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rc.c
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rc.c
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#include <stdint.h>
#include <string.h>
#include <hal/log.h>
#include "air/air.h"
#include "air/air_rf_power.h"
#include "config/config.h"
#include "io/pwm.h"
#include "platform/dispatch.h"
#include "platform/system.h"
#include "rc/rc-private.h"
#include "rc/rc_data.h"
#include "rmp/rmp.h"
#include "rmp/rmp_air.h"
#include "util/crc.h"
#include "util/lpf.h"
#include "util/macros.h"
#include "rc.h"
static const char *TAG = "RC";
#define GET_AIR_IO_FILTERED_FIELD(rc, field) ({ \
air_io_t *__air_io = rc_get_air_io(rc); \
__air_io ? lpf_value(&__air_io->field) : 0; \
})
typedef struct rc_rmp_msp_s
{
uint16_t cmd;
uint16_t payload_size;
uint8_t payload[512];
} PACKED rc_rmp_msp_t;
static void rc_update_tx_pilot_name(rc_t *rc, time_micros_t now)
{
char buf[AIR_MAX_NAME_LENGTH + 1];
air_addr_t addr;
const char *name = settings_get_key_string(SETTING_KEY_TX_PILOT_NAME);
if (!name || !name[0])
{
addr = config_get_addr();
air_addr_format(&addr, buf, sizeof(buf));
name = buf;
}
(void)TELEMETRY_SET_STR(&rc->data, TELEMETRY_ID_PILOT_NAME, name, now);
}
static void rc_update_rx_craft_name(rc_t *rc, time_micros_t now)
{
char buf[AIR_MAX_NAME_LENGTH + 1];
air_addr_t addr;
const char *name = settings_get_key_string(SETTING_KEY_RX_CRAFT_NAME);
if (!name || !name[0])
{
addr = config_get_addr();
air_addr_format(&addr, buf, sizeof(buf));
name = buf;
}
(void)TELEMETRY_SET_STR(&rc->data, TELEMETRY_ID_CRAFT_NAME, name, now);
}
// Initialize local telemetry values
static void rc_data_initialize(rc_t *rc)
{
char buf[AIR_MAX_NAME_LENGTH + 1];
air_addr_t addr;
air_info_t air_info;
time_micros_t now = time_micros_now();
unsigned channels_num = RC_CHANNELS_NUM;
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
rc_update_tx_pilot_name(rc, now);
if (air_io_get_bound_addr(&rc->outputs.air.air, &addr))
{
if (!config_get_air_name(buf, sizeof(buf), &addr))
{
air_addr_format(&addr, buf, sizeof(buf));
}
(void)TELEMETRY_SET_STR(&rc->data, TELEMETRY_ID_CRAFT_NAME, buf, now);
if (config_get_air_info(&air_info, NULL, &addr))
{
channels_num = air_info.channels;
}
}
rmp_set_role(rc->rmp, AIR_ROLE_TX);
rmp_set_name(rc->rmp, telemetry_get_str(rc_data_get_uplink_telemetry(&rc->data, TELEMETRY_ID_PILOT_NAME), TELEMETRY_ID_PILOT_NAME));
break;
case RC_MODE_RX:
rc_update_rx_craft_name(rc, now);
if (air_io_get_bound_addr(&rc->inputs.air.air, &addr))
{
if (!config_get_air_name(buf, sizeof(buf), &addr))
{
air_addr_format(&addr, buf, sizeof(buf));
}
(void)TELEMETRY_SET_STR(&rc->data, TELEMETRY_ID_PILOT_NAME, buf, now);
if (config_get_air_info(&air_info, NULL, &addr))
{
channels_num = air_info.channels;
}
}
rmp_set_role(rc->rmp, AIR_ROLE_RX);
rmp_set_name(rc->rmp, telemetry_get_str(rc_data_get_downlink_telemetry(&rc->data, TELEMETRY_ID_CRAFT_NAME), TELEMETRY_ID_CRAFT_NAME));
break;
}
if (channels_num > 0)
{
rc->data.channels_num = MIN(channels_num, RC_CHANNELS_NUM);
}
rc->data.ready = false;
// TX
(void)TELEMETRY_SET_I8(&rc->data, TELEMETRY_ID_TX_RF_POWER, 20, time_micros_now());
// RX
