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Add MSP support for vtxtable

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This commit is contained in:
Bruce Luckcuck 2019-08-06 20:36:04 -04:00
parent 2f8c6eacd9
commit ee47957dc3
3 changed files with 206 additions and 6 deletions
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207
src/main/msp/msp.c
View file

@ -24,6 +24,7 @@
#include <math.h>
#include <stdlib.h>
#include <limits.h>
#include <ctype.h>
#include "platform.h"
@ -60,6 +61,7 @@
#include "drivers/transponder_ir.h"
#include "drivers/usb_msc.h"
#include "drivers/vtx_common.h"
#include "drivers/vtx_table.h"
#include "fc/board_info.h"
#include "fc/config.h"
@ -109,6 +111,7 @@
#include "pg/rx_spi.h"
#include "pg/usb.h"
#include "pg/vcd.h"
#include "pg/vtx_table.h"
#include "rx/rx.h"
#include "rx/msp.h"
@ -169,6 +172,10 @@ typedef enum {
#define RTC_NOT_SUPPORTED 0xff
#ifdef USE_VTX_TABLE
static bool vtxTableNeedsInit = false;
#endif
static bool featureMaskIsCopied = false;
static uint32_t featureMaskCopy;
@ -1585,7 +1592,21 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, vtxSettingsConfig()->freq);
sbufWriteU8(dst, deviceIsReady);
sbufWriteU8(dst, vtxSettingsConfig()->lowPowerDisarm);
// future extensions here...
// API version 1.42
sbufWriteU16(dst, vtxSettingsConfig()->pitModeFreq);
#ifdef USE_VTX_TABLE
sbufWriteU8(dst, 1); // vtxtable is available
sbufWriteU8(dst, vtxTableConfig()->bands);
sbufWriteU8(dst, vtxTableConfig()->channels);
sbufWriteU8(dst, vtxTableConfig()->powerLevels);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
}
break;
#endif
@ -1711,6 +1732,46 @@ static mspResult_e mspFcProcessOutCommandWithArg(uint8_t cmdMSP, sbuf_t *src, sb
dst->ptr = packetOut.buf.ptr;
}
break;
#ifdef USE_VTX_TABLE
case MSP_VTXTABLE_BAND:
{
const uint8_t band = sbufBytesRemaining(src) ? sbufReadU8(src) : 0;
if (band > 0 && band <= VTX_TABLE_MAX_BANDS) {
sbufWriteU8(dst, band); // band number (same as request)
sbufWriteU8(dst, VTX_TABLE_BAND_NAME_LENGTH); // band name length
for (int i = 0; i < VTX_TABLE_BAND_NAME_LENGTH; i++) { // band name bytes
sbufWriteU8(dst, vtxTableConfig()->bandNames[band - 1][i]);
}
sbufWriteU8(dst, vtxTableConfig()->bandLetters[band - 1]); // band letter
sbufWriteU8(dst, vtxTableConfig()->isFactoryBand[band - 1]); // CUSTOM = 0; FACTORY = 1
sbufWriteU8(dst, vtxTableConfig()->channels); // number of channel frequencies to follow
for (int i = 0; i < vtxTableConfig()->channels; i++) { // the frequency for each channel
sbufWriteU16(dst, vtxTableConfig()->frequency[band - 1][i]);
}
} else {
return MSP_RESULT_ERROR;
}
}
break;
case MSP_VTXTABLE_POWERLEVEL:
{
const uint8_t powerLevel = sbufBytesRemaining(src) ? sbufReadU8(src) : 0;
if (powerLevel > 0 && powerLevel <= VTX_TABLE_MAX_POWER_LEVELS) {
sbufWriteU8(dst, powerLevel); // powerLevel number (same as request)
sbufWriteU16(dst, vtxTableConfig()->powerValues[powerLevel - 1]);
sbufWriteU8(dst, VTX_TABLE_POWER_LABEL_LENGTH); // powerLevel label length
for (int i = 0; i < VTX_TABLE_POWER_LABEL_LENGTH; i++) { // powerlevel label bytes
sbufWriteU8(dst, vtxTableConfig()->powerLabels[powerLevel - 1][i]);
}
} else {
return MSP_RESULT_ERROR;
}
}
break;
#endif // USE_VTX_TABLE
default:
return MSP_RESULT_CMD_UNKNOWN;
}
@ -2308,6 +2369,14 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
writeEEPROM();
}
readEEPROM();
#ifdef USE_VTX_TABLE
if (vtxTableNeedsInit) {
vtxTableNeedsInit = false;
vtxTableInit(); // Reinitialize and refresh the in-memory copies
}
#endif
break;
#ifdef USE_BLACKBOX
@ -2350,20 +2419,146 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src) >= 2) {
vtxSettingsConfigMutable()->power = sbufReadU8(src);
const uint8_t newPitmode = sbufReadU8(src);
if (vtxType != VTXDEV_UNKNOWN) {
// Delegate pitmode to vtx directly
const uint8_t newPitmode = sbufReadU8(src);
unsigned vtxCurrentStatus;
vtxCommonGetStatus(vtxDevice, &vtxCurrentStatus);
if ((bool)(vtxCurrentStatus & VTX_STATUS_PIT_MODE) != (bool)newPitmode) {
vtxCommonSetPitMode(vtxDevice, newPitmode);
}
if (sbufBytesRemaining(src)) {
vtxSettingsConfigMutable()->lowPowerDisarm = sbufReadU8(src);
}
}
}
if (sbufBytesRemaining(src)) {
vtxSettingsConfigMutable()->lowPowerDisarm = sbufReadU8(src);
}
// API version 1.42 - this parameter kept separate since clients may already be supplying
