const uint8_t *buffer)
|
||||||
|
{
|
||||||
|
const FrameHeader *header = (const FrameHeader *)buffer;
|
||||||
|
const uint8_t fullFrameLength = sizeof(FrameHeader) + header->length;
|
||||||
|
const uint8_t headerPayloadLength = fullFrameLength - 1; // subtract crc byte from length
|
||||||
|
const uint8_t *startPtr = buffer + 2;
|
||||||
|
const uint8_t *endPtr = buffer + headerPayloadLength;
|
||||||
|
|
||||||
|
if (crc8_dvb_s2_update(0x00, startPtr, headerPayloadLength-2)!=*(endPtr)
|
||||||
|
|| header->headerByte != SMARTAUDIO_HEADER_BYTE
|
||||||
|
|| header->syncByte!=SMARTAUDIO_SYNC_BYTE) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
// SEND TO GCS A MESSAGE TO UNDERSTAND WHATS HAPPENING
|
||||||
|
AP_VideoTX& vtx = AP::vtx();
|
||||||
|
Settings settings {};
|
||||||
|
|
||||||
|
switch (header->command) {
|
||||||
|
case SMARTAUDIO_RSP_GET_SETTINGS_V1:
|
||||||
|
_protocol_version = SMARTAUDIO_SPEC_PROTOCOL_v1;
|
||||||
|
unpack_settings(&settings, (const SettingsResponseFrame *)buffer);
|
||||||
|
settings.version = SMARTAUDIO_SPEC_PROTOCOL_v1;
|
||||||
|
print_settings(&settings);
|
||||||
|
update_vtx_settings(settings);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SMARTAUDIO_RSP_GET_SETTINGS_V2:
|
||||||
|
_protocol_version = SMARTAUDIO_SPEC_PROTOCOL_v2;
|
||||||
|
unpack_settings(&settings, (const SettingsResponseFrame *)buffer);
|
||||||
|
settings.version = SMARTAUDIO_SPEC_PROTOCOL_v2;
|
||||||
|
print_settings(&settings);
|
||||||
|
update_vtx_settings(settings);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SMARTAUDIO_RSP_GET_SETTINGS_V21:
|
||||||
|
_protocol_version = SMARTAUDIO_SPEC_PROTOCOL_v21;
|
||||||
|
unpack_settings(&settings, (const SettingsExtendedResponseFrame *)buffer);
|
||||||
|
settings.version = SMARTAUDIO_SPEC_PROTOCOL_v21;
|
||||||
|
print_settings(&settings);
|
||||||
|
update_vtx_settings(settings);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SMARTAUDIO_RSP_SET_FREQUENCY: {
|
||||||
|
const U16ResponseFrame *resp = (const U16ResponseFrame *)buffer;
|
||||||
|
unpack_frequency(&settings, resp->payload);
|
||||||
|
vtx.set_frequency_mhz(settings.frequency);
|
||||||
|
vtx.set_configured_frequency_mhz(vtx.get_frequency_mhz());
|
||||||
|
vtx.update_configured_channel_and_band();
|
||||||
|
debug("Frequency was set to %d", settings.frequency);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SMARTAUDIO_RSP_SET_CHANNEL: {
|
||||||
|
const U8ResponseFrame *resp = (const U8ResponseFrame *)buffer;
|
||||||
|
vtx.set_band(resp->payload / VTX_MAX_CHANNELS);
|
||||||
|
vtx.set_channel(resp->payload % VTX_MAX_CHANNELS);
|
||||||
|
vtx.set_configured_channel(vtx.get_channel());
|
||||||
|
vtx.set_configured_band(vtx.get_band());
|
||||||
|
vtx.update_configured_frequency();
|
||||||
|
debug("Channel was set to %d", resp->payload);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SMARTAUDIO_RSP_SET_POWER: {
|
||||||
|
const U16ResponseFrame *resp = (const U16ResponseFrame *)buffer;
|
||||||
|
const uint8_t power = resp->payload & 0xFF;
|
||||||
|
switch (_protocol_version) {
|
||||||
|
