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 headTrackerVTable_t headTrackerMspVTable = {
  34     .process = NULL,
  35     .getDeviceType = heatTrackerMspGetDeviceType,
  36     .isReady = NULL,
  37     .isValid = NULL,
  38 };
  39
  40 static headTrackerDevice_t headTrackerMspDevice = {
  41     .vTable = &headTrackerMspVTable,
  42     .pan = 0,
  43     .tilt = 0,
  44     .roll = 0,
  45     .expires = 0,
  46 };
  47
  48 void mspHeadTrackerInit(void)
  49 {
  50     if(headTrackerConfig()->devType == HEADTRACKER_MSP) {
  51         headTrackerCommonSetDevice(&headTrackerMspDevice);
  52     }
  53 }
  54
  55 void mspHeadTrackerReceiverNewData(uint8_t *data, int dataSize)
  56 {
  57     if(dataSize != sizeof(headtrackerMspMessage_t)) {
  58         SD(fprintf(stderr, "[headTracker]: invalid data size %d\n", dataSize));
  59         return;
  60     }
  61
  62     headtrackerMspMessage_t *status = (headtrackerMspMessage_t *)data;
  63
  64     headTrackerMspDevice.pan = constrain(status->pan, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
  65     headTrackerMspDevice.tilt = constrain(status->tilt, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
  66     headTrackerMspDevice.roll = constrain(status->roll, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
  67     headTrackerMspDevice.expires = micros() + MAX_HEADTRACKER_DATA_AGE_US;
  68
  69     UNUSED(status);
  70 }
  71
  72 headTrackerDevType_e heatTrackerMspGetDeviceType(const headTrackerDevice_t *headTrackerDevice) {
  73     UNUSED(headTrackerDevice);
  74     return HEADTRACKER_MSP;
  75 }
  76
  77 #endif