(void)TELEMETRY_SET_U8(&rc->data, TELEMETRY_ID_RX_ACTIVE_ANT, 1, time_micros_now());
(void)TELEMETRY_SET_I8(&rc->data, TELEMETRY_ID_RX_RF_POWER, 20, time_micros_now());
}
static void rc_invalidate_air(rc_t *rc)
{
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
rc_invalidate_output(rc);
break;
case RC_MODE_RX:
rc_invalidate_input(rc);
break;
default:
UNREACHABLE();
}
}
static int rc_get_tx_rf_power(rc_t *rc)
{
return air_rf_power_to_dbm(settings_get_key_u8(SETTING_KEY_TX_RF_POWER));
}
static bool rc_should_enable_power_test(rc_t *rc)
{
return settings_get_key_u8(SETTING_KEY_RF_POWER_TEST);
}
static air_io_t *rc_get_air_io(rc_t *rc)
{
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
if (rc->state.bind_active)
{
return &rc->outputs.air_bind.air;
}
return &rc->outputs.air.air;
case RC_MODE_RX:
if (rc->state.bind_active)
{
return &rc->inputs.air_bind.air;
}
return &rc->inputs.air.air;
}
UNREACHABLE();
return NULL;
}
static bool rc_get_pair_addr(rc_t *rc, air_addr_t *addr)
{
air_io_t *air_io = rc_get_air_io(rc);
return air_io && air_io_get_bound_addr(air_io, addr);
}
static air_band_e rc_get_air_band(rc_t *rc)
{
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
{
config_air_band_e config_band = settings_get_key_u8(SETTING_KEY_AIR_BAND);
return config_get_air_band(config_band);
}
case RC_MODE_RX:
{
air_pairing_t pairing;
if (config_get_paired_tx(&pairing))
{
air_band_e band;
if (config_get_air_info(NULL, &band, &pairing.addr))
{
return band;
}
}
break;
}
}
return AIR_BAND_INVALID;
}
static void rc_invalidate_pair_air_config(rc_t *rc)
{
rc->state.pair_air_config_next_req = time_ticks_now();
}
static bool rc_needs_pair_air_config(rc_t *rc)
{
return rc->state.pair_air_config_next_req > 0;
}
static void rc_update_pair_air_config(rc_t *rc)
{
time_ticks_t now = time_ticks_now();
if (now >= rc->state.pair_air_config_next_req)
{
air_addr_t pair_addr;
if (rc_get_pair_addr(rc, &pair_addr))
{
rc_rmp_request_air_config(&rc->state.rc_rmp, &pair_addr);
}
rc->state.pair_air_config_next_req = now + MILLIS_TO_TICKS(500);
}
}
static void rc_pair_air_config_updated(rc_t *rc)
{
rc->state.pair_air_config_next_req = 0;
}
void rc_get_air_config(rc_t *rc, air_config_t *air_config)
{
air_supported_modes_e supported_modes = 0;
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
// TX Supports all modes for now
supported_modes = AIR_SUPPORTED_MODES_1_TO_5;
break;
case RC_MODE_RX:
{
// RX allows configurable modes
config_air_mode_e config_modes = settings_get_key_u8(SETTING_KEY_RX_SUPPORTED_MODES);
supported_modes = config_get_air_modes(config_modes);
break;
}
}
air_config->radio = rc->radio;
air_config->band = rc_get_air_band(rc);
air_config->modes = supported_modes;
air_config->bands = config_get_air_band_mask();
}
void rc_set_peer_air_config(rc_t *rc, air_addr_t *addr, air_band_e band, air_supported_modes_e modes)
{
// TODO: Use the band here for better multiband module support
air_info_t info;
if (!config_get_air_info(&info, NULL, addr))
{
// No config for this peer, nothing to do
return;
}
info.modes = modes;
bool changed = config_set_air_info(addr, &info, band);
air_addr_t pair_addr;
