src/main/io/vtx_smartaudio.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 /* Created by jflyper */
  22
  23 #include <stdbool.h>
  24 #include <stdint.h>
  25 #include <string.h>
  26 #include <ctype.h>
  27 #include <math.h>
  28
  29 #include "platform.h"
  30
  31 #if defined(USE_VTX_SMARTAUDIO) && defined(USE_VTX_CONTROL)
  32
  33 #include "build/debug.h"
  34
  35 #include "cms/cms.h"
  36
  37 #include "common/log.h"
  38 #include "common/maths.h"
  39 #include "common/printf.h"
  40 #include "common/utils.h"
  41 #include "common/typeconversion.h"
  42
  43 #include "drivers/time.h"
  44 #include "drivers/vtx_common.h"
  45
  46 #include "fc/settings.h"
  47
  48 #include "io/serial.h"
  49 #include "io/vtx.h"
  50 #include "io/vtx_control.h"
  51 #include "io/vtx_smartaudio.h"
  52 #include "io/vtx_string.h"
  53
  54
  55 // Timing parameters
  56 // Note that vtxSAProcess() is normally called at 200ms interval
  57 #define SMARTAUDIO_CMD_TIMEOUT       120    // Time until the command is considered lost
  58 #define SMARTAUDIO_POLLING_INTERVAL  150    // Minimum time between state polling
  59 #define SMARTAUDIO_POLLING_WINDOW   1000    // Time window after command polling for state change
  60
  61 static serialPort_t *smartAudioSerialPort = NULL;
  62
  63 uint8_t saPowerCount = VTX_SMARTAUDIO_DEFAULT_POWER_COUNT;
  64 const char * saPowerNames[VTX_SMARTAUDIO_MAX_POWER_COUNT + 1] = {
  65     "----", "25  ", "200 ", "500 ", "800 ", "    "
  66 };
  67
  68 // Save powerlevels reported from SA 2.1 devices here
  69 char sa21PowerNames[VTX_SMARTAUDIO_MAX_POWER_COUNT][5];
  70
  71 static const vtxVTable_t saVTable;    // Forward
  72 static vtxDevice_t vtxSmartAudio = {
  73     .vTable = &saVTable,
  74     .capability.bandCount = VTX_SMARTAUDIO_BAND_COUNT,
  75     .capability.channelCount = VTX_SMARTAUDIO_CHANNEL_COUNT,
  76     .capability.powerCount = VTX_SMARTAUDIO_MAX_POWER_COUNT,
  77     .capability.bandNames = (char **)vtx58BandNames,
  78     .capability.channelNames = (char **)vtx58ChannelNames,
  79     .capability.powerNames = (char**)saPowerNames
  80 };
  81
  82 // SmartAudio command and response codes
  83 enum {
  84     SA_CMD_NONE = 0x00,
  85     SA_CMD_GET_SETTINGS = 0x01,
  86     SA_CMD_SET_POWER,
  87     SA_CMD_SET_CHAN,
  88     SA_CMD_SET_FREQ,
  89     SA_CMD_SET_MODE,
  90     SA_CMD_GET_SETTINGS_V2 = 0x09,       // Response only
  91     SA_CMD_GET_SETTINGS_V21 = 0x11,
  92 } smartAudioCommand_e;
  93
  94 // This is not a good design; can't distinguish command from response this way.
  95 #define SACMD(cmd) (((cmd) << 1) | 1)
  96
  97
  98 #define SA_IS_PITMODE(n) ((n) & SA_MODE_GET_PITMODE)
  99 #define SA_IS_PIRMODE(n) (((n) & SA_MODE_GET_PITMODE) && ((n) & SA_MODE_GET_IN_RANGE_PITMODE))
 100 #define SA_IS_PORMODE(n) (((n) & SA_MODE_GET_PITMODE) && ((n) & SA_MODE_GET_OUT_RANGE_PITMODE))
 101
 102
 103 // convert between 'saDevice.channel' and band/channel values
 104 #define SA_DEVICE_CHVAL_TO_BAND(val) ((val) / (uint8_t)8)
 105 #define SA_DEVICE_CHVAL_TO_CHANNEL(val) ((val) % (uint8_t)8)
 106 #define SA_BANDCHAN_TO_DEVICE_CHVAL(band, channel) ((band) * (uint8_t)8 + (channel))
 107
 108
 109 // Statistical counters, for user side trouble shooting.
 110
 111 smartAudioStat_t saStat = {
 112     .pktsent = 0,
 113     .pktrcvd = 0,
 114     .badpre = 0,
 115     .badlen = 0,
 116     .crc = 0,
 117     .ooopresp = 0,
 118     .badcode = 0,
 119 };
 120
 121 // Fill table with standard values for SA 1.0 and 2.0
 122 saPowerTable_t saPowerTable[VTX_SMARTAUDIO_MAX_POWER_COUNT] = {
 123     {  25,   7 },
 124     { 200,  16 },
 125     { 500,  25 },
 126     { 800,  40 },
 127     {   0,   0 } // Placeholder
 128 };
 129
 130 // Last received device ('hard') states
 131
 132 smartAudioDevice_t saDevice = {
 133     .version = SA_UNKNOWN,
 134     .channel = SETTING_VTX_CHANNEL_DEFAULT,
 135     .power = SETTING_VTX_POWER_DEFAULT,
 136     .mode = 0,
 137     .freq = 0,
 138     .orfreq = 0,
 139     .willBootIntoPitMode = false
 140 };
 141
 142 static smartAudioDevice_t saDevicePrev = {
 143     .version = 0,
 144 };
 145
 146 // XXX Possible compliance problem here. Need LOCK/UNLOCK menu?
