mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.7 KiB
C++
97 lines
2.7 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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/*
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MSP version 1 and 2 protocol library, based on betaflight/iNav implementations
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code by Alex Apostoli
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*/
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#pragma once
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#include <AP_OSD/AP_OSD.h>
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#include "AP_MSP_Telem_Backend.h"
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#if HAL_MSP_ENABLED
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#define MSP_MAX_INSTANCES 3
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#define MSP_OSD_START 2048
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#define MSP_OSD_STEP_X 1
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#define MSP_OSD_STEP_Y 32
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#define MSP_OSD_POS(osd_setting) (MSP_OSD_START + osd_setting->xpos*MSP_OSD_STEP_X + osd_setting->ypos*MSP_OSD_STEP_Y)
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class AP_MSP
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{
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friend class AP_MSP_Telem_Generic;
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friend class AP_MSP_Telem_DJI;
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friend class AP_MSP_Telem_Backend;
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public:
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AP_MSP();
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/* Do not allow copies */
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AP_MSP(const AP_MSP &other) = delete;
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AP_MSP &operator=(const AP_MSP&) = delete;
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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// init - perform required initialisation
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void init();
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static AP_MSP *get_singleton(void)
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{
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return _singleton;
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}
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private:
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enum msp_option_e : uint8_t {
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OPTION_TELEMETRY_MODE = 1U<<0,
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OPTION_TELEMETRY_DJI_WORKAROUNDS = 1U<<1
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};
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AP_MSP_Telem_Backend *_backends[MSP_MAX_INSTANCES];
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AP_Int8 _options;
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AP_Int8 _cellcount;
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// these are the osd items we support for MSP OSD
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AP_OSD_Setting* _osd_item_settings[MSP::OSD_ITEM_COUNT];
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MSP::osd_config_t _osd_config;
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struct {
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bool flashing_on; // OSD item flashing support
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uint8_t last_flight_mode = 255;
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uint32_t last_flight_mode_change_ms;
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bool flight_mode_focus; // do we need to steal focus from text messages
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bool osd_initialized; // for one time osd initialization
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uint8_t backend_count; // actual count of active bacends
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} _msp_status;
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bool init_backend(uint8_t backend_idx, AP_HAL::UARTDriver *uart, AP_SerialManager::SerialProtocol protocol);
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void init_osd();
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void loop(void);
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bool check_option(const msp_option_e option);
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static AP_MSP *_singleton;
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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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#endif //HAL_MSP_ENABLED
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