if (rc_get_pair_addr(rc, &pair_addr) && air_addr_equals(addr, &pair_addr))
{
rc_pair_air_config_updated(rc);
if (changed)
{
rc_invalidate_air(rc);
}
}
}
static void rc_reconfigure_input(rc_t *rc)
{
LOG_I(TAG, "Reconfigure input");
union {
input_crsf_config_t crsf;
input_crsf_config_t ibus;
} input_config;
if (rc->input != NULL)
{
input_close(rc->input, rc->input_config);
rc->input = NULL;
rc->data.failsafe.input = NULL;
rc->input_config = NULL;
}
memset(&rc->inputs, 0, sizeof(rc->inputs));
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
switch (config_get_input_type())
{
case TX_INPUT_CRSF:
input_crsf_init(&rc->inputs.crsf);
rc->input = (input_t *)&rc->inputs.crsf;
input_config.crsf.gpio = settings_get_key_gpio(SETTING_KEY_TX_TX_GPIO);
rc->input_config = &input_config.crsf;
break;
case TX_INPUT_IBUS:
input_ibus_init(&rc->inputs.ibus);
rc->input = (input_t *)&rc->inputs.ibus;
input_config.ibus.gpio = settings_get_key_gpio(SETTING_KEY_TX_TX_GPIO);
rc->input_config = &input_config.ibus;
break;
case TX_INPUT_FAKE:
input_fake_init(&rc->inputs.fake);
rc->input = (input_t *)&rc->inputs.fake;
rc->input_config = NULL;
break;
}
break;
case RC_MODE_RX:
{
if (rc_should_enable_power_test(rc))
{
// Use no input
break;
}
#if defined(CONFIG_RAVEN_FAKE_INPUT)
input_fake_init(&rc->inputs.fake);
rc->inputs.fake.update_interval = FREQ_TO_MICROS(100);
rc->input = (input_t *)&rc->inputs.fake;
rc->input_config = NULL;
#else
air_pairing_t pairing;
air_config_t air_config;
rmp_set_pairing(rc->rmp, NULL);
rc_get_air_config(rc, &air_config);
if (rc->state.bind_active)
{
input_air_bind_init(&rc->inputs.air_bind, config_get_addr(), &air_config);
rc->input = (input_t *)&rc->inputs.air_bind;
}
else
{
input_air_init(&rc->inputs.air, config_get_addr(), &air_config, rc->rmp);
rc->input = (input_t *)&rc->inputs.air;
if (config_get_paired_tx(&pairing))
{
air_io_bind(&rc->inputs.air.air, &pairing);
rmp_set_pairing(rc->rmp, &pairing);
}
}
rc_invalidate_pair_air_config(rc);
#endif
break;
}
}
if (rc->input != NULL)
{
rc->data.failsafe.input = &rc->input->failsafe;
input_open(&rc->data, rc->input, rc->input_config);
msp_conn_t *input_msp = msp_io_get_conn(&rc->input->msp);
if (input_msp)
{
rc_connect_msp_input(rc, input_msp);
}
}
rc_data_initialize(rc);
}
static void rc_reconfigure_output(rc_t *rc)
{
union {
output_air_config_t air;
output_crsf_config_t crsf;
output_fport_config_t fport;
output_msp_config_t msp;
output_sbus_config_t sbus;
} output_config;
LOG_I(TAG, "Reconfigure output");
if (rc->output != NULL)
{
output_close(rc->output, rc->output_config);
rc->output = NULL;
rc->data.failsafe.output = NULL;
rc->output_config = NULL;
}
memset(&rc->outputs, 0, sizeof(rc->outputs));
air_pairing_t pairing;
air_config_t air_config;
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
{
rmp_set_pairing(rc->rmp, NULL);
rc_get_air_config(rc, &air_config);
if (rc_should_enable_power_test(rc))
{
output_air_rf_power_test_init(&rc->outputs.air_power_test, &air_config);
rc->output = (output_t *)&rc->outputs.air_power_test;
break;
}
if (rc->state.bind_active)
{
output_air_bind_init(&rc->outputs.air_bind, config_get_addr(), &air_config);
rc->output = (output_t *)&rc->outputs.air_bind;
