mirror of https://github.com/ArduPilot/ardupilot
245 lines
10 KiB
C++
245 lines
10 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 "AP_MSP_Telem_DisplayPort.h"
|
|
|
|
#include <AP_Notify/AP_Notify.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: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts.
|
|
// @Bitmask: 0:EnableTelemetryMode, 1: unused, 2:EnableBTFLFonts
|
|
// @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);
|
|
#if HAL_WITH_MSP_DISPLAYPORT
|
|
} else if (protocol == AP_SerialManager::SerialProtocol_MSP_DisplayPort) {
|
|
_backends[backend_idx] = new AP_MSP_Telem_DisplayPort(uart);
|
|
#endif
|
|
} 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;
|
|
uint8_t backends_using_msp_thread = 0;
|
|
static const AP_SerialManager::SerialProtocol msp_protocols[] {
|
|
AP_SerialManager::SerialProtocol_DJI_FPV,
|
|
AP_SerialManager::SerialProtocol_MSP,
|
|
#if HAL_WITH_MSP_DISPLAYPORT
|
|
AP_SerialManager::SerialProtocol_MSP_DisplayPort,
|
|
#endif
|
|
};
|
|
|
|
for (const auto msp_protocol: msp_protocols) {
|
|
for (uint8_t protocol_instance=0; protocol_instance<MSP_MAX_INSTANCES-_msp_status.backend_count; protocol_instance++) {
|
|
uart = serial_manager.find_serial(msp_protocol, protocol_instance);
|
|
if (uart != nullptr) {
|
|
if (!init_backend(_msp_status.backend_count, uart, msp_protocol)) {
|
|
break;
|
|
}
|
|
if (_backends[_msp_status.backend_count]->use_msp_thread()) {
|
|
backends_using_msp_thread++;
|
|
}
|
|
_msp_status.backend_count++;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (backends_using_msp_thread > 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::update_osd_item_settings()
|
|
{
|
|
#if OSD_ENABLED
|
|
AP_OSD* osd = AP::osd();
|
|
|
|
if (osd == nullptr) {
|
|
return;
|
|
}
|
|
_osd_item_settings[OSD_RSSI_VALUE] = &osd->screen[_msp_status.current_screen].rssi; // OSDn_RSSI
|
|
_osd_item_settings[OSD_MAIN_BATT_VOLTAGE] = &osd->screen[_msp_status.current_screen].bat_volt; // OSDn_BAT_VOLT
|
|
_osd_item_settings[OSD_CROSSHAIRS] = &osd->screen[_msp_status.current_screen].crosshair; // OSDn_CRSSHAIR
|
|
_osd_item_settings[OSD_ARTIFICIAL_HORIZON] = &osd->screen[_msp_status.current_screen].horizon; // OSDn_HORIZON
|
|
_osd_item_settings[OSD_HORIZON_SIDEBARS] = &osd->screen[_msp_status.current_screen].sidebars; // OSDn_SIDEBARS
|
|
_osd_item_settings[OSD_CRAFT_NAME] = &osd->screen[_msp_status.current_screen].message; // OSDn_MESSAGE
|
|
_osd_item_settings[OSD_FLYMODE] = &osd->screen[_msp_status.current_screen].fltmode; // OSDn_FLTMODE
|
|
_osd_item_settings[OSD_CURRENT_DRAW] = &osd->screen[_msp_status.current_screen].current; // OSDn_CURRENT
|
|
_osd_item_settings[OSD_MAH_DRAWN] = &osd->screen[_msp_status.current_screen].batused; // OSDn_BATUSED
|
|
_osd_item_settings[OSD_GPS_SPEED] = &osd->screen[_msp_status.current_screen].gspeed; // OSDn_GSPEED
|
|
_osd_item_settings[OSD_GPS_SATS] = &osd->screen[_msp_status.current_screen].sats; // OSDn_SATS
|
|
_osd_item_settings[OSD_ALTITUDE] = &osd->screen[_msp_status.current_screen].altitude; // OSDn_ALTITUDE
|
|
_osd_item_settings[OSD_POWER] = &osd->screen[_msp_status.current_screen].power; // OSDn_POWER
|
|
_osd_item_settings[OSD_AVG_CELL_VOLTAGE] = &osd->screen[_msp_status.current_screen].cell_volt; // OSDn_CELLVOLT
