src/main/io/vtx.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 <stdint.h>
  22 #include <string.h>
  23
  24 #include "platform.h"
  25
  26 #if defined(USE_VTX_COMMON)
  27
  28 #include "cli/cli.h"
  29
  30 #include "common/maths.h"
  31 #include "common/time.h"
  32
  33 #include "drivers/vtx_common.h"
  34 #if defined(USE_VTX_RTC6705)
  35 #include "drivers/vtx_rtc6705.h"
  36 #endif
  37 #include "drivers/vtx_table.h"
  38
  39 #include "config/config.h"
  40 #include "fc/rc_modes.h"
  41 #include "fc/runtime_config.h"
  42
  43 #include "flight/failsafe.h"
  44
  45 #include "io/vtx_control.h"
  46
  47 #include "pg/pg.h"
  48 #include "pg/pg_ids.h"
  49
  50 #include "vtx.h"
  51
  52
  53 PG_REGISTER_WITH_RESET_FN(vtxSettingsConfig_t, vtxSettingsConfig, PG_VTX_SETTINGS_CONFIG, 0);
  54
  55 void pgResetFn_vtxSettingsConfig(vtxSettingsConfig_t *vtxSettingsConfig)
  56 {
  57 #ifdef USE_VTX_TABLE
  58     vtxSettingsConfig->band = 0;
  59     vtxSettingsConfig->channel = 0;
  60     vtxSettingsConfig->power = 0;
  61     vtxSettingsConfig->freq = 0;
  62 #else
  63     vtxSettingsConfig->freq = VTX_TABLE_DEFAULT_FREQ;
  64     vtxSettingsConfig->band = VTX_TABLE_DEFAULT_BAND;
  65     vtxSettingsConfig->channel = VTX_TABLE_DEFAULT_CHANNEL;
  66     vtxSettingsConfig->power = VTX_TABLE_DEFAULT_POWER;
  67 #endif
  68     vtxSettingsConfig->pitModeFreq = VTX_TABLE_DEFAULT_PITMODE_FREQ;
  69     vtxSettingsConfig->lowPowerDisarm = VTX_LOW_POWER_DISARM_OFF;
  70 }
  71
  72 typedef enum {
  73     VTX_PARAM_POWER = 0,
  74     VTX_PARAM_BANDCHAN,
  75     VTX_PARAM_PITMODE,
  76     VTX_PARAM_CONFIRM,
  77     VTX_PARAM_COUNT
  78 } vtxScheduleParams_e;
  79
  80 void vtxInit(void)
  81 {
  82     bool settingsUpdated = false;
  83
  84     vtxDevice_t *vtxDevice = vtxCommonDevice();
  85
  86     if (!vtxDevice) {
  87         // If a device is not registered, we don't have any table to refer.
  88         // Don't manipulate settings and just return in this case.
  89         return;
  90     }
  91
  92     // sync frequency in parameter group when band/channel are specified
  93     const uint16_t freq = vtxCommonLookupFrequency(vtxDevice, vtxSettingsConfig()->band, vtxSettingsConfig()->channel);
  94     if (vtxSettingsConfig()->band && freq != vtxSettingsConfig()->freq) {
  95         vtxSettingsConfigMutable()->freq = freq;
  96         settingsUpdated = true;
  97     }
  98
  99 #if defined(VTX_SETTINGS_FREQCMD)
 100     // constrain pit mode frequency
 101     if (vtxSettingsConfig()->pitModeFreq) {
 102         const uint16_t constrainedPitModeFreq = MAX(vtxSettingsConfig()->pitModeFreq, VTX_TABLE_MIN_USER_FREQ);
 103         if (constrainedPitModeFreq != vtxSettingsConfig()->pitModeFreq) {
 104             vtxSettingsConfigMutable()->pitModeFreq = constrainedPitModeFreq;
 105             settingsUpdated = true;
 106         }
 107     }
 108 #endif
 109
 110     if (settingsUpdated) {
 111         saveConfigAndNotify();
 112     }
 113 }
 114
 115 // Once refactoring for RTC6705 to handle pit mode properly and remove the requirement
 116 // for having a 0 value in the vtxtable power levels is completed then this function will
 117 // no longer be required and the VTX_TABLE_LOW_POWER_INDEX value can always be used.
