Merge pull request #2852 from azolyoung/add-runcam-split-support

Add runcam split support
2025-07-19 22:35:23 +03:00 · 2017-06-22 19:31:16 +01:00 · 2017-06-22 19:31:16 +01:00 · 32fa109a64
commit 32fa109a64
parent 53eb07c56a
13 changed files with 706 additions and 10 deletions
--- a/src/main/io/rcsplit.c
+++ b/src/main/io/rcsplit.c
@ -0,0 +1,163 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <ctype.h>
+
+#include <platform.h>
+
+#include "common/utils.h"
+
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+
+#include "fc/rc_controls.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+
+#include "scheduler/scheduler.h"
+
+#include "drivers/serial.h"
+
+#include "io/rcsplit.h"
+
+// communicate with camera device variables
+serialPort_t *rcSplitSerialPort = NULL;
+rcsplit_switch_state_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
+rcsplit_state_e cameraState = RCSPLIT_STATE_UNKNOWN;
+
+static uint8_t crc_high_first(uint8_t *ptr, uint8_t len)
+{
+    uint8_t i; 
+    uint8_t crc=0x00;
+    while (len--) {
+        crc ^= *ptr++;  
+        for (i=8; i>0; --i) { 
+            if (crc & 0x80)
+                crc = (crc << 1) ^ 0x31;
+            else
+                crc = (crc << 1);
+        }
+    }
+    return (crc); 
+}
+
+static void sendCtrlCommand(rcsplit_ctrl_argument_e argument)
+{
+    if (!rcSplitSerialPort)
+        return ;
+
+    uint8_t uart_buffer[5] = {0};
+    uint8_t crc = 0;
+
+    uart_buffer[0] = RCSPLIT_PACKET_HEADER;
+    uart_buffer[1] = RCSPLIT_PACKET_CMD_CTRL;
+    uart_buffer[2] = argument;
+    uart_buffer[3] = RCSPLIT_PACKET_TAIL;
+    crc = crc_high_first(uart_buffer, 4);
+
+    // build up a full request [header]+[command]+[argument]+[crc]+[tail]
+    uart_buffer[3] = crc;
+    uart_buffer[4] = RCSPLIT_PACKET_TAIL;
+
+    // write to device
+    serialWriteBuf(rcSplitSerialPort, uart_buffer, 5);
+}
+
+static void rcSplitProcessMode() 
+{
+    // if the device not ready, do not handle any mode change event
+    if (RCSPLIT_STATE_IS_READY != cameraState) 
+        return ;
+
+    for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
+        uint8_t switchIndex = i - BOXCAMERA1;
+        if (IS_RC_MODE_ACTIVE(i)) {
+            // check last state of this mode, if it's true, then ignore it. 
+            // Here is a logic to make a toggle control for this mode
+            if (switchStates[switchIndex].isActivated) {
+                continue;
+            }
+
+            uint8_t argument = RCSPLIT_CTRL_ARGU_INVALID;
+            switch (i) {
+            case BOXCAMERA1:
+                argument = RCSPLIT_CTRL_ARGU_WIFI_BTN;
+                break;
+            case BOXCAMERA2:
+                argument = RCSPLIT_CTRL_ARGU_POWER_BTN;
+                break;
+            case BOXCAMERA3:
+                argument = RCSPLIT_CTRL_ARGU_CHANGE_MODE;
+                break;
+            default:
+                argument = RCSPLIT_CTRL_ARGU_INVALID;
+                break;
+            }
+            
+            if (argument != RCSPLIT_CTRL_ARGU_INVALID) {
+                sendCtrlCommand(argument);
+                switchStates[switchIndex].isActivated = true;
+            }
+        } else {
+            switchStates[switchIndex].isActivated = false;
+        }
+    }
+}
+
+bool rcSplitInit(void)
+{
+    // found the port config with FUNCTION_RUNCAM_SPLIT_CONTROL
+    // User must set some UART inteface with RunCam Split at peripherals column in Ports tab
+    serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RCSPLIT);
+    if (portConfig) {
+        rcSplitSerialPort = openSerialPort(portConfig->identifier, FUNCTION_RCSPLIT, NULL, 115200, MODE_RXTX, 0);
+    }
+
+    if (!rcSplitSerialPort) {
+        return false;
+    }
+
+    // set init value to true, to avoid the action auto run when the flight board start and the switch is on.
+    for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
+        uint8_t switchIndex = i - BOXCAMERA1;
+        switchStates[switchIndex].boxId = 1 << i;
+        switchStates[switchIndex].isActivated = true; 
+    }
+    
+    cameraState = RCSPLIT_STATE_IS_READY;
+
+#ifdef USE_RCSPLIT
+    setTaskEnabled(TASK_RCSPLIT, true);
+#endif
+
+    return true;
+}
+
+void rcSplitProcess(timeUs_t currentTimeUs)
+{
+    UNUSED(currentTimeUs);
+
+    if (rcSplitSerialPort == NULL)
+        return ;
+
+    // process rcsplit custom mode if has any changed
+    rcSplitProcessMode();
+}