case SMARTAUDIO_SPEC_PROTOCOL_v21:
|
||||||
|
vtx.set_power_dbm(power);
|
||||||
|
vtx.set_configured_power_mw(vtx.get_power_mw());
|
||||||
|
break;
|
||||||
|
case SMARTAUDIO_SPEC_PROTOCOL_v2:
|
||||||
|
vtx.set_power_level(power);
|
||||||
|
vtx.set_configured_power_mw(vtx.get_power_mw());
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
switch(power) {
|
||||||
|
case 16: vtx.set_power_level(1); break; // 200mw
|
||||||
|
case 25: vtx.set_power_level(2); break; // 500mw
|
||||||
|
case 40: vtx.set_power_level(3); break; // 800mw
|
||||||
|
default: vtx.set_power_level(0); break; // 25mw
|
||||||
|
}
|
||||||
|
vtx.set_configured_power_mw(vtx.get_power_mw());
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
debug("Power was set to to %d", power);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SMARTAUDIO_RSP_SET_MODE: {
|
||||||
|
vtx.set_options(vtx.get_configured_options()); // easiest to just make them match
|
||||||
|
debug("Mode was set to 0x%x", buffer[4]);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// we missed a response too many times - update the baud rate in case the temperature has increased
|
||||||
|
void AP_SmartAudio::update_baud_rate()
|
||||||
|
{
|
||||||
|
// on my Unify Pro32 the VTX will respond immediately on power up to a settings request, so 10 packets is easily more than enough
|
||||||
|
// we want to bias autobaud to only frequency hop when the current frequency is clearly exhausted, but after that hop quickly
|
||||||
|
if (_packets_sent - _packets_rcvd < 10) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ((_smartbaud_direction == 1) && (_smartbaud == AP_SMARTAUDIO_SMARTBAUD_MAX)) {
|
||||||
|
_smartbaud_direction = -1;
|
||||||
|
} else if ((_smartbaud_direction == -1 && _smartbaud == AP_SMARTAUDIO_SMARTBAUD_MIN)) {
|
||||||
|
_smartbaud_direction = 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
_smartbaud += AP_SMARTAUDIO_SMARTBAUD_STEP * _smartbaud_direction;
|
||||||
|
|
||||||
|
debug("autobaud: %d", int(_smartbaud));
|
||||||
|
|
||||||
|
_port->begin(_smartbaud);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // HAL_SMARTAUDIO_ENABLED
|
||||||
|
|
@ -0,0 +1,269 @@
|
||||||
|
/*
|
||||||
|
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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <AP_HAL/AP_HAL.h>
|
||||||
|
|
||||||
|
#ifndef HAL_SMARTAUDIO_ENABLED
|
||||||
|
#define HAL_SMARTAUDIO_ENABLED !HAL_MINIMIZE_FEATURES
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if HAL_SMARTAUDIO_ENABLED
|
||||||
|
|
||||||
|
#include <AP_Param/AP_Param.h>
|
||||||
|
#include <AP_SerialManager/AP_SerialManager.h>
|
||||||
|
#include <AP_HAL/utility/RingBuffer.h>
|
||||||
|
#include <AP_RCTelemetry/AP_VideoTX.h>
|
||||||
|
|
||||||
|
#define SMARTAUDIO_BUFFER_CAPACITY 5
|
||||||
|
|
||||||
|
// SmartAudio Serial Protocol
|
||||||
|
#define AP_SMARTAUDIO_UART_BAUD 4800
|
||||||
|
#define AP_SMARTAUDIO_SMARTBAUD_MIN 4560 // -5%
|
||||||
|
#define AP_SMARTAUDIO_SMARTBAUD_MAX 5040 // +5%
|
||||||
|
#define AP_SMARTAUDIO_SMARTBAUD_STEP 60
|
||||||
|
#define AP_SMARTAUDIO_UART_BUFSIZE_RX 16
