mirror of https://github.com/ArduPilot/ardupilot
218 lines
7.5 KiB
C++
218 lines
7.5 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_AHRS/AP_AHRS.h>
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#include <AP_RSSI/AP_RSSI.h>
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#include "AP_MSP.h"
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#include "AP_MSP_Telem_Generic.h"
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#include "AP_MSP_Telem_DJI.h"
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#include <ctype.h>
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#include <stdio.h>
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#if HAL_MSP_ENABLED
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const uint16_t OSD_FLIGHT_MODE_FOCUS_TIME = 2000;
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extern const AP_HAL::HAL& hal;
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using namespace MSP;
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const AP_Param::GroupInfo AP_MSP::var_info[] = {
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// @Param: _OSD_NCELLS
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// @DisplayName: Cell count override
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// @Description: Used for average cell voltage calculation
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// @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
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// @User: Standard
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AP_GROUPINFO("_OSD_NCELLS", 1, AP_MSP, _cellcount, 0),
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// @Param: _OPTIONS
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// @DisplayName: MSP OSD Options
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// @Description: A bitmask to set some MSP specific options
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// @Bitmask: 0:EnableTelemetryMode
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// @User: Standard
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AP_GROUPINFO("_OPTIONS", 2, AP_MSP, _options, 0),
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AP_GROUPEND
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};
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AP_MSP *AP_MSP::_singleton;
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AP_MSP::AP_MSP()
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{
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_singleton = this;
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AP_Param::setup_object_defaults(this, var_info);
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}
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bool AP_MSP::init_backend(uint8_t backend_idx, AP_HAL::UARTDriver *uart, AP_SerialManager::SerialProtocol protocol)
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{
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if (protocol == AP_SerialManager::SerialProtocol_MSP) {
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_backends[backend_idx] = new AP_MSP_Telem_Generic(uart);
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} else if (protocol == AP_SerialManager::SerialProtocol_DJI_FPV) {
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_backends[backend_idx] = new AP_MSP_Telem_DJI(uart);
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} else {
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return false;
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}
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if (_backends[backend_idx] != nullptr) {
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_backends[backend_idx]->init();
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return true;
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}
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return false;
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}
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/*
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* init - perform required initialisation
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*/
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void AP_MSP::init()
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{
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const AP_SerialManager &serial_manager = AP::serialmanager();
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uint8_t backend_instance = 0;
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AP_HAL::UARTDriver *uart = nullptr;
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// DJI FPV backends
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for (uint8_t protocol_instance=0; protocol_instance<MSP_MAX_INSTANCES; protocol_instance++) {
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_DJI_FPV, backend_instance);
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if (uart != nullptr) {
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if (!init_backend(protocol_instance, uart, AP_SerialManager::SerialProtocol_DJI_FPV)) {
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break;
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}
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// initialize osd settings from OSD backend
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if (!_msp_status.osd_initialized) {
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init_osd();
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}
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backend_instance++;
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_msp_status.backend_count++;
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}
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}
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backend_instance = 0;
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// generic MSP backends
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for (uint8_t protocol_instance=0; protocol_instance<MSP_MAX_INSTANCES-_msp_status.backend_count; protocol_instance++) {
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_MSP, backend_instance);
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if (uart != nullptr) {
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if (!init_backend(protocol_instance, uart, AP_SerialManager::SerialProtocol_MSP)) {
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break;
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}
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backend_instance++;
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_msp_status.backend_count++;
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}
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}
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if (_msp_status.backend_count > 0) {
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// we've found at least 1 msp backend, start protocol handler
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if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_MSP::loop, void),
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"MSP",
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1024, AP_HAL::Scheduler::PRIORITY_IO, 1)) {
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return;
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}
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}
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}
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void AP_MSP::init_osd()
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{