 147 static uint8_t saLockMode = SA_MODE_SET_UNLOCK; // saCms variable?
 148
 149 // XXX Should be configurable by user?
 150 bool saDeferred = true; // saCms variable?
 151
 152 // Receive frame reassembly buffer
 153 #define SA_MAX_RCVLEN 21
 154 static uint8_t sa_rbuf[SA_MAX_RCVLEN+4]; // XXX delete 4 byte guard
 155
 156 //
 157 // CRC8 computations
 158 //
 159
 160 #define POLYGEN 0xd5
 161
 162 static uint8_t CRC8(const uint8_t *data, const int8_t len)
 163 {
 164     uint8_t crc = 0; /* start with 0 so first byte can be 'xored' in */
 165     uint8_t currByte;
 166
 167     for (int i = 0 ; i < len ; i++) {
 168         currByte = data[i];
 169
 170         crc ^= currByte; /* XOR-in the next input byte */
 171
 172         for (int i = 0; i < 8; i++) {
 173             if ((crc & 0x80) != 0) {
 174                 crc = (uint8_t)((crc << 1) ^ POLYGEN);
 175             } else {
 176                 crc <<= 1;
 177             }
 178         }
 179     }
 180     return crc;
 181 }
 182
 183
 184 static void saPrintSettings(void)
 185 {
 186     LOG_DEBUG(VTX, "Current status: version: %d", saDevice.version);
 187     LOG_DEBUG(VTX, "  mode(0x%x): fmode=%s", saDevice.mode,  (saDevice.mode & 1) ? "freq" : "chan");
 188     LOG_DEBUG(VTX, " pit=%s ", (saDevice.mode & 2) ? "on " : "off");
 189     LOG_DEBUG(VTX, " inb=%s", (saDevice.mode & 4) ? "on " : "off");
 190     LOG_DEBUG(VTX, " outb=%s", (saDevice.mode & 8) ? "on " : "off");
 191     LOG_DEBUG(VTX, " lock=%s", (saDevice.mode & 16) ? "unlocked" : "locked");
 192     LOG_DEBUG(VTX, " deferred=%s", (saDevice.mode & 32) ? "on" : "off");
 193     LOG_DEBUG(VTX, "  channel: %d ", saDevice.channel);
 194     LOG_DEBUG(VTX, "freq: %d ", saDevice.freq);
 195     LOG_DEBUG(VTX, "power: %d ", saDevice.power);
 196     LOG_DEBUG(VTX, "pitfreq: %d ", saDevice.orfreq);
 197     LOG_DEBUG(VTX, "BootIntoPitMode: %s", saDevice.willBootIntoPitMode ? "yes" : "no");
 198 }
 199
 200 int saDacToPowerIndex(int dac)
 201 {
 202     for (int idx = saPowerCount - 1 ; idx >= 0 ; idx--) {
 203         if (saPowerTable[idx].dbi <= dac) {
 204             return idx;
 205         }
 206     }
 207     return 0;
 208 }
 209
 210 int saDbiToMw(uint16_t dbi) {
 211
 212     uint16_t mw = (uint16_t)pow(10.0, dbi / 10.0);
 213
 214     if (dbi > 14) {
 215         // For powers greater than 25mW round up to a multiple of 50 to match expectations
 216         mw = 50 * ((mw + 25) / 50);
 217      }
 218
 219     return mw;
 220 }
 221
 222 //
 223 // Autobauding
 224 //
 225
 226 #define SMARTBAUD_MIN 4800
 227 #define SMARTBAUD_MAX 4950
 228 uint16_t sa_smartbaud = SMARTBAUD_MIN;
 229 static int sa_adjdir = 1; // -1=going down, 1=going up
 230 static int sa_baudstep = 50;
 231
 232 static void saAutobaud(void)
 233 {
 234     if (saStat.pktsent < 10) {
 235         // Not enough samples collected
 236         return;
 237     }
 238
 239     if (((saStat.pktrcvd * 100) / saStat.pktsent) >= 70) {
 240         // This is okay
 241         saStat.pktsent = 0; // Should be more moderate?