|
||||||
|
#define AP_SMARTAUDIO_UART_BUFSIZE_TX 16
|
||||||
|
#define AP_SMARTAUDIO_MAX_PACKET_SIZE 32
|
||||||
|
|
||||||
|
#define SMARTAUDIO_SYNC_BYTE 0xAA
|
||||||
|
#define SMARTAUDIO_HEADER_BYTE 0x55
|
||||||
|
#define SMARTAUDIO_START_CODE SMARTAUDIO_SYNC_BYTE + SMARTAUDIO_HEADER_BYTE
|
||||||
|
#define SMARTAUDIO_GET_PITMODE_FREQ (1 << 14)
|
||||||
|
#define SMARTAUDIO_SET_PITMODE_FREQ (1 << 15)
|
||||||
|
#define SMARTAUDIO_FREQUENCY_MASK 0x3FFF
|
||||||
|
|
||||||
|
#define SMARTAUDIO_CMD_GET_SETTINGS 0x03
|
||||||
|
#define SMARTAUDIO_CMD_SET_POWER 0x05
|
||||||
|
#define SMARTAUDIO_CMD_SET_CHANNEL 0x07
|
||||||
|
#define SMARTAUDIO_CMD_SET_FREQUENCY 0x09
|
||||||
|
#define SMARTAUDIO_CMD_SET_MODE 0x0B
|
||||||
|
|
||||||
|
#define SMARTAUDIO_COMMAND_FRAME_SIZE (sizeof(FrameHeader) + 1)
|
||||||
|
#define SMARTAUDIO_U8_COMMAND_FRAME_SIZE (sizeof(FrameHeader) + 2)
|
||||||
|
#define SMARTAUDIO_U16_COMMAND_FRAME_SIZE (sizeof(FrameHeader) + 3)
|
||||||
|
|
||||||
|
#define SMARTAUDIO_RSP_GET_SETTINGS_V1 SMARTAUDIO_CMD_GET_SETTINGS >> 1
|
||||||
|
#define SMARTAUDIO_RSP_GET_SETTINGS_V2 (SMARTAUDIO_CMD_GET_SETTINGS >> 1) | 0x08
|
||||||
|
#define SMARTAUDIO_RSP_GET_SETTINGS_V21 (SMARTAUDIO_CMD_GET_SETTINGS >> 1) | 0x10
|
||||||
|
#define SMARTAUDIO_RSP_SET_POWER SMARTAUDIO_CMD_SET_POWER >> 1
|
||||||
|
#define SMARTAUDIO_RSP_SET_CHANNEL SMARTAUDIO_CMD_SET_CHANNEL >> 1
|
||||||
|
#define SMARTAUDIO_RSP_SET_FREQUENCY SMARTAUDIO_CMD_SET_FREQUENCY >> 1
|
||||||
|
#define SMARTAUDIO_RSP_SET_MODE SMARTAUDIO_CMD_SET_MODE >> 1
|
||||||
|
|
||||||
|
#define SMARTAUDIO_BANDCHAN_TO_INDEX(band, channel) (band * VTX_MAX_CHANNELS + (channel))
|
||||||
|
|
||||||
|
// #define SA_DEBUG
|
||||||
|
|
||||||
|
class AP_SmartAudio
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
enum ProtocolVersion {
|
||||||
|
SMARTAUDIO_SPEC_PROTOCOL_v1 = 0,
|
||||||
|
SMARTAUDIO_SPEC_PROTOCOL_v2 = 1,
|
||||||
|
SMARTAUDIO_SPEC_PROTOCOL_v21 = 2
|
||||||
|
};
|
||||||
|
|
||||||
|
struct Settings {
|
||||||
|
uint8_t version;
|
||||||
|
uint8_t mode;
|
||||||
|
uint8_t channel;
|
||||||
|
uint8_t power;
|
||||||
|
uint16_t frequency;
|
||||||
|
uint8_t band;
|
||||||
|
|
||||||
|
uint8_t* power_levels;
|
||||||
|
uint8_t power_in_dbm;
|
||||||
|
|
||||||
|
uint16_t pitmodeFrequency;
|
||||||
|
bool userFrequencyMode; // user is setting freq
|
||||||
|
bool initialized;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct FrameHeader {
|
||||||
|
uint8_t syncByte;
|
||||||
|
uint8_t headerByte;
|
||||||
|
uint8_t command;
|
||||||
|
uint8_t length;
|
||||||
|
|
||||||
|
void init(uint8_t cmd, uint8_t payloadLength) {
|
||||||
|
syncByte = SMARTAUDIO_SYNC_BYTE;
|
||||||
|
headerByte= SMARTAUDIO_HEADER_BYTE;
|
||||||
|
length = payloadLength;
|
||||||
|
command = cmd;
|
||||||
|
}
|
||||||
|
} PACKED;
|
||||||
|
|
||||||
|
struct Frame {
|
||||||
|
FrameHeader header;
|
||||||
|
uint8_t payload[3];
|
||||||
|
} PACKED;
|
||||||
|
|
||||||
|
struct U8ResponseFrame {
|
||||||
|
FrameHeader header;
|
||||||
|
uint8_t payload;
|
||||||
|
//uint8_t reserved;
|
||||||
|
