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ardupilot/libraries/AP_VideoTX/AP_SmartAudio.h

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/*
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/>.
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#ifndef HAL_SMARTAUDIO_ENABLED
#define HAL_SMARTAUDIO_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#if HAL_SMARTAUDIO_ENABLED
#include <AP_Param/AP_Param.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_HAL/utility/RingBuffer.h>
#include "AP_VideoTX.h"
#define SMARTAUDIO_BUFFER_CAPACITY 5
// SmartAudio Serial Protocol
#define AP_SMARTAUDIO_UART_BAUD 4800
#define AP_SMARTAUDIO_SMARTBAUD_MIN 4560 // -5%
#define AP_SMARTAUDIO_SMARTBAUD_MAX 5040 // +5%
#define AP_SMARTAUDIO_SMARTBAUD_STEP 60
#define AP_SMARTAUDIO_UART_BUFSIZE_RX 16
#define AP_SMARTAUDIO_UART_BUFSIZE_TX 16
#define AP_SMARTAUDIO_MAX_PACKET_SIZE 32
#define SMARTAUDIO_SYNC_BYTE 0xAA
#define SMARTAUDIO_HEADER_BYTE 0x55
#define SMARTAUDIO_START_CODE SMARTAUDIO_SYNC_BYTE + SMARTAUDIO_HEADER_BYTE
#define SMARTAUDIO_GET_PITMODE_FREQ (1 << 14)
#define SMARTAUDIO_SET_PITMODE_FREQ (1 << 15)
#define SMARTAUDIO_FREQUENCY_MASK 0x3FFF
#define SMARTAUDIO_CMD_GET_SETTINGS 0x03
#define SMARTAUDIO_CMD_SET_POWER 0x05
#define SMARTAUDIO_CMD_SET_CHANNEL 0x07
#define SMARTAUDIO_CMD_SET_FREQUENCY 0x09
#define SMARTAUDIO_CMD_SET_MODE 0x0B
#define SMARTAUDIO_COMMAND_FRAME_SIZE (sizeof(FrameHeader) + 1)
#define SMARTAUDIO_U8_COMMAND_FRAME_SIZE (sizeof(FrameHeader) + 2)
#define SMARTAUDIO_U16_COMMAND_FRAME_SIZE (sizeof(FrameHeader) + 3)
#define SMARTAUDIO_RSP_GET_SETTINGS_V1 SMARTAUDIO_CMD_GET_SETTINGS >> 1
#define SMARTAUDIO_RSP_GET_SETTINGS_V2 (SMARTAUDIO_CMD_GET_SETTINGS >> 1) | 0x08
#define SMARTAUDIO_RSP_GET_SETTINGS_V21 (SMARTAUDIO_CMD_GET_SETTINGS >> 1) | 0x10
#define SMARTAUDIO_RSP_SET_POWER SMARTAUDIO_CMD_SET_POWER >> 1
#define SMARTAUDIO_RSP_SET_CHANNEL SMARTAUDIO_CMD_SET_CHANNEL >> 1
#define SMARTAUDIO_RSP_SET_FREQUENCY SMARTAUDIO_CMD_SET_FREQUENCY >> 1
#define SMARTAUDIO_RSP_SET_MODE SMARTAUDIO_CMD_SET_MODE >> 1
#define SMARTAUDIO_BANDCHAN_TO_INDEX(band, channel) (band * VTX_MAX_CHANNELS + (channel))
//#define SA_DEBUG
class AP_SmartAudio
{
public:
enum ProtocolVersion {
SMARTAUDIO_SPEC_PROTOCOL_v1 = 0,
SMARTAUDIO_SPEC_PROTOCOL_v2 = 1,
SMARTAUDIO_SPEC_PROTOCOL_v21 = 2
};
struct Settings {
uint8_t version;
uint8_t mode;
uint8_t channel;
uint8_t power;
uint16_t frequency;
uint8_t band;
uint8_t num_power_levels;
uint8_t power_levels[8];
uint8_t power_in_dbm;
uint16_t pitmodeFrequency;
bool userFrequencyMode; // user is setting freq
bool initialized;
};
struct FrameHeader {
uint8_t syncByte;
uint8_t headerByte;
uint8_t command;
uint8_t length;
void init(uint8_t cmd, uint8_t payloadLength) {
syncByte = SMARTAUDIO_SYNC_BYTE;
headerByte= SMARTAUDIO_HEADER_BYTE;
length = payloadLength;
command = cmd;
}
} PACKED;
struct Frame {
FrameHeader header;
uint8_t payload[3];
} PACKED;
struct U8ResponseFrame {
FrameHeader header;
uint8_t payload;
//uint8_t reserved;
//uint8_t crc;
} PACKED;
struct U16ResponseFrame {
FrameHeader header;
uint16_t payload;
//uint8_t reserved;
//uint8_t crc;
} PACKED;
struct SettingsResponseFrame {
FrameHeader header;
uint8_t channel;
uint8_t power;
uint8_t operationMode;
uint16_t frequency;
//uint8_t crc;
} PACKED;
struct SettingsExtendedResponseFrame {
SettingsResponseFrame settings;
uint8_t power_dbm; // current power
uint8_t num_power_levels;
uint8_t power_levels[8]; // first in the list of dbm levels
//uint8_t crc;
} PACKED;
// v 2.1 additions to response frame
//0x0E (current power in dBm) 0x03 (amount of power levels) 0x00(dBm level 1) 0x0E (dBm level 2) 0x14 (dBm level 3) 0x1A (dBm level 4) 0x01(CRC8)
// request packet to be processed
struct Packet {
Frame frame;
uint8_t frame_size;
} PACKED;
AP_SmartAudio();
static AP_SmartAudio *get_singleton(void)
{
return _singleton;
}
/* Do not allow copies */
CLASS_NO_COPY(AP_SmartAudio);
// init threads and lookup for io uart.