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#if OSD_ENABLED
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AP_OSD* osd = AP::osd();
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if (osd == nullptr) {
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return;
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}
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_osd_item_settings[OSD_RSSI_VALUE] = &osd->screen[0].rssi;
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_osd_item_settings[OSD_MAIN_BATT_VOLTAGE] = &osd->screen[0].bat_volt;
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_osd_item_settings[OSD_CROSSHAIRS] = &osd->screen[0].crosshair;
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_osd_item_settings[OSD_ARTIFICIAL_HORIZON] = &osd->screen[0].horizon;
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_osd_item_settings[OSD_HORIZON_SIDEBARS] = &osd->screen[0].sidebars;
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_osd_item_settings[OSD_CRAFT_NAME] = &osd->screen[0].message;
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_osd_item_settings[OSD_FLYMODE] = &osd->screen[0].fltmode;
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_osd_item_settings[OSD_CURRENT_DRAW] = &osd->screen[0].current;
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_osd_item_settings[OSD_MAH_DRAWN] = &osd->screen[0].batused;
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_osd_item_settings[OSD_GPS_SPEED] = &osd->screen[0].gspeed;
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_osd_item_settings[OSD_GPS_SATS] = &osd->screen[0].sats;
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_osd_item_settings[OSD_ALTITUDE] = &osd->screen[0].altitude;
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_osd_item_settings[OSD_POWER] = &osd->screen[0].power;
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_osd_item_settings[OSD_AVG_CELL_VOLTAGE] = &osd->screen[0].cell_volt;
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_osd_item_settings[OSD_GPS_LON] = &osd->screen[0].gps_longitude;
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_osd_item_settings[OSD_GPS_LAT] = &osd->screen[0].gps_latitude;
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_osd_item_settings[OSD_PITCH_ANGLE] = &osd->screen[0].pitch_angle;
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_osd_item_settings[OSD_ROLL_ANGLE] = &osd->screen[0].roll_angle;
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_osd_item_settings[OSD_MAIN_BATT_USAGE] = &osd->screen[0].batt_bar;
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_osd_item_settings[OSD_DISARMED] = &osd->screen[0].arming;
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_osd_item_settings[OSD_HOME_DIR] = &osd->screen[0].home_dir;
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_osd_item_settings[OSD_HOME_DIST] = &osd->screen[0].home_dist;
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_osd_item_settings[OSD_NUMERICAL_HEADING] = &osd->screen[0].heading;
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_osd_item_settings[OSD_NUMERICAL_VARIO] = &osd->screen[0].vspeed;
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#ifdef HAVE_AP_BLHELI_SUPPORT
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_osd_item_settings[OSD_ESC_TMP] = &osd->screen[0].blh_temp;
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#endif
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_osd_item_settings[OSD_RTC_DATETIME] = &osd->screen[0].clk;
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#endif // OSD_ENABLED
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_msp_status.osd_initialized = true;
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}
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void AP_MSP::loop(void)
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{
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for (uint8_t i=0; i<_msp_status.backend_count; i++) {
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// one time uart init
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if (_backends[i] != nullptr) {
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_backends[i]->init_uart();
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}
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}
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while (true) {
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hal.scheduler->delay(10); // 115200 baud, 18 MSP packets @4Hz, 100Hz should be OK
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const uint32_t now = AP_HAL::millis();
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// toggle flashing every 0.7 seconds
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if (((now / 700) & 0x01) != _msp_status.flashing_on) {
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_msp_status.flashing_on = !_msp_status.flashing_on;
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}
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// detect flight mode changes and steal focus from text messages
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if (AP::notify().flags.flight_mode != _msp_status.last_flight_mode) {
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_msp_status.flight_mode_focus = true;
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_msp_status.last_flight_mode = AP::notify().flags.flight_mode;
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_msp_status.last_flight_mode_change_ms = AP_HAL::millis();
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} else if (now - _msp_status.last_flight_mode_change_ms > OSD_FLIGHT_MODE_FOCUS_TIME) {
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_msp_status.flight_mode_focus = false;
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}
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for (uint8_t i=0; i< _msp_status.backend_count; i++) {
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if (_backends[i] != nullptr) {
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// dynamically hide/unhide
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_backends[i]->hide_osd_items();
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// process incoming MSP frames (and reply if needed)
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_backends[i]->process_incoming_data();
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// push outgoing telemetry frames
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_backends[i]->process_outgoing_data();
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}
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}
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}
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}
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bool AP_MSP::check_option(msp_option_e option)
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{
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return (_options & option) != 0;
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}
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namespace AP
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{
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AP_MSP *msp()
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{
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return AP_MSP::get_singleton();
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}
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};
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#endif //HAL_MSP_ENABLED
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