 242         saStat.pktrcvd = 0;
 243         return;
 244     }
 245
 246     LOG_DEBUG(VTX, "autobaud: adjusting");
 247
 248     if ((sa_adjdir == 1) && (sa_smartbaud == SMARTBAUD_MAX)) {
 249        sa_adjdir = -1;
 250        LOG_DEBUG(VTX, "autobaud: now going down");
 251     } else if ((sa_adjdir == -1 && sa_smartbaud == SMARTBAUD_MIN)) {
 252        sa_adjdir = 1;
 253        LOG_DEBUG(VTX, "autobaud: now going up");
 254     }
 255
 256     sa_smartbaud += sa_baudstep * sa_adjdir;
 257
 258     LOG_DEBUG(VTX, "autobaud: %d", sa_smartbaud);
 259
 260     smartAudioSerialPort->vTable->serialSetBaudRate(smartAudioSerialPort, sa_smartbaud);
 261
 262     saStat.pktsent = 0;
 263     saStat.pktrcvd = 0;
 264 }
 265
 266 // Transport level variables
 267
 268 static timeUs_t sa_lastTransmissionMs = 0;
 269 static uint8_t sa_outstanding = SA_CMD_NONE; // Outstanding command
 270 static uint8_t sa_osbuf[32]; // Outstanding comamnd frame for retransmission
 271 static int sa_oslen;         // And associate length
 272
 273 static void saProcessResponse(uint8_t *buf, int len)
 274 {
 275     uint8_t resp = buf[0];
 276
 277     if (resp == sa_outstanding) {
 278         sa_outstanding = SA_CMD_NONE;
 279     } else if ((resp == SA_CMD_GET_SETTINGS_V2 || resp == SA_CMD_GET_SETTINGS_V21) && (sa_outstanding == SA_CMD_GET_SETTINGS)) {
 280         sa_outstanding = SA_CMD_NONE;
 281     } else {
 282         saStat.ooopresp++;
 283         LOG_DEBUG(VTX, "processResponse: outstanding %d got %d", sa_outstanding, resp);
 284     }
 285
 286     switch (resp) {
 287     case SA_CMD_GET_SETTINGS_V21: // Version 2.1 Get Settings
 288     case SA_CMD_GET_SETTINGS_V2: // Version 2 Get Settings
 289     case SA_CMD_GET_SETTINGS:    // Version 1 Get Settings
 290         if (len < 7) {
 291             break;
 292         }
 293
 294         // From spec: "Bit 7-3 is holding the Smart audio version where 0 is V1, 1 is V2, 2 is V2.1"
 295         // saDevice.version = 0 means unknown, 1 means Smart audio V1, 2 means Smart audio V2 and 3 means Smart audio V2.1
 296         saDevice.version = (buf[0] == SA_CMD_GET_SETTINGS) ? 1 : ((buf[0] == SA_CMD_GET_SETTINGS_V2) ? 2 : 3);
 297         saDevice.channel = buf[2];
 298         uint8_t rawPowerValue = buf[3];
 299         saDevice.mode = buf[4];
 300         saDevice.freq = (buf[5] << 8) | buf[6];
 301
 302         // read pir and por flags to detect if the device will boot into pitmode.
 303         // note that "quit pitmode without unsetting the pitmode flag" clears pir and por flags but the device will still boot into pitmode.
 304         // therefore we ignore the pir and por flags while the device is not in pitmode
 305         // actually, this is the whole reason the variable saDevice.willBootIntoPitMode exists.
 306         // otherwise we could use saDevice.mode directly
 307         if (saDevice.mode & SA_MODE_GET_PITMODE) {
 308             bool newBootMode = (saDevice.mode & SA_MODE_GET_IN_RANGE_PITMODE) || (saDevice.mode & SA_MODE_GET_OUT_RANGE_PITMODE);
 309             if (newBootMode != saDevice.willBootIntoPitMode) {
 310                 LOG_DEBUG(VTX, "saProcessResponse: willBootIntoPitMode is now %s\r\n", newBootMode  ? "true" : "false");
 311             }
 312             saDevice.willBootIntoPitMode = newBootMode;
 313         }
 314
 315         if(saDevice.version == SA_2_1) {
 316             //read dbm based power levels
 317             if(len < 10) { //current power level in dbm field missing or power level length field missing or zero power levels reported
 318                 LOG_DEBUG(VTX, "processResponse: V2.1 vtx didn't report any power levels\r\n");
 319                 break;
 320             }
 321             saPowerCount = constrain((int8_t)buf[8], 0, VTX_SMARTAUDIO_MAX_POWER_COUNT);
 322             vtxSmartAudio.capability.powerCount = saPowerCount;
 323             //SmartAudio seems to report buf[8] + 1 power levels, but one of them is zero.
 324             //zero is indeed a valid power level to set the vtx to, but it activates pit mode.
 325             //crucially, after sending 0 dbm, the vtx does NOT report its power level to be 0 dbm.
 326             //instead, it reports whatever value was set previously and it reports to be in pit mode.
 327             //for this reason, zero shouldn't be used as a normal power level in INAV.
 328             for (int8_t i = 0; i < saPowerCount; i++ ) {
 329                 saPowerTable[i].dbi = buf[9 + i + 1]; //+ 1 to skip the first power level, as mentioned above
 330                 saPowerTable[i].mW = saDbiToMw(saPowerTable[i].dbi);
 331                 if (i <= VTX_SMARTAUDIO_MAX_POWER_COUNT) {
 332                     char strbuf[5];
 333                     itoa(saPowerTable[i].mW, strbuf, 10);
 334                     strcpy(sa21PowerNames[i], strbuf);
 335                     saPowerNames[i + 1] = sa21PowerNames[i];
 336                 }
 337             }
 338
 339             LOG_DEBUG(VTX, "processResponse: %d power values: %d, %d, %d, %d\r\n",
 340                     saPowerCount, saPowerTable[0].dbi, saPowerTable[1].dbi,
 341                     saPowerTable[2].dbi, saPowerTable[3].dbi);
 342             //LOG_DEBUG(VTX, "processResponse: V2.1 received vtx power value %d\r\n",buf[7]);
 343             rawPowerValue = buf[7];
 344
