mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.7 KiB
C++
57 lines
1.7 KiB
C++
/*
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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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*/
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#include <AP_Common/AP_FWVersion.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include "AP_MSP.h"
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#include "AP_MSP_Telem_DisplayPort.h"
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#if HAL_WITH_MSP_DISPLAYPORT
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extern const AP_HAL::HAL& hal;
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using namespace MSP;
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MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_variant(sbuf_t *dst)
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{
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const AP_MSP *msp = AP::msp();
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if (msp == nullptr) {
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return MSP_RESULT_ERROR;
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}
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// do we use backend specific symbols table?
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if (msp->is_option_enabled(AP_MSP::Option::DISPLAYPORT_BTFL_SYMBOLS)) {
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sbuf_write_data(dst, BETAFLIGHT_IDENTIFIER, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
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} else {
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sbuf_write_data(dst, ARDUPILOT_IDENTIFIER, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
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}
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return MSP_RESULT_ACK;
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}
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bool AP_MSP_Telem_DisplayPort::init_uart()
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{
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if (_msp_port.uart != nullptr) {
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// re-init port here for use in this thread
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// displayport needs a bigger tx buffer
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// rx buffer can be small for we mostly write
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_msp_port.uart->begin(0, 256, 768);
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return true;
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}
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return false;
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}
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#endif //HAL_WITH_MSP_DISPLAYPORT
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