break;
}
output_air_init(&rc->outputs.air, config_get_addr(), &air_config, rc->rmp);
rc->output = (output_t *)&rc->outputs.air;
output_config.air.tx_power = rc_get_tx_rf_power(rc);
if (config_get_paired_rx(&pairing, NULL))
{
air_io_bind(&rc->outputs.air.air, &pairing);
rmp_set_pairing(rc->rmp, &pairing);
}
rc->output_config = &output_config.air;
rc_invalidate_pair_air_config(rc);
break;
}
case RC_MODE_RX:
if (rc_should_enable_power_test(rc))
{
rc_get_air_config(rc, &air_config);
output_air_rf_power_test_init(&rc->outputs.air_power_test, &air_config);
rc->output = (output_t *)&rc->outputs.air_power_test;
break;
}
switch (config_get_output_type())
{
case RX_OUTPUT_MSP:
output_msp_init(&rc->outputs.msp);
rc->output = (output_t *)&rc->outputs.msp;
output_config.msp.tx = settings_get_key_gpio(SETTING_KEY_RX_TX_GPIO);
output_config.msp.rx = settings_get_key_gpio(SETTING_KEY_RX_RX_GPIO);
output_config.msp.baud_rate = settings_get_key_u8(SETTING_KEY_RX_MSP_BAUDRATE);
rc->output_config = &output_config.msp;
break;
case RX_OUTPUT_CRSF:
output_crsf_init(&rc->outputs.crsf);
rc->output = (output_t *)&rc->outputs.crsf;
output_config.crsf.tx = settings_get_key_gpio(SETTING_KEY_RX_TX_GPIO);
output_config.crsf.rx = settings_get_key_gpio(SETTING_KEY_RX_RX_GPIO);
output_config.crsf.inverted = false;
rc->output_config = &output_config.crsf;
break;
case RX_OUTPUT_FPORT:
output_fport_init(&rc->outputs.fport);
rc->output = (output_t *)&rc->outputs.fport;
output_config.fport.tx = settings_get_key_gpio(SETTING_KEY_RX_TX_GPIO);
output_config.fport.rx = settings_get_key_gpio(SETTING_KEY_RX_RX_GPIO);
output_config.fport.inverted = settings_get_key_bool(SETTING_KEY_RX_FPORT_INVERTED);
rc->output_config = &output_config.fport;
break;
case RX_OUTPUT_SBUS_SPORT:
output_sbus_init(&rc->outputs.sbus);
rc->output = (output_t *)&rc->outputs.sbus;
output_config.sbus.sbus = settings_get_key_gpio(SETTING_KEY_RX_TX_GPIO);
output_config.sbus.sbus_inverted = settings_get_key_bool(SETTING_KEY_RX_SBUS_INVERTED);
output_config.sbus.sport = settings_get_key_gpio(SETTING_KEY_RX_RX_GPIO);
output_config.sbus.sport_inverted = settings_get_key_bool(SETTING_KEY_RX_SPORT_INVERTED);
rc->output_config = &output_config.sbus;
break;
case RX_OUTPUT_NONE:
output_none_init(&rc->outputs.none);
rc->output = (output_t *)&rc->outputs.none;
break;
}
#if defined(CONFIG_RAVEN_USE_PWM_OUTPUTS)
// Update PWM output configuration
pwm_update_config();
#endif
break;
}
if (rc->output != NULL)
{
rc->data.failsafe.output = &rc->output->failsafe;
output_open(&rc->data, rc->output, rc->output_config);
}
rc_data_initialize(rc);
}
static void rc_update_binding(rc_t *rc)
{
if (!rc->state.bind_active)
{
return;
}
air_io_t *air_io = rc_get_air_io(rc);
if (!air_io)
{
return;
}
air_bind_packet_t packet;
air_band_e band;
air_pairing_t pairing;
bool needs_confirmation = true;
if (air_io_has_bind_request(air_io, &packet, &band, &needs_confirmation) &&
(rc->state.accept_bind || !needs_confirmation))
{
LOG_I(TAG, "Bind accepted");
if (!air_io_accept_bind_request(air_io))
{
// Bind request is being accepted (e.g. the RX might send)
// a confirmation to the TX. Wait until it's done.