if (sbufBytesRemaining(src) >= 2) {
vtxSettingsConfigMutable()->pitModeFreq = sbufReadU16(src);
}
// API version 1.42 - extensions for non-encoded versions of the band, channel or frequency
if (sbufBytesRemaining(src) >= 4) {
// Added standalone values for band, channel and frequency to move
// away from the flawed encoded combined method originally implemented.
uint8_t newBand = sbufReadU8(src);
const uint8_t newChannel = sbufReadU8(src);
uint16_t newFreq = sbufReadU16(src);
if (newBand) {
newFreq = vtxCommonLookupFrequency(vtxDevice, newBand, newChannel);
}
vtxSettingsConfigMutable()->band = newBand;
vtxSettingsConfigMutable()->channel = newChannel;
vtxSettingsConfigMutable()->freq = newFreq;
}
// API version 1.42 - extensions for vtxtable support
if (sbufBytesRemaining(src) >= 4) {
#ifdef USE_VTX_TABLE
const uint8_t newBandCount = sbufReadU8(src);
const uint8_t newChannelCount = sbufReadU8(src);
const uint8_t newPowerCount = sbufReadU8(src);
if ((newBandCount > VTX_TABLE_MAX_BANDS) ||
(newChannelCount > VTX_TABLE_MAX_CHANNELS) ||
(newPowerCount > VTX_TABLE_MAX_POWER_LEVELS)) {
return MSP_RESULT_ERROR;
}
vtxTableConfigMutable()->bands = newBandCount;
vtxTableConfigMutable()->channels = newChannelCount;
vtxTableConfigMutable()->powerLevels = newPowerCount;
// boolean to determine whether the vtxtable should be cleared in
// expectation that the detailed band/channel and power level messages
// will follow to repopulate the tables
if (sbufReadU8(src)) {
for (int i = 0; i < VTX_TABLE_MAX_BANDS; i++) {
vtxTableConfigClearBand(vtxTableConfigMutable(), i);
vtxTableConfigClearChannels(vtxTableConfigMutable(), i, 0);
}
vtxTableConfigClearPowerLabels(vtxTableConfigMutable(), 0);
vtxTableConfigClearPowerValues(vtxTableConfigMutable(), 0);
}
#else
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
#endif
}
}
break;
#endif
#ifdef USE_VTX_TABLE
case MSP_SET_VTXTABLE_BAND:
{
char bandName[VTX_TABLE_BAND_NAME_LENGTH + 1];
memset(bandName, 0, VTX_TABLE_BAND_NAME_LENGTH + 1);
uint16_t frequencies[VTX_TABLE_MAX_CHANNELS];
const uint8_t band = sbufReadU8(src);
const uint8_t bandNameLength = sbufReadU8(src);
for (int i = 0; i < bandNameLength; i++) {
const char nameChar = sbufReadU8(src);
if (i < VTX_TABLE_BAND_NAME_LENGTH) {
bandName[i] = toupper(nameChar);
}
}
const char bandLetter = toupper(sbufReadU8(src));
const bool isFactoryBand = (bool)sbufReadU8(src);
const uint8_t channelCount = sbufReadU8(src);
for (int i = 0; i < channelCount; i++) {
const uint16_t frequency = sbufReadU16(src);
if (i < vtxTableConfig()->channels) {
frequencies[i] = frequency;
}
}
if (band > 0 && band <= vtxTableConfig()->bands) {
vtxTableStrncpyWithPad(vtxTableConfigMutable()->bandNames[band - 1], bandName, VTX_TABLE_BAND_NAME_LENGTH);
vtxTableConfigMutable()->bandLetters[band - 1] = bandLetter;
vtxTableConfigMutable()->isFactoryBand[band - 1] = isFactoryBand;
for (int i = 0; i < vtxTableConfig()->channels; i++) {
vtxTableConfigMutable()->frequency[band - 1][i] = frequencies[i];
}
// If this is the currently selected band then reset the frequency
if (band == vtxSettingsConfig()->band) {
uint16_t newFreq = 0;
if (vtxSettingsConfig()->channel > 0 && vtxSettingsConfig()->channel <= vtxTableConfig()->channels) {
newFreq = frequencies[vtxSettingsConfig()->channel - 1];
}
vtxSettingsConfigMutable()->freq = newFreq;
}
vtxTableNeedsInit = true; // reinintialize vtxtable after eeprom write
} else {
return MSP_RESULT_ERROR;
}
}
break;
case MSP_SET_VTXTABLE_POWERLEVEL:
{
char powerLevelLabel[VTX_TABLE_POWER_LABEL_LENGTH + 1];
memset(powerLevelLabel, 0, VTX_TABLE_POWER_LABEL_LENGTH + 1);
const uint8_t powerLevel = sbufReadU8(src);
const uint16_t powerValue = sbufReadU16(src);
const uint8_t powerLevelLabelLength = sbufReadU8(src);
for (int i = 0; i < powerLevelLabelLength; i++) {
const char labelChar = sbufReadU8(src);
if (i < VTX_TABLE_POWER_LABEL_LENGTH) {
powerLevelLabel[i] = toupper(labelChar);
}
}
if (powerLevel > 0 && powerLevel <= vtxTableConfig()->powerLevels) {
vtxTableConfigMutable()->powerValues[powerLevel - 1] = powerValue;
vtxTableStrncpyWithPad(vtxTableConfigMutable()->powerLabels[powerLevel - 1], powerLevelLabel, VTX_TABLE_POWER_LABEL_LENGTH);
vtxTableNeedsInit = true; // reinintialize vtxtable after eeprom write
} else {
return MSP_RESULT_ERROR;
}
}
break;
#endif