 345             saDevice.power = 0; //set to unknown power level if the reported one doesnt match any of the known ones
 346             LOG_DEBUG(VTX, "processResponse: rawPowerValue is %d, legacy power is %d\r\n", rawPowerValue, buf[3]);
 347             for (int8_t i = 0; i < saPowerCount; i++) {
 348                 if (rawPowerValue == saPowerTable[i].dbi) {
 349                     saDevice.power = i + 1;
 350                 }
 351             }
 352         } else {
 353             saDevice.power = rawPowerValue + 1;
 354         }
 355
 356         DEBUG_SET(DEBUG_SMARTAUDIO, 0, saDevice.version * 100 + saDevice.mode);
 357         DEBUG_SET(DEBUG_SMARTAUDIO, 1, saDevice.channel);
 358         DEBUG_SET(DEBUG_SMARTAUDIO, 2, saDevice.freq);
 359         DEBUG_SET(DEBUG_SMARTAUDIO, 3, saDevice.power);
 360         break;
 361
 362     case SA_CMD_SET_POWER: // Set Power
 363         break;
 364
 365     case SA_CMD_SET_CHAN: // Set Channel
 366         break;
 367
 368     case SA_CMD_SET_FREQ: // Set Frequency
 369         if (len < 5) {
 370             break;
 371         }
 372
 373         const uint16_t freq = (buf[2] << 8)|buf[3];
 374
 375         if (freq & SA_FREQ_GETPIT) {
 376             saDevice.orfreq = freq & SA_FREQ_MASK;
 377             LOG_DEBUG(VTX, "saProcessResponse: GETPIT freq %d", saDevice.orfreq);
 378         } else if (freq & SA_FREQ_SETPIT) {
 379             saDevice.orfreq = freq & SA_FREQ_MASK;
 380             LOG_DEBUG(VTX, "saProcessResponse: SETPIT freq %d", saDevice.orfreq);
 381         } else {
 382             saDevice.freq = freq;
 383             LOG_DEBUG(VTX, "saProcessResponse: SETFREQ freq %d", freq);
 384         }
 385         break;
 386
 387     case SA_CMD_SET_MODE: // Set Mode
 388         LOG_DEBUG(VTX, "saProcessResponse: SET_MODE 0x%x, (pir %s, por %s, pitdsbl %s, %s)\r\n",
 389             buf[2], (buf[2] & 1) ? "on" : "off", (buf[2] & 2) ? "on" : "off", (buf[3] & 4) ? "on" : "off",
 390             (buf[4] & 8) ? "unlocked" : "locked");
 391         break;
 392
 393     default:
 394         saStat.badcode++;
 395         return;
 396     }
 397
 398     if (memcmp(&saDevice, &saDevicePrev, sizeof(smartAudioDevice_t))) {
 399         // Debug
 400         saPrintSettings();
 401     }
 402
 403     saDevicePrev = saDevice;
 404 }
 405
 406 //
 407 // Datalink
 408 //
 409
 410 static void saReceiveFramer(uint8_t c)
 411 {
 412
 413     static enum saFramerState_e {
 414         S_WAITPRE1, // Waiting for preamble 1 (0xAA)
 415         S_WAITPRE2, // Waiting for preamble 2 (0x55)
 416         S_WAITRESP, // Waiting for response code
 417         S_WAITLEN,  // Waiting for length
 418         S_DATA,     // Receiving data
 419         S_WAITCRC,  // Waiting for CRC
 420     } state = S_WAITPRE1;
 421
 422     static int len;
 423     static int dlen;
 424
 425     switch (state) {
 426     case S_WAITPRE1:
 427         if (c == 0xAA) {
 428             state = S_WAITPRE2;
 429         } else {
 430             state = S_WAITPRE1; // Don't need this (no change)
 431         }
 432         break;
 433
 434     case S_WAITPRE2:
 435         if (c == 0x55) {
 436             state = S_WAITRESP;
 437         } else {
 438             saStat.badpre++;
 439             state = S_WAITPRE1;
 440         }
 441         break;
 442
 443     case S_WAITRESP:
 444         sa_rbuf[0] = c;
 445         state = S_WAITLEN;
 446         break;
 447
 448     case S_WAITLEN:
 449         sa_rbuf[1] = c;
 450         len = c;
 451
 452         if (len > SA_MAX_RCVLEN - 2) {
 453             saStat.badlen++;
 454             state = S_WAITPRE1;
 455         } else if (len == 0) {
 456             state = S_WAITCRC;
 457         } else {
 458             dlen = 0;
 459             state = S_DATA;
 460         }
 461         break;
 462
 463     case S_DATA:
 464         // XXX Should check buffer overflow (-> saerr_overflow)
 465         sa_rbuf[2 + dlen] = c;
 466         if (++dlen == len) {
 467             state = S_WAITCRC;
 468         }
 469         break;
 470
 471     case S_WAITCRC:
 472         if (CRC8(sa_rbuf, 2 + len) == c) {
 473             // Got a response
 474             saProcessResponse(sa_rbuf, len + 2);
 475             saStat.pktrcvd++;
 476         } else if (sa_rbuf[0] & 1) {
 477             // Command echo
 478             // XXX There is an exceptional case (V2 response)
 479             // XXX Should check crc in the command format?
 480         } else {
 481             saStat.crc++;
 482         }
 483         state = S_WAITPRE1;
 484         break;
 485     }
 486 }
 487
 488 static void saSendFrame(uint8_t *buf, int len)
 489 {
 490     if ( (vtxConfig()->smartAudioAltSoftSerialMethod &&
 491           (smartAudioSerialPort->identifier == SERIAL_PORT_SOFTSERIAL1 || smartAudioSerialPort->identifier == SERIAL_PORT_SOFTSERIAL2))
 492          == false) {
 493         // TBS SA definition requires that the line is low before frame is sent
 494         // (for both soft and hard serial). It can be done by sending first 0x00
 495         serialWrite(smartAudioSerialPort, 0x00);
 496     }
 497
 498     for (int i = 0 ; i < len ; i++) {
 499         serialWrite(smartAudioSerialPort, buf[i]);
 500     }
 501
 502     // XXX: Workaround for early AKK SAudio-enabled VTX bug,
 503     // shouldn't cause any problems with VTX with properly
 504     // implemented SAudio.