return;
}
LOG_I(TAG, "Bind done");
air_bind_packet_get_pairing(&packet, &pairing);
air_io_bind(air_io, &pairing);
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
config_add_paired_rx(&pairing);
break;
case RC_MODE_RX:
config_set_paired_tx(&pairing);
break;
}
// Store peer information
config_set_air_info(&pairing.addr, &packet.info, band);
// Ignore the current pairing alternatives, to avoid
// popping a dialog just after pairing a new RX while
// another one is still powered.
rc_dismiss_alternative_pairings(rc);
// Bind request accepted, disable bind mode
const setting_t *bind_setting = settings_get_key(SETTING_KEY_BIND);
setting_set_bool(bind_setting, false);
}
}
static void rc_rssi_update(rc_t *rc)
{
air_io_t *air_io = rc_get_air_io(rc);
if (!air_io)
{
return;
}
// TODO: Should we make it 16 bits or apply some offset
// to represent lower values?
int rssi = CONSTRAIN_TO_I8(lpf_value(&air_io->rssi));
float snr = CONSTRAIN_TO_I8(lpf_value(&air_io->snr));
int8_t lq = lpf_value(&air_io->lq);
time_micros_t now = time_micros_now();
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
(void)TELEMETRY_SET_I8(&rc->data, TELEMETRY_ID_TX_RSSI_ANT1, rssi, now);
(void)TELEMETRY_SET_I8(&rc->data, TELEMETRY_ID_TX_SNR, snr, now);
(void)TELEMETRY_SET_I8(&rc->data, TELEMETRY_ID_TX_LINK_QUALITY, lq, now);
break;
case RC_MODE_RX:
(void)TELEMETRY_SET_I8(&rc->data, TELEMETRY_ID_RX_RSSI_ANT1, rssi, now);
(void)TELEMETRY_SET_I8(&rc->data, TELEMETRY_ID_RX_RSSI_ANT2, rssi, now);
(void)TELEMETRY_SET_I8(&rc->data, TELEMETRY_ID_RX_SNR, snr, now);
(void)TELEMETRY_SET_I8(&rc->data, TELEMETRY_ID_RX_LINK_QUALITY, lq, now);
break;
}
}
bool rc_send_rmp(rmp_t *rmp, rmp_msg_t *msg, void *user_data)
{
rc_t *rc = user_data;
air_io_t *air_io = rc_get_air_io(rc);
if (air_io)
{
rmp_air_t *rmp_air = air_io->rmp;
if (rmp_air)
{
return rmp_air_encode(rmp_air, msg);
}
}
return false;
}
static bool rc_rmp_msp_validate(rmp_req_t *req)
{
if (req->is_authenticated)
{
const rc_rmp_msp_t *msp_resp = req->msg->payload;
// Check that the size matches
size_t rmp_payload_size = sizeof(*msp_resp) - sizeof(msp_resp->payload) + msp_resp->payload_size;
return rmp_payload_size == req->msg->payload_size;
}
return false;
}
static rc_rmp_resp_ctx_t *rc_rmp_alloc_resp_ctx(rc_t *rc)
{
// Try to find an empty one
time_ticks_t now = time_ticks_now();
for (int ii = 0; ii < ARRAY_COUNT(rc->state.msp_resp_ctx); ii++)
{
if (rc->state.msp_resp_ctx[ii].allocated_at == 0)
{
rc->state.msp_resp_ctx[ii].allocated_at = now;
return &rc->state.msp_resp_ctx[ii];
}
}
// Try to find an expired one. If we don't have more space, we
// look for requests more than 3s old.