4
src/main/msp/msp_protocol.h
View file

@ -281,6 +281,8 @@
#define MSP_ESC_SENSOR_DATA 134 //out message Extra ESC data from 32-Bit ESCs (Temperature, RPM)
#define MSP_GPS_RESCUE 135 //out message GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
#define MSP_GPS_RESCUE_PIDS 136 //out message GPS Rescues's throttleP and velocity PIDS + yaw P
#define MSP_VTXTABLE_BAND 137 //out message vtxTable band/channel data
#define MSP_VTXTABLE_POWERLEVEL 138 //out message vtxTable powerLevel data
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
@ -309,6 +311,8 @@
#define MSP_SET_COMPASS_CONFIG 224 //out message Compass configuration
#define MSP_SET_GPS_RESCUE 225 //in message GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
#define MSP_SET_GPS_RESCUE_PIDS 226 //in message GPS Rescues's throttleP and velocity PIDS + yaw P
#define MSP_SET_VTXTABLE_BAND 227 //in message set vtxTable band/channel data (one band at a time)
#define MSP_SET_VTXTABLE_POWERLEVEL 228 //in message set vtxTable powerLevel data (one powerLevel at a time)
// #define MSP_BIND 240 //in message no param
// #define MSP_ALARMS 242

1
src/main/target/common_post.h
View file

@ -139,6 +139,7 @@
#undef USE_VTX_CONTROL
#undef USE_VTX_TRAMP
#undef USE_VTX_SMARTAUDIO
#undef USE_VTX_TABLE
#endif
#if defined(USE_RX_FRSKY_SPI_D) || defined(USE_RX_FRSKY_SPI_X)