 118 static uint8_t vtxGetMinimumPowerIndex(void)
 119 {
 120     const vtxDevice_t *vtxDevice = vtxCommonDevice();
 121     vtxDevType_e vtxType = VTXDEV_UNKNOWN;
 122     if (vtxDevice) {
 123         vtxType = vtxCommonGetDeviceType(vtxDevice);
 124     }
 125     switch (vtxType) {
 126 #if defined(USE_VTX_RTC6705)
 127     case VTXDEV_RTC6705:
 128         // special handling for rtc6705 which has the low power setting in index 2
 129         return VTX_RTC6705_DEFAULT_POWER_INDEX;
 130 #endif
 131     default:
 132         return VTX_TABLE_LOW_POWER_INDEX;
 133     }
 134 }
 135
 136 STATIC_UNIT_TESTED vtxSettingsConfig_t vtxGetSettings(void)
 137 {
 138     vtxSettingsConfig_t settings = {
 139         .band = vtxSettingsConfig()->band,
 140         .channel = vtxSettingsConfig()->channel,
 141         .power = vtxSettingsConfig()->power,
 142         .freq = vtxSettingsConfig()->freq,
 143         .pitModeFreq = vtxSettingsConfig()->pitModeFreq,
 144         .lowPowerDisarm = vtxSettingsConfig()->lowPowerDisarm,
 145     };
 146
 147 #if defined(VTX_SETTINGS_FREQCMD)
 148     if (IS_RC_MODE_ACTIVE(BOXVTXPITMODE) && settings.pitModeFreq) {
 149         settings.band = 0;
 150         settings.freq = settings.pitModeFreq;
 151         settings.power = vtxGetMinimumPowerIndex();
 152     }
 153 #endif
 154
 155     if (!ARMING_FLAG(ARMED) && !failsafeIsActive() &&
 156         (settings.lowPowerDisarm == VTX_LOW_POWER_DISARM_ALWAYS ||
 157         (settings.lowPowerDisarm == VTX_LOW_POWER_DISARM_UNTIL_FIRST_ARM && !ARMING_FLAG(WAS_EVER_ARMED)))) {
 158         settings.power = vtxGetMinimumPowerIndex();
 159     }
 160
 161     return settings;
 162 }
 163
 164 static bool vtxProcessBandAndChannel(vtxDevice_t *vtxDevice)
 165 {
 166     if (!ARMING_FLAG(ARMED)) {
 167         uint8_t vtxBand;
 168         uint8_t vtxChan;
 169         if (vtxCommonGetBandAndChannel(vtxDevice, &vtxBand, &vtxChan)) {
 170             const vtxSettingsConfig_t settings = vtxGetSettings();
 171             if (vtxBand != settings.band || vtxChan != settings.channel) {
 172                 vtxCommonSetBandAndChannel(vtxDevice, settings.band, settings.channel);
 173                 return true;
 174             }
 175         }
 176     }
 177     return false;
 178 }
 179
 180 #if defined(VTX_SETTINGS_FREQCMD)
 181 static bool vtxProcessFrequency(vtxDevice_t *vtxDevice)
 182 {
 183     if (!ARMING_FLAG(ARMED)) {
 184         uint16_t vtxFreq;
 185         if (vtxCommonGetFrequency(vtxDevice, &vtxFreq)) {
 186             const vtxSettingsConfig_t settings = vtxGetSettings();
 187             if (vtxFreq != settings.freq) {
 188                 vtxCommonSetFrequency(vtxDevice, settings.freq);
 189                 return true;
 190             }
 191         }
 192     }
 193     return false;
 194 }
 195 #endif
 196
 197 static bool vtxProcessPower(vtxDevice_t *vtxDevice)
 198 {
 199     uint8_t vtxPower;
 200     if (vtxCommonGetPowerIndex(vtxDevice, &vtxPower)) {
 201         const vtxSettingsConfig_t settings = vtxGetSettings();
 202         if (vtxPower != settings.power) {
 203             vtxCommonSetPowerByIndex(vtxDevice, settings.power);
 204             return true;
 205         }
 206     }
 207     return false;
 208 }
 209
 210 static bool vtxProcessPitMode(vtxDevice_t *vtxDevice)
 211 {
 212     static bool prevPmSwitchState = false;
 213
 214     unsigned vtxStatus;