time_ticks_t delta = SECS_TO_TICKS(3);
if (now >= delta)
{
time_ticks_t threshold = now - delta;
for (int ii = 0; ii < ARRAY_COUNT(rc->state.msp_resp_ctx); ii++)
{
if (rc->state.msp_resp_ctx[ii].allocated_at < threshold)
{
rc->state.msp_resp_ctx[ii].allocated_at = now;
return &rc->state.msp_resp_ctx[ii];
}
}
}
return NULL;
}
static void rc_rmp_free_resp_ctx(rc_rmp_resp_ctx_t *ctx)
{
memset(ctx, 0, sizeof(*ctx));
}
// Handle the MSP response from an MSP request originated via RMP
static void rc_rmp_msp_request_response_handler(msp_conn_t *conn, uint16_t cmd, const void *payload, int size, void *callback_data)
{
// Note that this callback will run on core 1, while RMP runs
// on core 0, so we need some synchronization. TODO: Locking
rc_rmp_resp_ctx_t *ctx = callback_data;
rc_rmp_msp_t resp = {
.cmd = cmd,
.payload_size = size,
};
size_t cpy_size = MIN(size, sizeof(resp.payload));
memcpy(resp.payload, payload, cpy_size);
size_t rmp_payload_size = sizeof(resp) - sizeof(resp.payload) + cpy_size;
rmp_send(ctx->rc->rmp, ctx->rc->state.msp_recv_port, &ctx->dst, ctx->dst_port, &resp, rmp_payload_size);
rc_rmp_free_resp_ctx(ctx);
}
// Handle an MSP request from RMP and forward it to the output's MSP
static void rc_rmp_msp_request_handler(rmp_t *rmp, rmp_req_t *req, void *user_data)
{
// Note that typically this will be run on core 0, while the RC
// pipeline runs on core 1. TODO: Add locking
rc_t *rc = user_data;
// Got an MSP request from the TX via RMP
if (rc_get_mode(rc) != RC_MODE_RX || !rc_rmp_msp_validate(req))
{
return;
}
msp_conn_t *request_output = msp_io_get_conn(&rc->output->msp);
if (request_output)
{
const rc_rmp_msp_t *msp_req = req->msg->payload;
rc_rmp_resp_ctx_t *ctx = rc_rmp_alloc_resp_ctx(rc);
if (!ctx)
{
LOG_W(TAG, "Could not allocate rc_rmp_ctx_t, ignoring request");
return;
}
ctx->rc = rc;
air_addr_cpy(&ctx->dst, &req->msg->src);
ctx->dst_port = req->msg->src_port;
msp_conn_send(request_output, msp_req->cmd, msp_req->payload, msp_req->payload_size,
rc_rmp_msp_request_response_handler, ctx);
}
}
static void rc_rmp_msp_response_handler(rmp_t *rmp, rmp_req_t *req, void *user_data)
{
// Got an MSP response from RX via RMP
// TODO: Make sure we're in TX mode
if (!rc_rmp_msp_validate(req))
{
return;
}
rc_rmp_msp_port_t *rmp_msp_port = user_data;
msp_conn_t *reply_output = rmp_msp_port->conn;
if (reply_output)
{
const rc_rmp_msp_t *msp_resp = req->msg->payload;
msp_conn_write(reply_output, MSP_DIRECTION_FROM_MWC, msp_resp->cmd, msp_resp->payload, msp_resp->payload_size);
}
}
// Returns the internal port assigned to this msp_conn_t or NULL
// if no port can be allocated.
static const rmp_port_t *rc_rmp_msp_port(rc_t *rc, msp_conn_t *conn)
{
for (int ii = 0; ii < ARRAY_COUNT(rc->state.rmp_msp_port); ii++)
{
if (rc->state.rmp_msp_port[ii].conn == conn)
{
return rc->state.rmp_msp_port[ii].port;
}
}
for (int ii = 0; ii < ARRAY_COUNT(rc->state.rmp_msp_port); ii++)
{
if (!rc->state.rmp_msp_port[ii].conn)
{
const rmp_port_t *port = rmp_open_port(rc->rmp, 0, rc_rmp_msp_response_handler, &rc->state.rmp_msp_port[ii]);
if (port)
{
rc->state.rmp_msp_port[ii].conn = conn;
rc->state.rmp_msp_port[ii].port = port;
}
return port;
}
}
LOG_W(TAG, "Not interning MSP connection, no space left");
return NULL;
}
static void rc_msp_response_callback(msp_conn_t *conn, uint16_t cmd, const void *payload, int size, void *callback_data)
{
// Callback with response from MWC to send back to the MSP which produced the request
// (received as callback_data). Note that we don't need to handle RMP here since this
// function is only called when we forward the request via MSP-to-MSP.
