Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RCTelemetry: add CRSF binding API

This commit is contained in:
Andy Piper 2024-03-10 16:59:52 +00:00 committed by Andrew Tridgell
parent fdfdbe8d13
commit cd6ed219f7
2 changed files with 36 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
View File

@ -405,7 +405,7 @@ bool AP_CRSF_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
case STATUS_TEXT:
return rc().option_is_enabled(RC_Channels::Option::CRSF_CUSTOM_TELEMETRY) && !queue_empty;
case GENERAL_COMMAND:
return _baud_rate_request.pending;
return _baud_rate_request.pending || _bind_request_pending;
case VERSION_PING:
return _crsf_version.pending && AP::crsf()->is_detected(); // only send pings if protocol has been detected
case HEARTBEAT:
@ -461,7 +461,11 @@ void AP_CRSF_Telem::process_packet(uint8_t idx)
calc_status_text();
break;
case GENERAL_COMMAND:
calc_command_response();
if (_bind_request_pending) {
calc_bind();
} else {
calc_command_response();
}
break;
case VERSION_PING:
// to get crossfire firmware version we send an RX device ping
@ -1039,6 +1043,31 @@ void AP_CRSF_Telem::calc_command_response() {
_telem_pending = true;
}
// send a command response
void AP_CRSF_Telem::calc_bind() {
_telem.ext.command.destination = AP_RCProtocol_CRSF::CRSF_ADDRESS_CRSF_RECEIVER;
_telem.ext.command.origin = AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER;
_telem.ext.command.command_id = AP_RCProtocol_CRSF::CRSF_COMMAND_RX;
_telem.ext.command.payload[0] = AP_RCProtocol_CRSF::CRSF_COMMAND_RX_BIND;
_telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_COMMAND;
// calculate command crc
uint8_t len = 4;
uint8_t* crcptr = &_telem.ext.command.destination;
uint8_t crc = crc8_dvb(0, AP_RCProtocol_CRSF::CRSF_FRAMETYPE_COMMAND, 0xBA);
for (uint8_t i = 0; i < len; i++) {
crc = crc8_dvb(crc, crcptr[i], 0xBA);
}
crcptr[len] = crc;
_telem_size = len + 1;
_pending_request.frame_type = 0;
_bind_request_pending = false;
debug("sent bind request");
_telem_pending = true;
}
// return parameter information
void AP_CRSF_Telem::calc_parameter() {
#if OSD_PARAM_ENABLED

5
libraries/AP_RCTelemetry/AP_CRSF_Telem.h
View File

@ -236,6 +236,8 @@ public:
void update();
// get next telemetry data for external consumers of SPort data
static bool get_telem_data(AP_RCProtocol_CRSF::Frame* frame, bool is_tx_active);
// start bind request
void start_bind() { _bind_request_pending = true; }
private:
@ -271,6 +273,7 @@ private:
void calc_device_info();
void calc_device_ping(uint8_t destination);
void calc_command_response();
void calc_bind();
void calc_parameter();
#if HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED
void calc_text_selection( AP_OSD_ParamSetting* param, uint8_t chunk);
@ -350,6 +353,8 @@ private:
uint8_t port_id;
} _baud_rate_request;
bool _bind_request_pending;
// vtx state
bool _vtx_freq_update; // update using the frequency method or not
bool _vtx_dbm_update; // update using the dbm method or not