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 static runcamDevice_t runcamDevice;
  50 runcamDevice_t *camDevice = &runcamDevice;
  51 rcdeviceSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
  52 bool rcdeviceInMenu = false;
  53 bool isButtonPressed = false;
  54 bool waitingDeviceResponse = false;
  55
  56 static bool isFeatureSupported(uint16_t feature)
  57 {
  58     if (camDevice->info.features & feature || rcdeviceConfig()->feature & feature) {
  59         return true;
  60     }
  61
  62     return false;
  63 }
  64
  65 bool rcdeviceIsEnabled(void)
  66 {
  67     return camDevice->serialPort != NULL;
  68 }
  69
  70 static void rcdeviceCameraControlProcess(void)
  71 {
  72     for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
  73         uint8_t switchIndex = i - BOXCAMERA1;
  74
  75         if (IS_RC_MODE_ACTIVE(i)) {
  76
  77             // check last state of this mode, if it's true, then ignore it.
  78             // Here is a logic to make a toggle control for this mode
  79             if (switchStates[switchIndex].isActivated) {
  80                 continue;
  81             }
  82
  83             uint8_t behavior = RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION;
  84             switch (i) {
  85             case BOXCAMERA1:
  86                 if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_WIFI_BUTTON)) {
  87                     // avoid display wifi page when arming, in the next firmware(>2.0) of rcsplit we have change the wifi page logic:
  88                     // when the wifi was turn on it won't turn off the analog video output,
  89                     // and just put a wifi indicator on the right top of the video output. here is for the old split firmware
  90                     if (!ARMING_FLAG(ARMED) && !(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
  91                         behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_WIFI_BTN;
  92                     }
  93                 }
  94                 break;
  95             case BOXCAMERA2:
  96                 if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_POWER_BUTTON)) {
  97                     behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_POWER_BTN;
  98                 }
  99                 break;
 100             case BOXCAMERA3:
 101                 if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) {
 102                     // avoid change camera mode when arming
 103                     if (!ARMING_FLAG(ARMED) && !(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
 104                         behavior = RCDEVICE_PROTOCOL_CAM_CTRL_CHANGE_MODE;
 105                     }
 106                 }
 107                 break;
 108             default:
 109                 break;
 110             }
 111             if (behavior != RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION) {
 112                 runcamDeviceSimulateCameraButton(camDevice, behavior);
 113                 switchStates[switchIndex].isActivated = true;
 114             }
 115         } else {
 116             switchStates[switchIndex].isActivated = false;
 117         }
 118     }
 119 }
 120
 121 static void rcdeviceSimulationOSDCableFailed(rcdeviceResponseParseContext_t *ctx)
 122 {
 123     waitingDeviceResponse = false;
 124     if (ctx->command == RCDEVICE_PROTOCOL_COMMAND_5KEY_CONNECTION) {
 125         uint8_t operationID = ctx->paramData[0];
 126         if (operationID == RCDEVICE_PROTOCOL_5KEY_CONNECTION_CLOSE) {
 127             return;
 128         }
 129     }
 130 }
 131
 132 static void rcdeviceSimulationRespHandle(rcdeviceResponseParseContext_t *ctx)
 133 {
 134     if (ctx->result != RCDEVICE_RESP_SUCCESS) {
 135         rcdeviceSimulationOSDCableFailed(ctx);
 136         waitingDeviceResponse = false;
 137         return;
 138     }
 139
 140     switch (ctx->command) {
 141     case RCDEVICE_PROTOCOL_COMMAND_5KEY_SIMULATION_RELEASE:
 142         isButtonPressed = false;
 143         break;
 144     case RCDEVICE_PROTOCOL_COMMAND_5KEY_CONNECTION:
 145     {
 146         // the high 4 bits is the operationID that we sent
 147         // the low 4 bits is the result code
 148         isButtonPressed = true;
 149         uint8_t operationID = ctx->paramData[0];
 150         bool errorCode = (ctx->recvBuf[1] & 0x0F);
 151         if (operationID == RCDEVICE_PROTOCOL_5KEY_CONNECTION_OPEN) {
 152             if (errorCode == 1) {
 153                 rcdeviceInMenu = true;
 154                 beeper(BEEPER_CAM_CONNECTION_OPEN);
 155             } else {
 156                 beeper(BEEPER_CAM_CONNECTION_CLOSE);
 157             }
 158         } else if (operationID == RCDEVICE_PROTOCOL_5KEY_CONNECTION_CLOSE) {
 159             if (errorCode == 1) {
 160                 rcdeviceInMenu = false;
 161                 beeper(BEEPER_CAM_CONNECTION_CLOSE);
 162             }
 163         }
 164     }
 165         break;
 166     case RCDEVICE_PROTOCOL_COMMAND_5KEY_SIMULATION_PRESS:
 167         isButtonPressed = true;
 168         break;
 169     }
 170
 171     waitingDeviceResponse = false;
 172 }
 173
 174 static void rcdeviceCamSimulate5KeyCablePress(rcdeviceCamSimulationKeyEvent_e key)
 175 {