// See rc_rmp_msp_request_handler() and rc_rmp_msp_response_handler().
msp_conn_t *reply_output = callback_data;
if (reply_output)
{
msp_conn_write(reply_output, MSP_DIRECTION_FROM_MWC, cmd, payload, size);
}
}
static void rc_msp_request_callback(msp_conn_t *conn, uint16_t cmd, const void *payload, int size, void *callback_data)
{
// Request coming from input's MSP has been decoded. Sent it to the output's MSP.
rc_t *rc = callback_data;
if (rc_get_mode(rc) == RC_MODE_TX)
{
// If we're a TX, try to send it via RMP
air_io_t *air_io = rc_get_air_io(rc);
air_addr_t pair_addr;
if (air_io && air_io_get_bound_addr(air_io, &pair_addr) && rmp_has_p2p_peer(rc->rmp, &pair_addr))
{
const rmp_port_t *port = rc_rmp_msp_port(rc, conn);
if (port)
{
rc_rmp_msp_t req = {
.cmd = cmd,
.payload_size = size,
};
size_t cpy_size = MIN(size, sizeof(req.payload));
memcpy(req.payload, payload, cpy_size);
size_t rmp_payload_size = sizeof(req) - sizeof(req.payload) + cpy_size;
if (rmp_send(rc->rmp, port, &pair_addr, RMP_PORT_MSP, &req, rmp_payload_size))
{
return;
}
}
}
}
msp_conn_t *request_output = msp_io_get_conn(&rc->output->msp);
if (request_output)
{
// Send the conn argument as the callback data so the response is routed back
// to the sender.
msp_conn_send(request_output, cmd, payload, size, rc_msp_response_callback, conn);
}
}
static void rc_send_air_config_to_pair(rc_t *rc)
{
// XXX: modes/band config was changed so we need to inform the other
// end. For now, assume they're available via P2P.
air_addr_t pair_addr;
if (rc_get_pair_addr(rc, &pair_addr))
{
rc_rmp_send_air_config(&rc->state.rc_rmp, &pair_addr, true);
}
}
static void rc_setting_changed(const setting_t *setting, void *user_data)
{
rc_t *rc = user_data;
if (STR_EQUAL(setting->key, SETTING_KEY_RC_MODE))
{
// Reboot after 500ms to allow the setting to be written
dispatch_after((dispatch_fn)system_reboot, NULL, 500);
}
else if (STR_EQUAL(setting->key, SETTING_KEY_BIND))
{
rc->state.bind_requested = setting_get_bool(setting);
}
else if (SETTING_IS(setting, SETTING_KEY_AIR_BAND))
{
rc_send_air_config_to_pair(rc);
rc_invalidate_air(rc);
}
else if (SETTING_IS(setting, SETTING_KEY_RF_POWER_TEST))
{
if (rc_get_mode(rc) == RC_MODE_RX)
{
rc_invalidate_input(rc);
}
rc_invalidate_output(rc);
}
else
{
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
if (STR_EQUAL(setting->key, SETTING_KEY_TX_RF_POWER))
{
// This notification could arrive on any thread, so
// we can't just change the power from here, schedule
// it and change it in the main RC loop.
rc->state.tx_rf_power = rc_get_tx_rf_power(rc);
break;
}
if (STR_HAS_PREFIX(setting->key, SETTING_KEY_RECEIVERS_RX_SELECT_PREFIX))
{
// Switch receivers
int rx_num = setting_receiver_get_rx_num(setting);
air_pairing_t pairing;
if (config_get_paired_rx_at(&pairing, rx_num))
{
rc_switch_pairing(rc, &pairing);
}
break;
}
if (STR_HAS_PREFIX(setting->key, SETTING_KEY_RECEIVERS_RX_DELETE_PREFIX))
{
// Receiver has been deleted. Check if it's the current one and invalidate
// the output.