 215     if (!ARMING_FLAG(ARMED) && vtxCommonGetStatus(vtxDevice, &vtxStatus)) {
 216         bool currPmSwitchState = IS_RC_MODE_ACTIVE(BOXVTXPITMODE);
 217
 218         if (currPmSwitchState != prevPmSwitchState) {
 219             prevPmSwitchState = currPmSwitchState;
 220
 221             if (currPmSwitchState) {
 222 #if defined(VTX_SETTINGS_FREQCMD)
 223                 if (vtxSettingsConfig()->pitModeFreq) {
 224                     return false;
 225                 }
 226 #endif
 227                 if (!(vtxStatus & VTX_STATUS_PIT_MODE)) {
 228                     vtxCommonSetPitMode(vtxDevice, true);
 229
 230                     return true;
 231                 }
 232             } else {
 233                 if (vtxStatus & VTX_STATUS_PIT_MODE) {
 234                     vtxCommonSetPitMode(vtxDevice, false);
 235
 236                     return true;
 237                 }
 238             }
 239         }
 240     }
 241
 242     return false;
 243 }
 244
 245 static bool vtxProcessStateUpdate(vtxDevice_t *vtxDevice)
 246 {
 247     const vtxSettingsConfig_t vtxSettingsState = vtxGetSettings();
 248     vtxSettingsConfig_t vtxState = vtxSettingsState;
 249
 250     if (vtxSettingsState.band) {
 251         vtxCommonGetBandAndChannel(vtxDevice, &vtxState.band, &vtxState.channel);
 252 #if defined(VTX_SETTINGS_FREQCMD)
 253     } else {
 254         vtxCommonGetFrequency(vtxDevice, &vtxState.freq);
 255 #endif
 256     }
 257
 258     vtxCommonGetPowerIndex(vtxDevice, &vtxState.power);
 259
 260     return (bool)memcmp(&vtxSettingsState, &vtxState, sizeof(vtxSettingsConfig_t));
 261 }
 262
 263 void vtxUpdate(timeUs_t currentTimeUs)
 264 {
 265     static uint8_t currentSchedule = 0;
 266
 267     if (cliMode) {
 268         return;
 269     }
 270
 271     vtxDevice_t *vtxDevice = vtxCommonDevice();
 272     if (vtxDevice) {
 273         // Check input sources for config updates
 274         vtxControlInputPoll();
 275
 276         const uint8_t startingSchedule = currentSchedule;
 277         bool vtxUpdatePending = false;
 278         do {
 279             switch (currentSchedule) {
 280                 case VTX_PARAM_POWER:
 281                     vtxUpdatePending = vtxProcessPower(vtxDevice);
 282                     break;
 283                 case VTX_PARAM_BANDCHAN:
 284                     if (vtxGetSettings().band) {
 285                         vtxUpdatePending = vtxProcessBandAndChannel(vtxDevice);
 286 #if defined(VTX_SETTINGS_FREQCMD)
 287                     } else {
 288                         vtxUpdatePending = vtxProcessFrequency(vtxDevice);
 289 #endif
 290                     }
 291                     break;
 292                 case VTX_PARAM_PITMODE:
 293                     vtxUpdatePending = vtxProcessPitMode(vtxDevice);
 294                     break;
 295                 case VTX_PARAM_CONFIRM:
 296                     vtxUpdatePending = vtxProcessStateUpdate(vtxDevice);
 297                     break;
 298                 default:
 299                     break;
 300             }
 301             currentSchedule = (currentSchedule + 1) % VTX_PARAM_COUNT;
 302         } while (!vtxUpdatePending && currentSchedule != startingSchedule);
 303
 304         if (!ARMING_FLAG(ARMED) || vtxUpdatePending) {
 305             vtxCommonProcess(vtxDevice, currentTimeUs);
 306         }
 307     }
 308 }
 309
 310 #endif