 176     uint8_t operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_NONE;
 177     switch (key) {
 178     case RCDEVICE_CAM_KEY_LEFT:
 179         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_LEFT;
 180         break;
 181     case RCDEVICE_CAM_KEY_UP:
 182         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_UP;
 183         break;
 184     case RCDEVICE_CAM_KEY_RIGHT:
 185         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_RIGHT;
 186         break;
 187     case RCDEVICE_CAM_KEY_DOWN:
 188         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_DOWN;
 189         break;
 190     case RCDEVICE_CAM_KEY_ENTER:
 191         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_SET;
 192         break;
 193     case RCDEVICE_CAM_KEY_NONE:
 194     default:
 195         operation = RCDEVICE_PROTOCOL_5KEY_SIMULATION_NONE;
 196         break;
 197     }
 198
 199     runcamDeviceSimulate5KeyOSDCableButtonPress(camDevice, operation, rcdeviceSimulationRespHandle);
 200 }
 201
 202 void rcdeviceSend5KeyOSDCableSimualtionEvent(rcdeviceCamSimulationKeyEvent_e key)
 203 {
 204     switch (key) {
 205     case RCDEVICE_CAM_KEY_CONNECTION_OPEN:
 206         runcamDeviceOpen5KeyOSDCableConnection(camDevice, rcdeviceSimulationRespHandle);
 207         break;
 208     case RCDEVICE_CAM_KEY_CONNECTION_CLOSE:
 209         runcamDeviceClose5KeyOSDCableConnection(camDevice, rcdeviceSimulationRespHandle);
 210         break;
 211     case RCDEVICE_CAM_KEY_ENTER:
 212     case RCDEVICE_CAM_KEY_LEFT:
 213     case RCDEVICE_CAM_KEY_UP:
 214     case RCDEVICE_CAM_KEY_RIGHT:
 215     case RCDEVICE_CAM_KEY_DOWN:
 216         rcdeviceCamSimulate5KeyCablePress(key);
 217         break;
 218     case RCDEVICE_CAM_KEY_RELEASE:
 219         runcamDeviceSimulate5KeyOSDCableButtonRelease(camDevice, rcdeviceSimulationRespHandle);
 220         break;
 221     case RCDEVICE_CAM_KEY_NONE:
 222     default:
 223         break;
 224     }
 225 }
 226
 227 static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
 228 {
 229     UNUSED(currentTimeUs);
 230
 231 #ifdef USE_CMS
 232     if (cmsInMenu) {
 233         return;
 234     }
 235 #endif
 236
 237     if (ARMING_FLAG(ARMED) || IS_RC_MODE_ACTIVE(BOXSTICKCOMMANDDISABLE) || (getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
 238         return;
 239     }
 240
 241     if (isButtonPressed) {
 242         if (IS_MID(YAW) && IS_MID(PITCH) && IS_MID(ROLL)) {
 243             rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
 244             waitingDeviceResponse = true;
 245         }
 246     } else {
 247         if (waitingDeviceResponse) {
 248             return;
 249         }
 250
 251         rcdeviceCamSimulationKeyEvent_e key = RCDEVICE_CAM_KEY_NONE;
 252
 253         if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_LO(YAW)) { // Disconnect Lo YAW
 254             if (rcdeviceInMenu) {
 255                 key = RCDEVICE_CAM_KEY_CONNECTION_CLOSE;
 256             }
 257         } else {
 258             if (rcdeviceInMenu) {
 259                 if (IS_LO(ROLL)) { // Left LO ROLL
 260                     key = RCDEVICE_CAM_KEY_LEFT;
 261                 } else if (IS_HI(PITCH)) { // Up HI PITCH
 262                     key = RCDEVICE_CAM_KEY_UP;
 263                 } else if (IS_HI(ROLL)) { // Right HI ROLL
 264                     key = RCDEVICE_CAM_KEY_RIGHT;
 265                 } else if (IS_LO(PITCH)) { // Down LO PITCH
 266                     key = RCDEVICE_CAM_KEY_DOWN;
 267                 } else if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_HI(YAW)) { // Enter HI YAW
 268                     key = RCDEVICE_CAM_KEY_ENTER;
 269                 }
 270             } else {
 271                 if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_HI(YAW)) { // Enter HI YAW
 272                     key = RCDEVICE_CAM_KEY_CONNECTION_OPEN;
 273                 }
 274             }
 275         }
 276
 277         if (key != RCDEVICE_CAM_KEY_NONE) {
 278             rcdeviceSend5KeyOSDCableSimualtionEvent(key);
 279             isButtonPressed = true;
 280             waitingDeviceResponse = true;
 281         }
 282     }
 283 }
 284
 285 static void rcdeviceProcessDeviceRequest(runcamDeviceRequest_t *request)
 286 {
 287     switch (request->command) {
 288         case RCDEVICE_PROTOCOL_COMMAND_REQUEST_FC_ATTITUDE:
 289             runcamDeviceSendAttitude(camDevice);
 290             break;
 291     }
 292 }
 293
 294 void rcdeviceUpdate(timeUs_t currentTimeUs)
 295 {
 296     rcdeviceReceive(currentTimeUs);
 297
 298     rcdeviceCameraControlProcess();
 299
 300     rcdevice5KeySimulationProcess(currentTimeUs);
 301
 302     if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_FC_ATTITUDE)) {
 303         runcamDeviceRequest_t *request = rcdeviceGetRequest();
 304         if (request) {
 305             rcdeviceProcessDeviceRequest(request);
 306         }
 307     }
 308 }
 309
 310 void rcdeviceInit(void)
 311 {
 312     // open serial port
 313     runcamDeviceInit(camDevice);
 314
 315     for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
 316         uint8_t switchIndex = i - BOXCAMERA1;
 317         switchStates[switchIndex].isActivated = true;
 318     }
 319 }
 320
 321 #endif