|
|
_osd_item_settings[OSD_GPS_LON] = &osd->screen[_msp_status.current_screen].gps_longitude; // OSDn_GPSLONG
|
|
_osd_item_settings[OSD_GPS_LAT] = &osd->screen[_msp_status.current_screen].gps_latitude; // OSDn_GPSLAT
|
|
_osd_item_settings[OSD_PITCH_ANGLE] = &osd->screen[_msp_status.current_screen].pitch_angle; // OSDn_PITCH
|
|
_osd_item_settings[OSD_ROLL_ANGLE] = &osd->screen[_msp_status.current_screen].roll_angle; // OSDn_ROLL
|
|
_osd_item_settings[OSD_MAIN_BATT_USAGE] = &osd->screen[_msp_status.current_screen].batt_bar; // OSDn_BATBAR
|
|
_osd_item_settings[OSD_DISARMED] = &osd->screen[_msp_status.current_screen].arming; // OSDn_ARMING
|
|
_osd_item_settings[OSD_HOME_DIR] = &osd->screen[_msp_status.current_screen].home_dir; // OSDn_HOMEDIR
|
|
_osd_item_settings[OSD_HOME_DIST] = &osd->screen[_msp_status.current_screen].home_dist; // OSDn_HOMEDIST
|
|
_osd_item_settings[OSD_NUMERICAL_HEADING] = &osd->screen[_msp_status.current_screen].heading; // OSDn_HEADING
|
|
_osd_item_settings[OSD_NUMERICAL_VARIO] = &osd->screen[_msp_status.current_screen].vspeed; // OSDn_VSPEED
|
|
#if HAL_WITH_ESC_TELEM
|
|
_osd_item_settings[OSD_ESC_TMP] = &osd->screen[_msp_status.current_screen].esc_temp; // OSDn_ESCTEMP
|
|
#endif
|
|
_osd_item_settings[OSD_RTC_DATETIME] = &osd->screen[_msp_status.current_screen].clk; // OSDn_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
|
|
// note: we do not access a uart for a backend handled by another thread
|
|
if (_backends[i] != nullptr && _backends[i]->use_msp_thread()) {
|
|
_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 and every 2 seconds
|
|
if ((uint32_t(now * 0.00143) & 0x01) != _msp_status.flashing_on) {
|
|
_msp_status.flashing_on = !_msp_status.flashing_on;
|
|
}
|
|
if ((uint32_t(now * 0.0005) & 0x01) != _msp_status.slow_flashing_on) {
|
|
_msp_status.slow_flashing_on = !_msp_status.slow_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;
|
|
}
|
|
|
|
#if OSD_ENABLED
|
|
// check if we had a screen change
|
|
AP_OSD* osd = AP::osd();
|
|
|
|
if (osd != nullptr) {
|
|
const uint8_t screen = osd->is_readonly_screen() ? osd->get_current_screen() : _msp_status.current_screen;
|
|
if (_msp_status.current_screen != screen || !_msp_status.osd_initialized) {
|
|
_msp_status.current_screen = screen;
|
|
update_osd_item_settings();
|
|
}
|
|
}
|
|
#endif // OSD_ENABLED
|
|
|
|
for (uint8_t i=0; i< _msp_status.backend_count; i++) {
|
|
// note: we do not access a uart for a backend handled by another thread
|
|
if (_backends[i] != nullptr && _backends[i]->use_msp_thread()) {
|
|
// 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();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
AP_MSP_Telem_Backend* AP_MSP::find_protocol(const AP_SerialManager::SerialProtocol protocol) const {
|
|
for (uint8_t i=0; i< _msp_status.backend_count; i++) {
|
|
if (_backends[i] != nullptr && _backends[i]->get_serial_protocol() == protocol) {
|
|
return _backends[i];
|
|
}
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
bool AP_MSP::is_option_enabled(Option option) const
|
|
{
|
|
return (_options & (uint8_t)option) != 0;
|
|
}
|
|
|
|
namespace AP
|
|
{
|
|
AP_MSP *msp()
|
|
{
|
|
return AP_MSP::get_singleton();
|
|
}
|
|
};
|
|
|
|
#endif //HAL_MSP_ENABLED
|