Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             : */
      15             : /*
      16             :    MSP version 1 and 2 protocol library, based on betaflight/iNav implementations
      17             :    code by Alex Apostoli
      18             :  */
      19             : 
      20             : #pragma once
      21             : 
      22             : #include "AP_MSP_config.h"
      23             : 
      24             : #if HAL_MSP_ENABLED
      25             : 
      26             : #include <AP_OSD/AP_OSD.h>
      27             : #include "AP_MSP_Telem_Backend.h"
      28             : 
      29             : #ifndef AP_MSP_INAV_FONTS_ENABLED
      30             : #define AP_MSP_INAV_FONTS_ENABLED 1
      31             : #endif
      32             : 
      33             : #define MSP_MAX_INSTANCES 3
      34             : #define MSP_OSD_START 2048
      35             : #define MSP_OSD_STEP_X 1
      36             : #define MSP_OSD_STEP_Y 32
      37             : #define MSP_OSD_POS(osd_setting) (MSP_OSD_START + osd_setting->xpos*MSP_OSD_STEP_X + osd_setting->ypos*MSP_OSD_STEP_Y)
      38             : 
      39             : class AP_MSP
      40             : {
      41             :     friend class AP_MSP_Telem_Generic;
      42             :     friend class AP_MSP_Telem_DJI;
      43             :     friend class AP_MSP_Telem_Backend;
      44             : #if HAL_WITH_MSP_DISPLAYPORT
      45             :     friend class AP_MSP_Telem_DisplayPort;
      46             :     friend class AP_OSD_MSP_DisplayPort;
      47             : #endif
      48             : public:
      49             :     AP_MSP();
      50             : 
      51             :     /* Do not allow copies */
      52             :     CLASS_NO_COPY(AP_MSP);
      53             : 
      54             :     // User settable parameters
      55             :     static const struct AP_Param::GroupInfo var_info[];
      56             : 
      57             :     // init - perform required initialisation
      58             :     void init();
      59             : 
      60             :     enum class Option : uint8_t {
      61             :         TELEMETRY_MODE = 1U<<0,
      62             :         TELEMETRY_DISABLE_DJI_WORKAROUNDS = 1U<<1,
      63             :         DISPLAYPORT_BTFL_SYMBOLS = 1U<<2,
      64             :         DISPLAYPORT_INAV_SYMBOLS = 1U<<3,
      65             :         VTX_HIGH_POWER = 1U<<4,
      66             :     };
      67             : 
      68             :     bool is_option_enabled(const Option option) const;
      69             : 
      70       60983 :     static AP_MSP *get_singleton(void)
      71             :     {
      72       60983 :         return _singleton;
      73             :     }
      74             : 
      75             : private:
      76             :     AP_MSP_Telem_Backend *_backends[MSP_MAX_INSTANCES];
      77             : 
      78             :     AP_Int8 _options;
      79             :     AP_Int8 _cellcount;
      80             : 
      81             :     // these are the osd items we support for MSP OSD
      82             :     AP_OSD_Setting* _osd_item_settings[MSP::OSD_ITEM_COUNT];
      83             :     MSP::osd_config_t _osd_config;
      84             : 
      85             :     struct {
      86             :         bool flashing_on;                                       // OSD item flashing support @1.4Hz
      87             :         bool slow_flashing_on;                                  // OSD item flashing support @0.5H
      88             :         uint8_t last_flight_mode = 255;
      89             :         uint32_t last_flight_mode_change_ms;
      90             :         bool flight_mode_focus;                                 // do we need to steal focus from text messages
      91             :         bool osd_initialized;                                   // for one time osd initialization
      92             :         uint8_t backend_count;                                  // actual count of active bacends
      93             :         uint8_t current_screen;                                 // defaults to screen 0
      94             :     } _msp_status;
      95             : 
      96             :     bool init_backend(uint8_t backend_idx, AP_HAL::UARTDriver *uart, AP_SerialManager::SerialProtocol protocol);
      97             :     void update_osd_item_settings();
      98             :     void loop(void);
      99             :     AP_MSP_Telem_Backend* find_protocol(const AP_SerialManager::SerialProtocol protocol) const;
     100             : 
     101             :     static AP_MSP *_singleton;
     102             : };
     103             : 
     104             : namespace AP
     105             : {
     106             : AP_MSP *msp();
     107             : };
     108             : 
     109             : #endif //HAL_MSP_ENABLED