src/main/io/rcdevice_cam.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #include "pg/rx.h"
  27
  28 #include "common/time.h"
  29
  30 #include "cms/cms.h"
  31
  32 #include "fc/rc_controls.h"
  33 #include "fc/runtime_config.h"
  34
  35 #include "io/beeper.h"
  36 #include "io/serial.h"
  37 #include "io/rcdevice_cam.h"
  38
  39 #include "rx/rx.h"
  40
  41 #include "pg/rcdevice.h"
  42
  43 #ifdef USE_RCDEVICE
  44
  45 #define IS_HI(X) (rcData[X] > FIVE_KEY_CABLE_JOYSTICK_MAX)
  46 #define IS_LO(X) (rcData[X] < FIVE_KEY_CABLE_JOYSTICK_MIN)
  47 #define IS_MID(X) (rcData[X] > FIVE_KEY_CABLE_JOYSTICK_MID_START && rcData[X] < FIVE_KEY_CABLE_JOYSTICK_MID_END)
  48
  49
  50 static runcamDevice_t runcamDevice;
  51 runcamDevice_t *camDevice = &runcamDevice;
  52 rcdeviceSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
  53 bool rcdeviceInMenu = false;
  54 bool isButtonPressed = false;
  55 bool waitingDeviceResponse = false;
  56
  57
  58 static bool isFeatureSupported(uint16_t feature)
  59 {
  60     if (camDevice->info.features & feature || rcdeviceConfig()->feature & feature) {
  61         return true;
  62     }
  63
  64     return false;
  65 }
  66
  67 bool rcdeviceIsEnabled(void)
  68 {
  69     return camDevice->serialPort != NULL;
  70 }
  71
  72 static void rcdeviceCameraControlProcess(void)
  73 {
  74     for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
  75         uint8_t switchIndex = i - BOXCAMERA1;
  76
  77         if (IS_RC_MODE_ACTIVE(i)) {
  78
  79             // check last state of this mode, if it's true, then ignore it.
  80             // Here is a logic to make a toggle control for this mode
  81             if (switchStates[switchIndex].isActivated) {
  82                 continue;
  83             }
  84
  85             uint8_t behavior = RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION;
  86             switch (i) {
  87             case BOXCAMERA1:
  88                 if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_WIFI_BUTTON)) {
  89                     // avoid display wifi page when arming, in the next firmware(>2.0) of rcsplit we have change the wifi page logic:
  90                     // when the wifi was turn on it won't turn off the analog video output,
  91                     // and just put a wifi indicator on the right top of the video output. here is for the old split firmware
  92                     if (!ARMING_FLAG(ARMED) && !(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
  93                         behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_WIFI_BTN;
  94                     }
  95                 }
  96                 break;
  97             case BOXCAMERA2:
  98                 if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_POWER_BUTTON)) {
  99                     behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_POWER_BTN;
 100                 }
 101                 break;
 102             case BOXCAMERA3:
 103                 if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) {
 104                     // avoid change camera mode when arming
 105                     if (!ARMING_FLAG(ARMED) && !(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
 106                         behavior = RCDEVICE_PROTOCOL_CAM_CTRL_CHANGE_MODE;
 107                     }
 108                 }
 109                 break;
 110             default:
 111                 break;
 112             }
 113             if (behavior != RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION) {
 114                 runcamDeviceSimulateCameraButton(camDevice, behavior);
 115                 switchStates[switchIndex].isActivated = true;
 116             }