bool init();
private:
// serial interface
AP_HAL::UARTDriver *_port; // UART used to send data to SmartAudio VTX
//Pointer to singleton
static AP_SmartAudio* _singleton;
// response buffer length, permit splitted responses
uint8_t _inline_buffer_length;
// expected packet size
uint8_t _packet_size;
ProtocolVersion _protocol_version;
// statistics
uint16_t _packets_sent;
uint16_t _packets_rcvd;
bool _vtx_freq_change_pending; // a vtx command has been issued but not confirmed by a vtx broadcast frame
bool _vtx_power_change_pending;
bool _vtx_options_change_pending;
bool _vtx_changes_pending;
bool _vtx_use_set_freq; // should frequency set by band/channel or frequency
// value for current baud adjust
int32_t _smartbaud = AP_SMARTAUDIO_UART_BAUD;
int32_t _smartbaud_direction = 1;
// hw vtx state control with 2 elements array use methods _push _peek
uint8_t _vtx_state_idx;
Settings _vtx_states_buffer[2];
Settings *_vtx_current_state;
// ready to go
volatile bool _initialised;
// RingBuffer to store outgoing request.
ObjectBuffer<Packet> requests_queue{SMARTAUDIO_BUFFER_CAPACITY};
// time the last_request is process
uint32_t _last_request_sent_ms;
// loops is waiting a response after a request
bool _is_waiting_response;
#ifdef SA_DEBUG
// utility method for debugging.
void print_bytes_to_hex_string(const char* msg, const uint8_t buf[], uint8_t length);
#endif
void print_settings(const Settings* settings);
void update_vtx_params();
void update_vtx_settings(const Settings& settings);
bool ignore_crc() const { return AP::vtx().has_option(AP_VideoTX::VideoOptions::VTX_SA_IGNORE_CRC); }
// looping over requests
void loop();
// send a frame over the wire
void send_request(const Frame& requestFrame, uint8_t size);
// receive a frame response over the wire
bool read_response(uint8_t *response_buffer);
// parses the response and updates the vtx settings
bool parse_frame_response(const uint8_t *buffer);
bool parse_response_buffer(const uint8_t *buffer);
// get last reading from the fifo queue
bool get_readings(AP_VideoTX *vtx_dest);
// command functions
// request settings
void request_settings();
// change the mode
void set_operation_mode(uint8_t mode);
// change the frequency
void set_frequency(uint16_t frequency, bool isPitModeFreq);
// change the channel
void set_channel(uint8_t chan);
// get the pitmode frequency
void request_pit_mode_frequency();
// set the power
void set_power(uint16_t power_mw, uint16_t dbm);
// set the power using power_level, spec versions 1 and 2 or dbm value for spec version 2.1
void set_power(uint8_t power_level);
// set the band and channel
void set_band_channel(const uint8_t band, const uint8_t channel);
// command functions
void push_command_only_frame(uint8_t command);
void push_uint8_command_frame(uint8_t command, uint8_t data);
void push_uint16_command_frame(uint8_t command, uint16_t data);
static void unpack_frequency(Settings *settings, const uint16_t frequency);
static void unpack_settings(Settings *settings, const SettingsResponseFrame *frame);
static void unpack_settings(Settings *settings, const SettingsExtendedResponseFrame *frame);
// change baud automatically when request-response fails many times
void update_baud_rate();
void set_configuration_pending(bool pending) { _vtx_changes_pending = pending; }
bool is_configuration_pending(){ return _vtx_changes_pending;}
};
#endif
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