mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-23 08:15:26 +03:00
7a1491e158
Prepended to: 'ACC', 'GYRO', 'BARO', 'MAG', 'LED_STRIP', 'SPEKTRUM_BIND', 'SERIAL_RX', 'BLACKBOX', 'GPS', 'GPS_PROTO_UBLOX', 'TELEMETRY', 'TELEMETRY_LTM', 'TELEMETRY_FRSKY', 'CMS', 'GPS_PROTO_NMEA', 'GPS_PROTO_I2C_NAV', 'GPS_PROTO_NAZA', 'GPS_PROTO_UBLOX_NEO7PLUS', 'GPS_PROTO_MTK', 'TELEMETRY_HOTT', 'TELEMETRY_IBUS', 'TELEMETRY_MAVLINK', 'TELEMETRY_SMARTPORT', 'TELEMETRY_CRSF', 'PWM_DRIVER_PCA9685', 'PITOT', 'OSD',
313 lines
9.5 KiB
C
313 lines
9.5 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 <stddef.h>
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#include "cms/cms.h"
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#include "common/printf.h"
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#include "common/utils.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "io/beeper.h"
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#include "io/rcdevice_cam.h"
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#include "rx/rx.h"
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#ifdef USE_RCDEVICE
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#define IS_HI(X) (rcData[X] > 1750)
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#define IS_LO(X) (rcData[X] < 1250)
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#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
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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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static bool isFeatureSupported(uint8_t feature)
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{
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if (camDevice->info.features & feature) {
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return true;
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}
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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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if (camDevice->serialPort != NULL && (isPowerSimulationSupported || isWiFiSimulationSupported || isChangeModeSupported)) {
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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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bool is5KeySimulationSupported = isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_5_KEY_OSD_CABLE);
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if (camDevice->serialPort != NULL && (rcdeviceIsCameraControlEnabled() || is5KeySimulationSupported)) {
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return true;
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}
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return false;
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}
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static bool rcdeviceIs5KeyEnabled(void)
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{
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if (camDevice->serialPort != NULL && isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_5_KEY_OSD_CABLE)) {
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return true;
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}
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return false;
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}
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static void rcdeviceCameraUpdateTime(void)
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{
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static bool hasSynchronizedTime = false;
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// don't try more than 3 times to avoid overloading the CPU if
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// the camera doesn't accept the command for some reason.
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static int retries = 0;
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runcamDeviceWriteSettingResponse_t updateSettingResponse;
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// Format is yyyyMMddThhmmss.0 plus null terminator, hence 18
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// characters.
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char buf[18];
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dateTime_t dt;
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if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_DEVICE_SETTINGS_ACCESS) &&
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!hasSynchronizedTime && retries < 3) {
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if (rtcGetDateTime(&dt)) {
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retries++;
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tfp_sprintf(buf, "%04d%02d%02dT%02d%02d%02d.0",
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dt.year, dt.month, dt.day,
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dt.hours, dt.minutes, dt.seconds);
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bool ok = runcamDeviceWriteSetting(camDevice, RCDEVICE_PROTOCOL_SETTINGID_CAMERA_TIME,
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buf, sizeof(buf), &updateSettingResponse);
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if (ok && updateSettingResponse.resultCode == 0) {
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hasSynchronizedTime = true;
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}
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}
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}
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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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// 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 behavior = RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION;
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switch (i) {
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case BOXCAMERA1:
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if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_WIFI_BUTTON)) {
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behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_WIFI_BTN;
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}
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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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}
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break;
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case BOXCAMERA3:
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if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) {
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behavior = RCDEVICE_PROTOCOL_CAM_CTRL_CHANGE_MODE;
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}
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break;
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default:
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break;
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}
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if (behavior != RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION) {
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runcamDeviceSimulateCameraButton(camDevice, behavior);
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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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rcdeviceCameraUpdateTime();
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}
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static bool 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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case RCDEVICE_CAM_KEY_LEFT:
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operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_LEFT;
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break;
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case RCDEVICE_CAM_KEY_UP:
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operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_UP;
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break;
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case RCDEVICE_CAM_KEY_RIGHT:
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operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_RIGHT;
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break;
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case RCDEVICE_CAM_KEY_DOWN:
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operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_DOWN;
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break;
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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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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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}
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static bool 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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break;
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case RCDEVICE_CAM_KEY_CONNECTION_CLOSE:
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reqResult = runcamDeviceClose5KeyOSDCableConnection(camDevice);
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if (reqResult) {
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rcdeviceInMenu = false;
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beeper(BEEPER_CAM_CONNECTION_CLOSE);
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}
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break;
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case RCDEVICE_CAM_KEY_ENTER:
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case RCDEVICE_CAM_KEY_LEFT:
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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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break;
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case RCDEVICE_CAM_KEY_RELEASE:
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reqResult = runcamDeviceSimulate5KeyOSDCableButtonRelease(camDevice);
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break;
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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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}
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static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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#ifdef USE_CMS
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if (cmsInMenu) {
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return;
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}
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#endif
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if (camDevice->serialPort == 0) {
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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 (needRelease) {
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if (IS_MID(YAW) && IS_MID(PITCH) && IS_MID(ROLL)) {
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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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return;
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} else {
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return;
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}
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} else {
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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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}
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} else {
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if (rcdeviceInMenu) {
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if (IS_LO(ROLL)) { // Left LO ROLL
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key = RCDEVICE_CAM_KEY_LEFT;
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} else if (IS_HI(PITCH)) { // Up HI PITCH
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key = RCDEVICE_CAM_KEY_UP;
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} else if (IS_HI(ROLL)) { // Right HI ROLL
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key = RCDEVICE_CAM_KEY_RIGHT;
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} else if (IS_LO(PITCH)) { // Down LO PITCH
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key = RCDEVICE_CAM_KEY_DOWN;
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} else if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_HI(YAW)) { // Enter HI YAW
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key = RCDEVICE_CAM_KEY_ENTER;
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}
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} else {
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if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_HI(YAW) && !ARMING_FLAG(ARMED)) { // Enter HI YAW
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key = RCDEVICE_CAM_KEY_CONNECTION_OPEN;
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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 (rcdeviceSend5KeyOSDCableSimualtionEvent(key)) {
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needRelease = true;
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} else {
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rcdeviceInMenu = false;
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}
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}
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}
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void rcdeviceUpdate(timeUs_t currentTimeUs)
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{
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if (rcdeviceIsCameraControlEnabled()) {
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rcdeviceCameraControlProcess();
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}
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if (rcdeviceIs5KeyEnabled()) {
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rcdevice5KeySimulationProcess(currentTimeUs);
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}
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}
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bool 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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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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#endif
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