 505         //Update: causes problem with new AKK AIO camera connected to SoftUART
 506     if (vtxConfig()->smartAudioEarlyAkkWorkaroundEnable) serialWrite(smartAudioSerialPort, 0x00);
 507
 508     sa_lastTransmissionMs = millis();
 509     saStat.pktsent++;
 510 }
 511
 512 /*
 513  * Retransmission and command queuing
 514  *
 515  *   The transport level support includes retransmission on response timeout
 516  * and command queueing.
 517  *
 518  * Resend buffer:
 519  *   The smartaudio returns response for valid command frames in no less
 520  * than 60msec, which we can't wait. So there's a need for a resend buffer.
 521  *
 522  * Command queueing:
 523  *   The driver autonomously sends GetSettings command for auto-bauding,
 524  * asynchronous to user initiated commands; commands issued while another
 525  * command is outstanding must be queued for later processing.
 526  *   The queueing also handles the case in which multiple commands are
 527  * required to implement a user level command.
 528  */
 529
 530 // Retransmission
 531
 532 static void saResendCmd(void)
 533 {
 534     saSendFrame(sa_osbuf, sa_oslen);
 535 }
 536
 537 static void saSendCmd(uint8_t *buf, int len)
 538 {
 539     for (int i = 0 ; i < len ; i++) {
 540         sa_osbuf[i] = buf[i];
 541     }
 542
 543     sa_oslen = len;
 544     sa_outstanding = (buf[2] >> 1);
 545
 546     saSendFrame(sa_osbuf, sa_oslen);
 547 }
 548
 549 // Command queue management
 550
 551 typedef struct saCmdQueue_s {
 552     uint8_t *buf;
 553     int len;
 554 } saCmdQueue_t;
 555
 556 #define SA_QSIZE 6     // 1 heartbeat (GetSettings) + 2 commands + 1 slack
 557 static saCmdQueue_t sa_queue[SA_QSIZE];
 558 static uint8_t sa_qhead = 0;
 559 static uint8_t sa_qtail = 0;
 560
 561 static bool saQueueEmpty(void)
 562 {
 563     return sa_qhead == sa_qtail;
 564 }
 565
 566 static bool saQueueFull(void)
 567 {
 568     return ((sa_qhead + 1) % SA_QSIZE) == sa_qtail;
 569 }
 570
 571 static void saQueueCmd(uint8_t *buf, int len)
 572 {
 573     if (saQueueFull()) {
 574          return;
 575     }
 576
 577     sa_queue[sa_qhead].buf = buf;
 578     sa_queue[sa_qhead].len = len;
 579     sa_qhead = (sa_qhead + 1) % SA_QSIZE;
 580 }
 581
 582 static void saSendQueue(void)
 583 {
 584     if (saQueueEmpty()) {
 585          return;
 586     }
 587
 588     saSendCmd(sa_queue[sa_qtail].buf, sa_queue[sa_qtail].len);
 589     sa_qtail = (sa_qtail + 1) % SA_QSIZE;
 590 }
 591
 592 // Individual commands
 593
 594 static void saGetSettings(void)
 595 {
 596     static uint8_t bufGetSettings[5] = {0xAA, 0x55, SACMD(SA_CMD_GET_SETTINGS), 0x00, 0x9F};
 597
 598     LOG_DEBUG(VTX, "smartAudioGetSettings\r\n");
 599     saQueueCmd(bufGetSettings, 5);
 600 }
 601
 602 void saSetFreq(uint16_t freq)
 603 {
 604     static uint8_t buf[7] = { 0xAA, 0x55, SACMD(SA_CMD_SET_FREQ), 2 };
 605     static uint8_t switchBuf[7];
 606
 607     if (freq & SA_FREQ_GETPIT) {
 608         LOG_DEBUG(VTX, "smartAudioSetFreq: GETPIT");
 609     } else if (freq & SA_FREQ_SETPIT) {
 610         LOG_DEBUG(VTX, "smartAudioSetFreq: SETPIT %d", freq & SA_FREQ_MASK);
 611     } else {
 612         LOG_DEBUG(VTX, "smartAudioSetFreq: SET %d", freq);
 613     }
 614
 615     buf[4] = (freq >> 8) & 0xff;
 616     buf[5] = freq & 0xff;
 617     buf[6] = CRC8(buf, 6);
 618
 619     // Need to work around apparent SmartAudio bug when going from 'channel'
 620     // to 'user-freq' mode, where the set-freq command will fail if the freq
 621     // value is unchanged from the previous 'user-freq' mode
 622     if ((saDevice.mode & SA_MODE_GET_FREQ_BY_FREQ) == 0 && freq == saDevice.freq) {
 623         memcpy(&switchBuf, &buf, sizeof(buf));
 624         const uint16_t switchFreq = freq + ((freq == VTX_SMARTAUDIO_MAX_FREQUENCY_MHZ) ? -1 : 1);
 625         switchBuf[4] = (switchFreq >> 8);
 626         switchBuf[5] = switchFreq & 0xff;
 627         switchBuf[6] = CRC8(switchBuf, 6);
 628
 629         saQueueCmd(switchBuf, 7);
 630     }
 631
 632     saQueueCmd(buf, 7);
 633 }
 634
 635 void saSetPitFreq(uint16_t freq)
 636 {
