mirror of
https://github.com/betaflight/betaflight.git
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146 lines
4.4 KiB
C
146 lines
4.4 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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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*
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* Cleanflight 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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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <platform.h>
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#include "common/utils.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "fc/runtime_config.h"
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#include "io/rcsplit.h"
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#include "io/serial.h"
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// communicate with camera device variables
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STATIC_UNIT_TESTED serialPort_t *rcSplitSerialPort = NULL;
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// only for unit test
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STATIC_UNIT_TESTED rcsplitSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
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static uint8_t crc_high_first(uint8_t *ptr, uint8_t len)
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{
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uint8_t crc = 0x00;
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while (len--) {
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crc ^= *ptr++;
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for (int i=8; i>0; --i) {
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if (crc & 0x80) {
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crc = (crc << 1) ^ 0x31;
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} else {
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crc = (crc << 1);
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}
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}
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}
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return crc;
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}
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static void sendCtrlCommand(rcsplit_ctrl_argument_e argument)
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{
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uint8_t uart_buffer[5] = {0};
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uart_buffer[0] = RCSPLIT_PACKET_HEADER;
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uart_buffer[1] = RCSPLIT_PACKET_CMD_CTRL;
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uart_buffer[2] = argument;
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uart_buffer[3] = RCSPLIT_PACKET_TAIL;
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uint8_t crc = crc_high_first(uart_buffer, 4);
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// build up a full request [header]+[command]+[argument]+[crc]+[tail]
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uart_buffer[3] = crc;
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uart_buffer[4] = RCSPLIT_PACKET_TAIL;
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// write to device
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serialWriteBuf(rcSplitSerialPort, uart_buffer, 5);
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}
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static void rcSplitProcessMode(void)
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{
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for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
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const uint8_t switchIndex = i - BOXCAMERA1;
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if (IS_RC_MODE_ACTIVE(i)) {
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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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continue;
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}
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uint8_t argument = RCSPLIT_CTRL_ARGU_INVALID;
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switch (i) {
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case BOXCAMERA1:
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// check whether arm unlock, we found a bug in rcsplit firmware:
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// if rcsplit running without Wi-Fi module, and user try to turn on wifi, it'll cause rcsplit to turn off itself, this is danger
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if (!ARMING_FLAG(ARMED)) {
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argument = RCSPLIT_CTRL_ARGU_WIFI_BTN;
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}
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break;
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case BOXCAMERA2:
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argument = RCSPLIT_CTRL_ARGU_POWER_BTN;
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break;
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case BOXCAMERA3:
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argument = RCSPLIT_CTRL_ARGU_CHANGE_MODE;
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break;
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default:
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argument = RCSPLIT_CTRL_ARGU_INVALID;
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break;
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}
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if (argument != RCSPLIT_CTRL_ARGU_INVALID) {
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sendCtrlCommand(argument);
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switchStates[switchIndex].isActivated = true;
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}
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} else {
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switchStates[switchIndex].isActivated = false;
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}
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}
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}
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bool rcSplitIsEnabled(void)
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{
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return rcSplitSerialPort ? true : false;
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}
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bool rcSplitInit(void)
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{
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// found the port config with FUNCTION_RUNCAM_SPLIT_CONTROL
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// User must set some UART inteface with RunCam Split at peripherals column in Ports tab
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serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RCSPLIT);
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if (portConfig) {
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rcSplitSerialPort = openSerialPort(portConfig->identifier, FUNCTION_RCSPLIT, NULL, 115200, MODE_RXTX, 0);
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}
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if (!rcSplitSerialPort) {
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return false;
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}
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// set init value to true, to avoid the action auto run when the flight board start and the switch is on.
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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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}
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void rcSplitUpdate(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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// process rcsplit custom mode if has any changed
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rcSplitProcessMode();
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}
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