ardupilot/libraries/AP_MSP/AP_MSP.cpp

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