 637     saSetFreq(freq | SA_FREQ_SETPIT);
 638 }
 639
 640 static bool saValidateBandAndChannel(uint8_t band, uint8_t channel)
 641 {
 642     return (band >= VTX_SMARTAUDIO_MIN_BAND && band <= VTX_SMARTAUDIO_MAX_BAND &&
 643             channel >= VTX_SMARTAUDIO_MIN_CHANNEL && channel <= VTX_SMARTAUDIO_MAX_CHANNEL);
 644 }
 645
 646 void saSetBandAndChannel(uint8_t band, uint8_t channel)
 647 {
 648     static uint8_t buf[6] = { 0xAA, 0x55, SACMD(SA_CMD_SET_CHAN), 1 };
 649
 650     buf[4] = SA_BANDCHAN_TO_DEVICE_CHVAL(band, channel);
 651     buf[5] = CRC8(buf, 5);
 652     LOG_DEBUG(VTX, "vtxSASetBandAndChannel set index band %d channel %d value sent 0x%x\r\n", band, channel, buf[4]);
 653
 654     //this will clear saDevice.mode & SA_MODE_GET_FREQ_BY_FREQ
 655     saQueueCmd(buf, 6);
 656 }
 657
 658 void saSetMode(int mode)
 659 {
 660     static uint8_t buf[6] = { 0xAA, 0x55, SACMD(SA_CMD_SET_MODE), 1 };
 661
 662     buf[4] = (mode & 0x3f) | saLockMode;
 663     if (saDevice.version >= SA_2_1 && (mode & SA_MODE_CLR_PITMODE) &&
 664         ((mode & SA_MODE_SET_IN_RANGE_PITMODE) || (mode & SA_MODE_SET_OUT_RANGE_PITMODE))) {
 665         saDevice.willBootIntoPitMode = true;//quit pitmode without unsetting flag.
 666         //the response will just say pit=off but the device will still go into pitmode on reboot.
 667         //therefore we have to memorize this change here.
 668     }
 669     LOG_DEBUG(VTX, "saSetMode(0x%x): pir=%s por=%s pitdsbl=%s %s\r\n", mode, (mode & 1) ? "on " : "off", (mode & 2) ? "on " : "off",
 670             (mode & 4)? "on " : "off", (mode & 8) ? "locked" : "unlocked");
 671
 672     buf[5] = CRC8(buf, 5);
 673     saQueueCmd(buf, 6);
 674 }
 675
 676 bool vtxSmartAudioInit(void)
 677 {
 678     serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_VTX_SMARTAUDIO);
 679     if (portConfig) {
 680         portOptions_t portOptions = (vtxConfig()->smartAudioStopBits == 2 ? SERIAL_STOPBITS_2 : SERIAL_STOPBITS_1) | SERIAL_BIDIR_NOPULL;
 681         portOptions = portOptions | (vtxConfig()->halfDuplex ? SERIAL_BIDIR | SERIAL_BIDIR_PP : SERIAL_UNIDIR);
 682         smartAudioSerialPort = openSerialPort(portConfig->identifier, FUNCTION_VTX_SMARTAUDIO, NULL, NULL, 4800, MODE_RXTX, portOptions);
 683     }
 684
 685     if (!smartAudioSerialPort) {
 686         return false;
 687     }
 688
 689     vtxCommonSetDevice(&vtxSmartAudio);
 690
 691     return true;
 692 }
 693
 694 #define SA_INITPHASE_START         0
 695 #define SA_INITPHASE_WAIT_SETTINGS 1 // SA_CMD_GET_SETTINGS was sent and waiting for reply.
 696 #define SA_INITPHASE_WAIT_PITFREQ  2 // SA_FREQ_GETPIT sent and waiting for reply.
 697 #define SA_INITPHASE_DONE          3
 698
 699 static void vtxSAProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs)
 700 {
 701     UNUSED(vtxDevice);
 702     UNUSED(currentTimeUs);
 703
 704     static char initPhase = SA_INITPHASE_START;
 705
 706     if (smartAudioSerialPort == NULL) {
 707         return;
 708     }
 709
 710     while (serialRxBytesWaiting(smartAudioSerialPort) > 0) {
 711         uint8_t c = serialRead(smartAudioSerialPort);
 712         saReceiveFramer((uint16_t)c);
 713     }
 714
 715     // Re-evaluate baudrate after each frame reception
 716     saAutobaud();
 717
 718     switch (initPhase) {
 719     case SA_INITPHASE_START:
 720         saGetSettings();
 721         //saSendQueue();
 722         initPhase = SA_INITPHASE_WAIT_SETTINGS;
 723         break;
 724
 725     case SA_INITPHASE_WAIT_SETTINGS:
 726         // Don't send SA_FREQ_GETPIT to V1 device; it act as plain SA_CMD_SET_FREQ,
 727         // and put the device into user frequency mode with uninitialized freq.
 728         if (saDevice.version) {
 729             if (saDevice.version == SA_2_0) {
 730                 saSetFreq(SA_FREQ_GETPIT);
 731                 initPhase = SA_INITPHASE_WAIT_PITFREQ;
 732             } else {
 733                 initPhase = SA_INITPHASE_DONE;
 734             }
 735             if (saDevice.version >= SA_2_0 ) {
 736                 //did the device boot up in pit mode on its own?