//uint8_t crc;
|
||||||
|
} PACKED;
|
||||||
|
|
||||||
|
struct U16ResponseFrame {
|
||||||
|
FrameHeader header;
|
||||||
|
uint16_t payload;
|
||||||
|
//uint8_t reserved;
|
||||||
|
//uint8_t crc;
|
||||||
|
} PACKED;
|
||||||
|
|
||||||
|
struct SettingsResponseFrame {
|
||||||
|
FrameHeader header;
|
||||||
|
uint8_t channel;
|
||||||
|
uint8_t power;
|
||||||
|
uint8_t operationMode;
|
||||||
|
uint16_t frequency;
|
||||||
|
//uint8_t crc;
|
||||||
|
} PACKED;
|
||||||
|
|
||||||
|
struct SettingsExtendedResponseFrame {
|
||||||
|
FrameHeader header;
|
||||||
|
uint8_t channel;
|
||||||
|
uint8_t power;
|
||||||
|
uint8_t operationMode;
|
||||||
|
uint16_t frequency;
|
||||||
|
uint8_t power_dbm;
|
||||||
|
uint8_t power_levels_len;
|
||||||
|
uint8_t power_dbm_levels; // first in the list of dbm levels
|
||||||
|
//uint8_t crc;
|
||||||
|
} PACKED;
|
||||||
|
|
||||||
|
// v 2.1 additions to response frame
|
||||||
|
//0x0E (current power in dBm) 0x03 (amount of power levels) 0x00(dBm level 1) 0x0E (dBm level 2) 0x14 (dBm level 3) 0x1A (dBm level 4) 0x01(CRC8)
|
||||||
|
|
||||||
|
// request packet to be processed
|
||||||
|
struct Packet {
|
||||||
|
Frame frame;
|
||||||
|
uint8_t frame_size;
|
||||||
|
} PACKED;
|
||||||
|
|
||||||
|
AP_SmartAudio();
|
||||||
|
|
||||||
|
static AP_SmartAudio *get_singleton(void)
|
||||||
|
{
|
||||||
|
return _singleton;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Do not allow copies */
|
||||||
|
AP_SmartAudio(const AP_SmartAudio &other) = delete;
|
||||||
|
|
||||||
|
AP_SmartAudio &operator=(const AP_SmartAudio&) = delete;
|
||||||
|
|
||||||
|
// init threads and lookup for io uart.
|
||||||
|
bool init();
|
||||||
|
|
||||||
|
private:
|
||||||
|
// serial interface
|
||||||
|
AP_HAL::UARTDriver *_port; // UART used to send data to SmartAudio VTX
|
||||||
|
|
||||||
|
//Pointer to singleton
|
||||||
|
static AP_SmartAudio* _singleton;
|
||||||
|
|
||||||
|
// response buffer length, permit splitted responses
|
||||||
|
uint8_t _inline_buffer_length;
|
||||||
|
// expected packet size
|
||||||
|
uint8_t _packet_size;
|
||||||
|
|
||||||
|
ProtocolVersion _protocol_version;
|
||||||
|
// statistics
|
||||||
|
uint16_t _packets_sent;
|
||||||
|
uint16_t _packets_rcvd;
|
||||||
|
|
||||||
|
bool _vtx_freq_change_pending; // a vtx command has been issued but not confirmed by a vtx broadcast frame
|
||||||
|
bool _vtx_power_change_pending;
|
||||||
|
bool _vtx_options_change_pending;
|
||||||
|
bool _vtx_gcs_pending;
|
||||||
|
bool _vtx_use_set_freq; // should frequency set by band/channel or frequency
|
||||||
|
|
||||||
|
// value for current baud adjust
|
||||||
|
int32_t _smartbaud = AP_SMARTAUDIO_UART_BAUD;
|
||||||
|
int32_t _smartbaud_direction = 1;
|
||||||
|
|
||||||
|
// hw vtx state control with 2 elements array use methods _push _peek
|
||||||
|
uint8_t _vtx_state_idx;
|
||||||
|
Settings _vtx_states_buffer[2];
|
||||||
|
Settings *_vtx_current_state;
|
||||||
|
|
||||||
|
// ready to go
|
||||||
|
volatile bool _initialised;
|
||||||
|
|
||||||
|
// RingBuffer to store outgoing request.
