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https://github.com/betaflight/betaflight.git
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Change rcsplit protocol to async
This commit is contained in:
azolyoung
azol
parent
713e72321b
commit
53458d4cf1
13 changed files with 517 additions and 2105 deletions
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@ -34,21 +34,28 @@
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#include "io/beeper.h"
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#include "io/serial.h"
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#include "io/osd.h"
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#include "io/rcdevice_cam.h"
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#include "rx/rx.h"
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#include "fc/config.h"
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#include "config/feature.h"
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#ifdef USE_RCDEVICE
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#define IS_HI(X) (rcData[X] > FIVE_KEY_CABLE_JOYSTICK_MAX)
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#define IS_LO(X) (rcData[X] < FIVE_KEY_CABLE_JOYSTICK_MIN)
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#define IS_MID(X) (rcData[X] > FIVE_KEY_CABLE_JOYSTICK_MID_START && rcData[X] < FIVE_KEY_CABLE_JOYSTICK_MID_END)
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static runcamDevice_t runcamDevice;
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runcamDevice_t *camDevice = &runcamDevice;
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rcdeviceSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
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bool rcdeviceInMenu;
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bool needRelease = false;
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bool rcdeviceInMenu = false;
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bool isButtonPressed = false;
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bool waitingDeviceResponse = false;
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static bool isFeatureSupported(uint8_t feature)
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{
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@ -59,21 +66,6 @@ static bool isFeatureSupported(uint8_t feature)
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return false;
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}
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static bool rcdeviceIsCameraControlEnabled(void)
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{
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bool isPowerSimulationSupported = isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_POWER_BUTTON);
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bool isWiFiSimulationSupported = isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_WIFI_BUTTON);
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bool isChangeModeSupported = isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE);
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bool isStartRecordingSupported = isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_START_RECORDING);
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bool isStopRecordingSupported = isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_STOP_RECORDING);
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if (camDevice->serialPort != NULL && (isPowerSimulationSupported || isWiFiSimulationSupported || isChangeModeSupported || isStartRecordingSupported || isStopRecordingSupported)) {
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return true;
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}
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return false;
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}
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bool rcdeviceIsEnabled(void)
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{
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return camDevice->serialPort != NULL;
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@ -88,39 +80,13 @@ static bool rcdeviceIs5KeyEnabled(void)
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return false;
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}
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static bool reInitializeDevice() {
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#define MAX_RETRY_COUNT 4
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#define RETRY_INTERVAL_MS 500
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static timeMs_t lastInitializeTime = 0;
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static int tryInitCount = 0;
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bool result = false;
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if (ARMING_FLAG(ARMED)) {
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return false;
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}
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if (tryInitCount < MAX_RETRY_COUNT) {
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timeMs_t nextRetryTime = lastInitializeTime + RETRY_INTERVAL_MS;
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if (millis() >= nextRetryTime) {
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result = rcdeviceInit();
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tryInitCount++;
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lastInitializeTime = millis();
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}
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}
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return result;
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}
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static void rcdeviceCameraControlProcess(void)
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{
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for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
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uint8_t switchIndex = i - BOXCAMERA1;
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if (IS_RC_MODE_ACTIVE(i)) {
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if (!rcdeviceIsCameraControlEnabled()) {
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reInitializeDevice();
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}
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// check last state of this mode, if it's true, then ignore it.