 737                 saDevice.willBootIntoPitMode = (saDevice.mode & SA_MODE_GET_PITMODE) ? true : false;
 738                 LOG_DEBUG(VTX, "sainit: willBootIntoPitMode is %s\r\n", saDevice.willBootIntoPitMode ? "true" : "false");
 739             }
 740         }
 741         break;
 742
 743     case SA_INITPHASE_WAIT_PITFREQ:
 744         if (saDevice.orfreq) {
 745             initPhase = SA_INITPHASE_DONE;
 746         }
 747         break;
 748
 749     case SA_INITPHASE_DONE:
 750         break;
 751     }
 752
 753     // Command queue control
 754
 755     timeMs_t nowMs = millis();             // Don't substitute with "currentTimeUs / 1000"; sa_lastTransmissionMs is based on millis().
 756     static timeMs_t lastCommandSentMs = 0; // Last non-GET_SETTINGS sent
 757
 758     if ((sa_outstanding != SA_CMD_NONE) && (nowMs - sa_lastTransmissionMs > SMARTAUDIO_CMD_TIMEOUT)) {
 759         // Last command timed out
 760         // LOG_DEBUG(VTX, "process: resending 0x%x", sa_outstanding);
 761         // XXX Todo: Resend termination and possible offline transition
 762         saResendCmd();
 763     lastCommandSentMs = nowMs;
 764     } else if (!saQueueEmpty()) {
 765         // Command pending. Send it.
 766         // LOG_DEBUG(VTX, "process: sending queue");
 767         saSendQueue();
 768         lastCommandSentMs = nowMs;
 769     } else if ((nowMs - lastCommandSentMs < SMARTAUDIO_POLLING_WINDOW) && (nowMs - sa_lastTransmissionMs >= SMARTAUDIO_POLLING_INTERVAL)) {
 770     //LOG_DEBUG(VTX, "process: sending status change polling");
 771     saGetSettings();
 772     saSendQueue();
 773     }
 774 }
 775
 776 // Interface to common VTX API
 777
 778 vtxDevType_e vtxSAGetDeviceType(const vtxDevice_t *vtxDevice)
 779 {
 780     UNUSED(vtxDevice);
 781     return VTXDEV_SMARTAUDIO;
 782 }
 783
 784 static bool vtxSAIsReady(const vtxDevice_t *vtxDevice)
 785 {
 786     return vtxDevice != NULL && !(saDevice.power == 0);
 787     //wait until power reading exists
 788 }
 789
 790 void vtxSASetBandAndChannel(vtxDevice_t *vtxDevice, uint8_t band, uint8_t channel)
 791 {
 792     UNUSED(vtxDevice);
 793     if (saValidateBandAndChannel(band, channel)) {
 794         saSetBandAndChannel(band - 1, channel - 1);
 795     }
 796 }
 797  static void vtxSASetPowerByIndex(vtxDevice_t *vtxDevice, uint8_t index)
 798 {
 799     static uint8_t buf[6] = { 0xAA, 0x55, SACMD(SA_CMD_SET_POWER), 1 };
 800
 801     if (!vtxSAIsReady(vtxDevice)) {
 802         return;
 803     }
 804
 805     if (index == 0) {
 806         LOG_DEBUG(VTX, "SmartAudio doesn't support power off");
 807         return;
 808     }
 809
 810     if (index > saPowerCount) {
 811         LOG_DEBUG(VTX, "Invalid power level");
 812         return;
 813     }
 814
 815     LOG_DEBUG(VTX, "saSetPowerByIndex: index %d, value %d\r\n", index, buf[4]);
 816
 817     index--;
 818     switch (saDevice.version) {
 819         case SA_1_0:
 820             buf[4] = saPowerTable[index].dbi;
 821             break;
 822         case SA_2_0:
 823             buf[4] = index;
 824             break;
 825         case SA_2_1:
 826             buf[4] = saPowerTable[index].dbi;
 827             buf[4] |= 128; //set MSB to indicate set power by dbm
 828             break;
 829         default:
 830             break;
 831     }
 832
 833     buf[5] = CRC8(buf, 5);
 834     saQueueCmd(buf, 6);
 835 }
 836
 837 static void vtxSASetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff)
 838 {
 839     if (!vtxSAIsReady(vtxDevice) || saDevice.version < SA_1_0) {
 840         return;
 841     }
 842
 843     if (onoff && saDevice.version < SA_2_1) {
 844         // Smart Audio prior to V2.1 can not turn pit mode on by software.
 845         return;
 846     }
 847
 848     if (saDevice.version >= SA_2_1 && !saDevice.willBootIntoPitMode) {
 849         if (onoff) {
 850             // enable pitmode using SET_POWER command with 0 dbm.
