src/main/io/headtracker_msp.c

   1 /*
   2  * This file is part of INAV.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <platform.h>
  19 #include <stdio.h>
  20
  21 #if (defined(USE_HEADTRACKER_MSP) && defined(USE_HEADTRACKER))
  22
  23 #include "build/debug.h"
  24
  25 #include "common/utils.h"
  26 #include "common/time.h"
  27 #include "common/maths.h"
  28
  29 #include "drivers/headtracker_common.h"
  30
  31 #include "io/headtracker_msp.h"
  32
  33 static bool isReady = false;
  34 static headTrackerVTable_t headTrackerMspVTable = {
  35     .process = NULL,
  36     .getDeviceType = heatTrackerMspGetDeviceType,
  37     .isReady = heatTrackerMspIsReady,
  38     .isValid = NULL,
  39 };
  40
  41 static headTrackerDevice_t headTrackerMspDevice = {
  42     .vTable = &headTrackerMspVTable,
  43     .pan = 0,
  44     .tilt = 0,
  45     .roll = 0,
  46     .expires = 0,
  47 };
  48
  49 void mspHeadTrackerInit(void)
  50 {
  51     if(headTrackerConfig()->devType == HEADTRACKER_MSP) {
  52         headTrackerCommonSetDevice(&headTrackerMspDevice);
  53     }
  54 }
  55
  56 void mspHeadTrackerReceiverNewData(uint8_t *data, unsigned int dataSize)
  57 {
  58     if(dataSize != sizeof(headtrackerMspMessage_t)) {
  59         SD(fprintf(stderr, "[headTracker]: invalid data size %d\n", dataSize));
  60         static int errorCount = 0;
  61         DEBUG_SET(DEBUG_HEADTRACKING, 7, errorCount++);
  62         DEBUG_SET(DEBUG_HEADTRACKING, 5, (sizeof(headtrackerMspMessage_t)));
  63         DEBUG_SET(DEBUG_HEADTRACKING, 6, dataSize);
  64         return;
  65     }
  66     isReady = true;
  67     DEBUG_SET(DEBUG_HEADTRACKING, 6, dataSize);
  68
  69     headtrackerMspMessage_t *status = (headtrackerMspMessage_t *)data;
  70
  71     headTrackerMspDevice.pan = constrain(status->pan, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
  72     headTrackerMspDevice.tilt = constrain(status->tilt, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
  73     headTrackerMspDevice.roll = constrain(status->roll, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
  74     headTrackerMspDevice.expires = micros() + MAX_HEADTRACKER_DATA_AGE_US;
  75
  76     DEBUG_SET(DEBUG_HEADTRACKING, 0, headTrackerMspDevice.pan);
  77     DEBUG_SET(DEBUG_HEADTRACKING, 1, headTrackerMspDevice.tilt);
  78     DEBUG_SET(DEBUG_HEADTRACKING, 2, headTrackerMspDevice.roll);
  79     DEBUG_SET(DEBUG_HEADTRACKING, 3, headTrackerMspDevice.expires);
  80 }
  81
  82 headTrackerDevType_e heatTrackerMspGetDeviceType(const headTrackerDevice_t *headTrackerDevice) {
  83     UNUSED(headTrackerDevice);
  84     return HEADTRACKER_MSP;
  85 }
  86
  87
  88 bool heatTrackerMspIsReady(const headTrackerDevice_t *headTrackerDevice)
  89 {
  90     UNUSED(headTrackerDevice);
  91     return headTrackerConfig()->devType == HEADTRACKER_MSP && isReady;
  92 }
  93
  94 #endif