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// Here is a logic to make a toggle control for this mode
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if (switchStates[switchIndex].isActivated) {
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@ -136,7 +102,7 @@ static void rcdeviceCameraControlProcess(void)
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break;
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case BOXCAMERA2:
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if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_POWER_BUTTON)) {
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behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_POWER_BTN;
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behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_POWER_BTN;
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}
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break;
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case BOXCAMERA3:
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@ -157,7 +123,69 @@ static void rcdeviceCameraControlProcess(void)
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}
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}
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static bool rcdeviceCamSimulate5KeyCablePress(rcdeviceCamSimulationKeyEvent_e key)
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static void rcdeviceSimulationOSDCableFailed(rcdeviceResponseParseContext_t *ctx)
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{
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if (ctx->command == RCDEVICE_PROTOCOL_COMMAND_5KEY_CONNECTION) {
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uint8_t operationID = ctx->paramData[0];
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if (operationID == RCDEVICE_PROTOCOL_5KEY_CONNECTION_CLOSE) {
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waitingDeviceResponse = false;
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return;
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}
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} else {
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rcdeviceInMenu = false;
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waitingDeviceResponse = false;
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}
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}
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static void rcdeviceSimulationRespHandle(rcdeviceResponseParseContext_t *ctx)
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{
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if (ctx->result != RCDEVICE_RESP_SUCCESS) {
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rcdeviceSimulationOSDCableFailed(ctx);
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return ;
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}
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switch (ctx->command) {
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case RCDEVICE_PROTOCOL_COMMAND_5KEY_SIMULATION_RELEASE:
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{
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UNUSED(ctx);
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isButtonPressed = false;
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}
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break;
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case RCDEVICE_PROTOCOL_COMMAND_5KEY_CONNECTION:
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{
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// the high 4 bits is the operationID that we sent
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// the low 4 bits is the result code
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uint8_t operationID = ctx->paramData[0];
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bool errorCode = (ctx->recvBuf[1] & 0x0F);
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if (operationID == RCDEVICE_PROTOCOL_5KEY_CONNECTION_OPEN) {
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if (errorCode == 1) {
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rcdeviceInMenu = true;
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beeper(BEEPER_CAM_CONNECTION_OPEN);
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} else {
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rcdeviceInMenu = false;
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beeper(BEEPER_CAM_CONNECTION_CLOSE);
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}
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} else if (operationID == RCDEVICE_PROTOCOL_5KEY_CONNECTION_CLOSE) {
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if (errorCode == 1) {
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rcdeviceInMenu = false;
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beeper(BEEPER_CAM_CONNECTION_CLOSE);
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}
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}
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}
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break;
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case RCDEVICE_PROTOCOL_COMMAND_5KEY_SIMULATION_PRESS:
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{
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isButtonPressed = true;
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}
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break;
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}
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waitingDeviceResponse = false;
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return ;
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}
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static void rcdeviceCamSimulate5KeyCablePress(rcdeviceCamSimulationKeyEvent_e key)
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{
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uint8_t operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_NONE;
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switch (key) {
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@ -176,32 +204,23 @@ static bool rcdeviceCamSimulate5KeyCablePress(rcdeviceCamSimulationKeyEvent_e ke
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case RCDEVICE_CAM_KEY_ENTER:
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operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_SET;
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break;
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case RCDEVICE_CAM_KEY_NONE:
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default:
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operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_NONE;
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break;
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}
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return runcamDeviceSimulate5KeyOSDCableButtonPress(camDevice, operation);
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runcamDeviceSimulate5KeyOSDCableButtonPress(camDevice, operation, rcdeviceSimulationRespHandle);
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}
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static bool rcdeviceSend5KeyOSDCableSimualtionEvent(rcdeviceCamSimulationKeyEvent_e key)
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void rcdeviceSend5KeyOSDCableSimualtionEvent(rcdeviceCamSimulationKeyEvent_e key)
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{
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bool reqResult = false;
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switch (key) {
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case RCDEVICE_CAM_KEY_CONNECTION_OPEN:
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reqResult = runcamDeviceOpen5KeyOSDCableConnection(camDevice);
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if (reqResult) {
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rcdeviceInMenu = true;
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beeper(BEEPER_CAM_CONNECTION_OPEN);
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}
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runcamDeviceOpen5KeyOSDCableConnection(camDevice, rcdeviceSimulationRespHandle);
