/* 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 . */ #include #include #include "AP_MSP.h" #include "AP_MSP_Telem_DisplayPort.h" #if HAL_WITH_MSP_DISPLAYPORT extern const AP_HAL::HAL& hal; using namespace MSP; MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_api_version(sbuf_t *dst) { struct { uint8_t proto; uint8_t major; uint8_t minor; } api_version; api_version.proto = MSP_PROTOCOL_VERSION; api_version.major = API_VERSION_MAJOR; api_version.minor = API_VERSION_MINOR; sbuf_write_data(dst, &api_version, sizeof(api_version)); return MSP_RESULT_ACK; } MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_version(sbuf_t *dst) { struct { uint8_t major; uint8_t minor; uint8_t patch; } fc_version; fc_version.major = FC_VERSION_MAJOR; fc_version.minor = FC_VERSION_MINOR; fc_version.patch = FC_VERSION_PATCH_LEVEL; sbuf_write_data(dst, &fc_version, sizeof(fc_version)); return MSP_RESULT_ACK; } MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_variant(sbuf_t *dst) { const AP_MSP *msp = AP::msp(); if (msp == nullptr) { return MSP_RESULT_ERROR; } // do we use backend specific symbols table? if (msp->check_option(AP_MSP::MspOption::OPTION_DISPLAYPORT_BTFL_SYMBOLS)) { sbuf_write_data(dst, BETAFLIGHT_IDENTIFIER, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH); } else { sbuf_write_data(dst, ARDUPILOT_IDENTIFIER, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH); } return MSP_RESULT_ACK; } #endif //HAL_WITH_MSP_DISPLAYPORT