|
||||||
|
ObjectBuffer<Packet> requests_queue{SMARTAUDIO_BUFFER_CAPACITY};
|
||||||
|
|
||||||
|
// time the last_request is process
|
||||||
|
uint32_t _last_request_sent_ms;
|
||||||
|
|
||||||
|
// loops is waiting a response after a request
|
||||||
|
bool _is_waiting_response;
|
||||||
|
|
||||||
|
#ifdef SA_DEBUG
|
||||||
|
// utility method for debugging.
|
||||||
|
void print_bytes_to_hex_string(const char* msg, const uint8_t buf[], uint8_t x,uint8_t offset);
|
||||||
|
#endif
|
||||||
|
void print_settings(const Settings* settings);
|
||||||
|
|
||||||
|
void update_vtx_params();
|
||||||
|
void update_vtx_settings(const Settings& settings);
|
||||||
|
|
||||||
|
// looping over requests
|
||||||
|
void loop();
|
||||||
|
// send a frame over the wire
|
||||||
|
void send_request(const Frame& requestFrame, uint8_t size);
|
||||||
|
// receive a frame response over the wire
|
||||||
|
bool read_response(uint8_t *response_buffer);
|
||||||
|
// parses the response and updates the vtx settings
|
||||||
|
bool parse_frame_response(const uint8_t *buffer);
|
||||||
|
bool parse_response_buffer(const uint8_t *buffer);
|
||||||
|
// get last reading from the fifo queue
|
||||||
|
bool get_readings(AP_VideoTX *vtx_dest);
|
||||||
|
|
||||||
|
// command functions
|
||||||
|
// request settings
|
||||||
|
void request_settings();
|
||||||
|
// change the mode
|
||||||
|
void set_operation_mode(uint8_t mode);
|
||||||
|
// change the frequency
|
||||||
|
void set_frequency(uint16_t frequency, bool isPitModeFreq);
|
||||||
|
// change the channel
|
||||||
|
void set_channel(uint8_t chan);
|
||||||
|
// get the pitmode frequency
|
||||||
|
void request_pit_mode_frequency();
|
||||||
|
// set the power
|
||||||
|
void set_power(uint16_t power_mw, uint16_t dbm);
|
||||||
|
// set the power using power_level, spec versions 1 and 2 or dbm value for spec version 2.1
|
||||||
|
void set_power(uint8_t power_level);
|
||||||
|
// set the band and channel
|
||||||
|
void set_band_channel(const uint8_t band, const uint8_t channel);
|
||||||
|
|
||||||
|
// command functions
|
||||||
|
void push_command_only_frame(uint8_t command);
|
||||||
|
void push_uint8_command_frame(uint8_t command, uint8_t data);
|
||||||
|
void push_uint16_command_frame(uint8_t command, uint16_t data);
|
||||||
|
|
||||||
|
static void unpack_frequency(Settings *settings, const uint16_t frequency);
|
||||||
|
static void unpack_settings(Settings *settings, const SettingsResponseFrame *frame);
|
||||||
|
static void unpack_settings(Settings *settings, const SettingsExtendedResponseFrame *frame);
|
||||||
|
|
||||||
|
// change baud automatically when request-response fails many times
|
||||||
|
void update_baud_rate();
|
||||||
|
};
|
||||||
|
#endif
|
||||||
Loading…
Reference in New Issue