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break;
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case RCDEVICE_CAM_KEY_CONNECTION_CLOSE: {
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uint8_t resultCode = 0;
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reqResult = runcamDeviceClose5KeyOSDCableConnection(camDevice, &resultCode);
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if (resultCode == 1) {
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rcdeviceInMenu = false;
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beeper(BEEPER_CAM_CONNECTION_CLOSE);
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}
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runcamDeviceClose5KeyOSDCableConnection(camDevice, rcdeviceSimulationRespHandle);
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}
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break;
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case RCDEVICE_CAM_KEY_ENTER:
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@ -209,17 +228,17 @@ static bool rcdeviceSend5KeyOSDCableSimualtionEvent(rcdeviceCamSimulationKeyEven
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case RCDEVICE_CAM_KEY_UP:
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case RCDEVICE_CAM_KEY_RIGHT:
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case RCDEVICE_CAM_KEY_DOWN:
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reqResult = rcdeviceCamSimulate5KeyCablePress(key);
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rcdeviceCamSimulate5KeyCablePress(key);
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break;
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case RCDEVICE_CAM_KEY_RELEASE:
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reqResult = runcamDeviceSimulate5KeyOSDCableButtonRelease(camDevice);
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runcamDeviceSimulate5KeyOSDCableButtonRelease(camDevice, rcdeviceSimulationRespHandle);
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break;
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case RCDEVICE_CAM_KEY_NONE:
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default:
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reqResult = false;
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break;
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}
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return reqResult;
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return;
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}
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static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
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@ -236,21 +255,20 @@ static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
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return;
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}
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rcdeviceCamSimulationKeyEvent_e key = RCDEVICE_CAM_KEY_NONE;
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if (waitingDeviceResponse) {
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return;
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}
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if (needRelease) {
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if (isButtonPressed) {
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if (IS_MID(YAW) && IS_MID(PITCH) && IS_MID(ROLL)) {
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if ((camDevice->serialPort != NULL || reInitializeDevice()) && rcdeviceIs5KeyEnabled()) {
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key = RCDEVICE_CAM_KEY_RELEASE;
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if (rcdeviceSend5KeyOSDCableSimualtionEvent(key)) {
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needRelease = false;
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} else {
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rcdeviceInMenu = false;
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}
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if (rcdeviceIs5KeyEnabled()) {
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rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
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waitingDeviceResponse = true;
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}
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}
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return;
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} else {
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rcdeviceCamSimulationKeyEvent_e key = RCDEVICE_CAM_KEY_NONE;
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if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_LO(YAW)) { // Disconnect HI YAW
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if (rcdeviceInMenu) {
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key = RCDEVICE_CAM_KEY_CONNECTION_CLOSE;
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@ -274,14 +292,11 @@ static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
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}
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}
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}
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}
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if (key != RCDEVICE_CAM_KEY_NONE) {
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if ((camDevice->serialPort != NULL || reInitializeDevice()) && rcdeviceIs5KeyEnabled()) {
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if (rcdeviceSend5KeyOSDCableSimualtionEvent(key)) {
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needRelease = true;
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} else {
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rcdeviceInMenu = false;
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if (key != RCDEVICE_CAM_KEY_NONE) {
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if (rcdeviceIs5KeyEnabled()) {
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rcdeviceSend5KeyOSDCableSimualtionEvent(key);
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waitingDeviceResponse = true;
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}
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}
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}
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@ -289,23 +304,23 @@ static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
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void rcdeviceUpdate(timeUs_t currentTimeUs)
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{
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rcdeviceReceive(currentTimeUs);
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rcdeviceCameraControlProcess();
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rcdevice5KeySimulationProcess(currentTimeUs);
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}
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bool rcdeviceInit(void)
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void rcdeviceInit(void)
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{
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// open serial port
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if (!runcamDeviceInit(camDevice)) {
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return false;
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}
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runcamDeviceInit(camDevice);
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for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
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uint8_t switchIndex = i - BOXCAMERA1;
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switchStates[switchIndex].isActivated = true;
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}
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return true;
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return;
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}
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#endif
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