mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.2 KiB
C++
77 lines
2.2 KiB
C++
/*
|
|
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/>.
|
|
*/
|
|
|
|
#include <AP_Common/AP_FWVersion.h>
|
|
#include <AP_Vehicle/AP_Vehicle_Type.h>
|
|
|
|
#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
|