int rx_num = setting_receiver_get_rx_num(setting);
air_pairing_t pairing;
air_addr_t bound_addr;
bool is_current_pairing = false;
if (config_get_paired_rx_at(&pairing, rx_num))
{
air_io_t *io = rc_get_air_io(rc);
if (io && air_io_get_bound_addr(io, &bound_addr))
{
is_current_pairing = air_addr_equals(&pairing.addr, &bound_addr);
}
}
config_remove_paired_rx_at(rx_num);
if (is_current_pairing)
{
rc_switch_pairing(rc, NULL);
}
break;
}
if (STR_HAS_PREFIX(setting->key, SETTING_KEY_TX_PREFIX) &&
!STR_EQUAL(setting->key, SETTING_KEY_TX_PILOT_NAME))
{
rc_invalidate_input(rc);
break;
}
if (SETTING_IS(setting, SETTING_KEY_TX_PILOT_NAME))
{
rc_update_tx_pilot_name(rc, time_micros_now());
}
break;
case RC_MODE_RX:
if (STR_HAS_PREFIX(setting->key, SETTING_KEY_RX_PREFIX) &&
!STR_EQUAL(setting->key, SETTING_KEY_RX_AUTO_CRAFT_NAME) &&
!STR_EQUAL(setting->key, SETTING_KEY_RX_CRAFT_NAME))
{
rc_invalidate_output(rc);
}
if (SETTING_IS(setting, SETTING_KEY_RX_SUPPORTED_MODES))
{
rc_send_air_config_to_pair(rc);
rc_invalidate_input(rc);
}
#if defined(CONFIG_RAVEN_USE_PWM_OUTPUTS)
if (STR_HAS_PREFIX(setting->key, SETTING_KEY_RX_CHANNEL_OUTPUTS_PREFIX))
{
pwm_update_config();
}
#endif
if (SETTING_IS(setting, SETTING_KEY_RX_CRAFT_NAME))
{
rc_update_rx_craft_name(rc, time_micros_now());
}
break;
}
}
}
static bool rc_should_autostart_bind(rc_t *rc)
{
air_pairing_t pairing;
switch (rc_get_mode(rc))
{
case RC_MODE_TX:
return !config_get_paired_rx(&pairing, NULL);
case RC_MODE_RX:
return !config_get_paired_tx(&pairing);
}
return false;
}
static uint8_t rc_crc_addr(uint8_t crc, air_addr_t *addr)
{
for (int ii = 0; ii < AIR_ADDR_LENGTH; ii++)
{
crc = crc_xor(crc, addr->addr[ii]);
}
return crc;
}
static inline bool rc_should_update_output(rc_t *rc)
{
// For now, we let each output decide what to do.
return true;
}
void rc_init(rc_t *rc, air_radio_t *radio, rmp_t *rmp)
{
memset(rc, 0, sizeof(*rc));
#if defined(USE_TX_SUPPORT) && defined(USE_RX_SUPPORT)
rc->state.rc_mode = config_get_rc_mode();
#endif
rc->radio = radio;
rc->rmp = rmp;
rc->input = NULL;
rc->input_config = NULL;
rc->output = NULL;
rc->output_config = NULL;
rc->data.rmp = rmp;
rc_rmp_init(&rc->state.rc_rmp, rc, rmp);
// Invalidate both to make the first iteration
// open both input and output
rc->state.invalidate_input = true;
rc->state.invalidate_output = true;
rc->state.bind_requested = false;
rc->state.bind_active = false;
rc->state.accept_bind = false;
rc->state.dirty = false;
rc->state.dismissed_count = 0;
rc->state.dismissed_pairings = -1;
rc->state.tx_rf_power = -1;
settings_add_listener(rc_setting_changed, rc);
rc->state.msp_recv_port = rmp_open_port(rmp, RMP_PORT_MSP, rc_rmp_msp_request_handler, rc);
rmp_set_transport(rmp, RMP_TRANSPORT_RC, rc_send_rmp, rc);
#if defined(CONFIG_RAVEN_USE_PWM_OUTPUTS)
pwm_init();
#endif
if (rc_should_autostart_bind(rc))
{
const setting_t *bind_setting = settings_get_key(SETTING_KEY_BIND);
setting_set_bool(bind_setting, true);
}
}
rc_mode_e rc_get_mode(const rc_t *rc)
{
// TODO: This prevents the linker from doing dead code
// elimination when not using both TX and RX support,
// wasting ~30K of flash.
#if defined(USE_TX_SUPPORT) && defined(USE_RX_SUPPORT)
return rc->state.rc_mode;
#else
return config_get_rc_mode();
#endif
}
bool rc_is_binding(const rc_t *rc)
{
return rc->state.bind_active;
}
void rc_accept_bind(rc_t *rc)