 851             // This enables pitmode without causing the device to boot into pitmode next power-up
 852             static uint8_t buf[6] = { 0xAA, 0x55, SACMD(SA_CMD_SET_POWER), 1 };
 853             buf[4] = 0 | 128;
 854             buf[5] = CRC8(buf, 5);
 855             saQueueCmd(buf, 6);
 856             LOG_DEBUG(VTX, "vtxSASetPitMode: set power to 0 dbm\r\n");
 857         } else {
 858             saSetMode(SA_MODE_CLR_PITMODE);
 859             LOG_DEBUG(VTX, "vtxSASetPitMode: clear pitmode permanently");
 860         }
 861        return;
 862     }
 863
 864     uint8_t newMode = onoff ? 0 : SA_MODE_CLR_PITMODE;
 865
 866     if (saDevice.mode & SA_MODE_GET_OUT_RANGE_PITMODE) {
 867         newMode |= SA_MODE_SET_OUT_RANGE_PITMODE;
 868     }
 869
 870     if ((saDevice.mode & SA_MODE_GET_IN_RANGE_PITMODE) || (onoff && newMode == 0)) {
 871         // ensure when turning on pit mode that pit mode gets actually enabled
 872         newMode |= SA_MODE_SET_IN_RANGE_PITMODE;
 873     }
 874     LOG_DEBUG(VTX, "vtxSASetPitMode %s with stored mode 0x%x por %s, pir %s, newMode 0x%x\r\n", onoff ? "on" : "off", saDevice.mode,
 875             (saDevice.mode & SA_MODE_GET_OUT_RANGE_PITMODE) ? "on" : "off",
 876             (saDevice.mode & SA_MODE_GET_IN_RANGE_PITMODE) ? "on" : "off" , newMode);
 877
 878
 879     saSetMode(newMode);
 880
 881     return;
 882 }
 883
 884 static bool vtxSAGetBandAndChannel(const vtxDevice_t *vtxDevice, uint8_t *pBand, uint8_t *pChannel)
 885 {
 886     if (!vtxSAIsReady(vtxDevice)) {
 887         return false;
 888     }
 889
 890     // if in user-freq mode then report band as zero
 891     *pBand = (saDevice.mode & SA_MODE_GET_FREQ_BY_FREQ) ? 0 :
 892         (SA_DEVICE_CHVAL_TO_BAND(saDevice.channel) + 1);
 893     *pChannel = SA_DEVICE_CHVAL_TO_CHANNEL(saDevice.channel) + 1;
 894
 895     return true;
 896 }
 897
 898 static bool vtxSAGetPowerIndex(const vtxDevice_t *vtxDevice, uint8_t *pIndex)
 899 {
 900     if (!vtxSAIsReady(vtxDevice)) {
 901         return false;
 902     }
 903
 904     *pIndex = ((saDevice.version == SA_1_0) ? saDacToPowerIndex(saDevice.power) : saDevice.power);
 905     return true;
 906 }
 907
 908 static bool vtxSAGetPitMode(const vtxDevice_t *vtxDevice, uint8_t *pOnOff)
 909 {
 910     if (!(vtxSAIsReady(vtxDevice) && (saDevice.version < SA_2_0))) {
 911         return false;
 912     }
 913
 914     *pOnOff = (saDevice.mode & SA_MODE_GET_PITMODE) ? 1 : 0;
 915     return true;
 916 }
 917
 918 static bool vtxSAGetFreq(const vtxDevice_t *vtxDevice, uint16_t *pFreq)
 919 {
 920     if (!vtxSAIsReady(vtxDevice)) {
 921         return false;
 922     }
 923
 924     // if not in user-freq mode then convert band/chan to frequency
 925     *pFreq = (saDevice.mode & SA_MODE_GET_FREQ_BY_FREQ) ? saDevice.freq :
 926         vtx58_Bandchan2Freq(SA_DEVICE_CHVAL_TO_BAND(saDevice.channel) + 1,
 927         SA_DEVICE_CHVAL_TO_CHANNEL(saDevice.channel) + 1);
 928     return true;
 929 }
 930
 931 static bool vtxSAGetPower(const vtxDevice_t *vtxDevice, uint8_t *pIndex, uint16_t *pPowerMw)
 932 {
 933     uint8_t powerIndex;
 934
 935     if (!vtxSAGetPowerIndex(vtxDevice, &powerIndex)) {
 936         return false;
 937     }
 938
 939     *pIndex = powerIndex;
 940     *pPowerMw = (powerIndex > 0) ? saPowerTable[powerIndex - 1].mW : 0;
 941     return true;
 942 }
 943
 944 static bool vtxSAGetOsdInfo(const  vtxDevice_t *vtxDevice, vtxDeviceOsdInfo_t * pOsdInfo)
 945 {
 946     uint8_t powerIndex;
 947     uint16_t powerMw;
 948     uint16_t freq;
 949     uint8_t band, channel;
 950
 951     if (!vtxSAGetBandAndChannel(vtxDevice, &band, &channel)) {
 952         return false;
 953     }
 954
 955     if (!vtxSAGetFreq(vtxDevice, &freq)) {
 956         return false;
 957     }
 958
 959     if (!vtxSAGetPower(vtxDevice, &powerIndex, &powerMw)) {
 960         return false;
 961     }
 962
 963     pOsdInfo->band = band;
 964     pOsdInfo->channel = channel;
 965     pOsdInfo->frequency = freq;
 966     pOsdInfo->powerIndex = powerIndex;
 967     pOsdInfo->powerMilliwatt = powerMw;
 968     pOsdInfo->bandLetter = vtx58BandNames[band][0];
 969     pOsdInfo->bandName = vtx58BandNames[band];
 970     pOsdInfo->channelName = vtx58ChannelNames[channel];
 971     pOsdInfo->powerIndexLetter = '0' + powerIndex;
 972     return true;
 973 }
 974
 975 static const vtxVTable_t saVTable = {
 976     .process = vtxSAProcess,
 977     .getDeviceType = vtxSAGetDeviceType,
 978     .isReady = vtxSAIsReady,
 979     .setBandAndChannel = vtxSASetBandAndChannel,
 980     .setPowerByIndex = vtxSASetPowerByIndex,
 981     .setPitMode = vtxSASetPitMode,
 982     .getBandAndChannel = vtxSAGetBandAndChannel,
 983     .getPowerIndex = vtxSAGetPowerIndex,
 984     .getPitMode = vtxSAGetPitMode,
 985     .getFrequency = vtxSAGetFreq,
 986     .getPower = vtxSAGetPower,
 987     .getOsdInfo = vtxSAGetOsdInfo,
 988 };
 989
 990
 991 #endif // VTX_SMARTAUDIO