 117         } else {
 118             switchStates[switchIndex].isActivated = false;
 119         }
 120     }
 121 }
 122
 123 static void rcdeviceSimulationOSDCableFailed(rcdeviceResponseParseContext_t *ctx)
 124 {
 125     waitingDeviceResponse = false;
 126     if (ctx->command == RCDEVICE_PROTOCOL_COMMAND_5KEY_CONNECTION) {
 127         uint8_t operationID = ctx->paramData[0];
 128         if (operationID == RCDEVICE_PROTOCOL_5KEY_CONNECTION_CLOSE) {
 129             return;
 130         }
 131     }
 132 }
 133
 134 static void rcdeviceSimulationRespHandle(rcdeviceResponseParseContext_t *ctx)
 135 {
 136     if (ctx->result != RCDEVICE_RESP_SUCCESS) {
 137         rcdeviceSimulationOSDCableFailed(ctx);
 138         waitingDeviceResponse = false;
 139         return;
 140     }
 141
 142     switch (ctx->command) {
 143     case RCDEVICE_PROTOCOL_COMMAND_5KEY_SIMULATION_RELEASE:
 144         isButtonPressed = false;
 145         break;
 146     case RCDEVICE_PROTOCOL_COMMAND_5KEY_CONNECTION:
 147     {
 148         // the high 4 bits is the operationID that we sent
 149         // the low 4 bits is the result code
 150         isButtonPressed = true;
 151         uint8_t operationID = ctx->paramData[0];
 152         bool errorCode = (ctx->recvBuf[1] & 0x0F);
 153         if (operationID == RCDEVICE_PROTOCOL_5KEY_CONNECTION_OPEN) {
 154             if (errorCode == 1) {
 155                 rcdeviceInMenu = true;
 156                 beeper(BEEPER_CAM_CONNECTION_OPEN);
 157             } else {
 158                 beeper(BEEPER_CAM_CONNECTION_CLOSE);
 159             }
 160         } else if (operationID == RCDEVICE_PROTOCOL_5KEY_CONNECTION_CLOSE) {
 161             if (errorCode == 1) {
 162                 rcdeviceInMenu = false;
 163                 beeper(BEEPER_CAM_CONNECTION_CLOSE);
 164             }
 165         }
 166     }
 167         break;
 168     case RCDEVICE_PROTOCOL_COMMAND_5KEY_SIMULATION_PRESS:
 169         isButtonPressed = true;
 170         break;
 171     }
 172
 173     waitingDeviceResponse = false;
 174 }
 175
 176 static void rcdeviceCamSimulate5KeyCablePress(rcdeviceCamSimulationKeyEvent_e key)
 177 {
 178     uint8_t operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_NONE;
 179     switch (key) {
 180     case RCDEVICE_CAM_KEY_LEFT:
 181         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_LEFT;
 182         break;
 183     case RCDEVICE_CAM_KEY_UP:
 184         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_UP;
 185         break;
 186     case RCDEVICE_CAM_KEY_RIGHT:
 187         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_RIGHT;
 188         break;
 189     case RCDEVICE_CAM_KEY_DOWN:
 190         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_DOWN;
 191         break;
 192     case RCDEVICE_CAM_KEY_ENTER:
 193         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_SET;
 194         break;
 195     case RCDEVICE_CAM_KEY_NONE:
 196     default:
 197         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_NONE;
 198         break;
 199     }
 200
 201     runcamDeviceSimulate5KeyOSDCableButtonPress(camDevice, operation, rcdeviceSimulationRespHandle);
 202 }
 203
 204 void rcdeviceSend5KeyOSDCableSimualtionEvent(rcdeviceCamSimulationKeyEvent_e key)
 205 {
 206     switch (key) {
 207     case RCDEVICE_CAM_KEY_CONNECTION_OPEN:
 208         runcamDeviceOpen5KeyOSDCableConnection(camDevice, rcdeviceSimulationRespHandle);
 209         break;
 210     case RCDEVICE_CAM_KEY_CONNECTION_CLOSE:
 211         runcamDeviceClose5KeyOSDCableConnection(camDevice, rcdeviceSimulationRespHandle);
 212         break;
 213     case RCDEVICE_CAM_KEY_ENTER:
 214     case RCDEVICE_CAM_KEY_LEFT:
 215     case RCDEVICE_CAM_KEY_UP:
 216     case RCDEVICE_CAM_KEY_RIGHT:
 217     case RCDEVICE_CAM_KEY_DOWN:
 218         rcdeviceCamSimulate5KeyCablePress(key);
 219         break;
 220     case RCDEVICE_CAM_KEY_RELEASE:
 221         runcamDeviceSimulate5KeyOSDCableButtonRelease(camDevice, rcdeviceSimulationRespHandle);
 222         break;
 223     case RCDEVICE_CAM_KEY_NONE:
 224     default:
 225         break;
 226     }
 227 }
 228
 229 static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
 230 {
 231     UNUSED(currentTimeUs);
 232
 233 #ifdef USE_CMS
 234     if (cmsInMenu) {
 235         return;
 236     }
 237 #endif
 238
 239     if (ARMING_FLAG(ARMED) || IS_RC_MODE_ACTIVE(BOXSTICKCOMMANDDISABLE) || (getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
 240         return;
 241     }
 242
 243     if (isButtonPressed) {
 244         if (IS_MID(YAW) && IS_MID(PITCH) && IS_MID(ROLL)) {
 245             rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
 246             waitingDeviceResponse = true;
 247         }
 248     } else {
 249         if (waitingDeviceResponse) {
 250             return;
 251         }
 252
 253         rcdeviceCamSimulationKeyEvent_e key = RCDEVICE_CAM_KEY_NONE;
 254
 255         if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_LO(YAW)) { // Disconnect Lo YAW
 256             if (rcdeviceInMenu) {
 257                 key = RCDEVICE_CAM_KEY_CONNECTION_CLOSE;
 258             }
 259         } else {
 260             if (rcdeviceInMenu) {
 261                 if (IS_LO(ROLL)) { // Left LO ROLL
 262                     key = RCDEVICE_CAM_KEY_LEFT;
 263                 } else if (IS_HI(PITCH)) { // Up HI PITCH
 264                     key = RCDEVICE_CAM_KEY_UP;
 265                 } else if (IS_HI(ROLL)) { // Right HI ROLL
 266                     key = RCDEVICE_CAM_KEY_RIGHT;
 267                 } else if (IS_LO(PITCH)) { // Down LO PITCH
 268                     key = RCDEVICE_CAM_KEY_DOWN;
 269                 } else if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_HI(YAW)) { // Enter HI YAW
 270                     key = RCDEVICE_CAM_KEY_ENTER;
 271                 }
 272             } else {
 273                 if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_HI(YAW)) { // Enter HI YAW
 274                     key = RCDEVICE_CAM_KEY_CONNECTION_OPEN;
 275                 }
 276             }
 277         }
 278
 279         if (key != RCDEVICE_CAM_KEY_NONE) {
 280             rcdeviceSend5KeyOSDCableSimualtionEvent(key);
 281             isButtonPressed = true;
 282             waitingDeviceResponse = true;
 283         }
 284     }
 285 }
 286
 287 static void rcdeviceProcessDeviceRequest(runcamDeviceRequest_t *request)
 288 {
 289     switch (request->command) {
 290         case RCDEVICE_PROTOCOL_COMMAND_REQUEST_FC_ATTITUDE:
 291             runcamDeviceSendAttitude(camDevice);
 292             break;
 293     }
 294 }
 295
 296 void rcdeviceUpdate(timeUs_t currentTimeUs)
 297 {
 298     rcdeviceReceive(currentTimeUs);
 299
 300     rcdeviceCameraControlProcess();
 301
 302     rcdevice5KeySimulationProcess(currentTimeUs);
 303
 304     if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_FC_ATTITUDE)) {
 305         runcamDeviceRequest_t *request = rcdeviceGetRequest();
 306         if (request) {
 307             rcdeviceProcessDeviceRequest(request);
 308         }
 309     }
 310 }
 311
 312 void rcdeviceInit(void)
 313 {
 314     // open serial port
 315     runcamDeviceInit(camDevice);
 316
 317     for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
 318         uint8_t switchIndex = i - BOXCAMERA1;
 319         switchStates[switchIndex].isActivated = true;
 320     }
 321 }
 322
 323 #endif