void osdHardwareInit(void)
{
LED0_ON;
delay(500);
max7456_hardwareReset();
LED0_OFF;
osdHardwareApplyConfiguration(osdVideoConfig()->videoMode);
max7456_extiConfigure(&max7456LOSExtiConfig, &max7456VSYNCExtiConfig, &max7456HSYNCExtiConfig);
if (osdFontConfig()->fontVersion != FONT_VERSION) {
// before
max7456_showFont();
delay(5000); // give the user a chance to power off before changing
max7456_resetFont();
// after
max7456_showFont();
delay(5000); // give the user a chance to power off after changing
osdFontConfig()->fontVersion = FONT_VERSION;
writeEEPROM();
max7456_clearScreen();
max7456_ensureDisplayClearIsComplete();
}
}
void osdHardwareCheck(void)
{
videoMode_e desiredVideoMode = osdVideoConfig()->videoMode;
if (!max7456_isOSDEnabled()) {
max7456_init(desiredVideoMode);
}
max7456_updateStatus();
bool correctVideoMode = max7456State.configuredVideoMode == max7456State.detectedVideoMode;
if (correctVideoMode && !max7456State.los) {
max7456State.useSync = true;
} else {
max7456State.useSync = false;
}
if (!max7456State.los && max7456State.detectedVideoMode != VIDEO_AUTO) {
// there is a valid video mode
if (desiredVideoMode == VIDEO_AUTO && !correctVideoMode) {
osdHardwareApplyConfiguration(max7456State.detectedVideoMode);
};
}
#ifdef FACTORY_TEST
static int checkCount = 0;
checkCount++;
if (checkCount == 10) {
max7456_init(desiredVideoMode);
}
#endif
}
int mspServerCommandHandler(mspPacket_t *cmd, mspPacket_t *reply)
{
sbuf_t *src = &cmd->buf;
sbuf_t *dst = &reply->buf;
int len = sbufBytesRemaining(src);
switch (cmd->cmd) {
case MSP_API_VERSION:
sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
sbufWriteU8(dst, API_VERSION_MAJOR);
sbufWriteU8(dst, API_VERSION_MINOR);
break;
case MSP_FC_VARIANT:
sbufWriteData(dst, flightControllerIdentifier, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
break;
case MSP_FC_VERSION:
sbufWriteU8(dst, FC_VERSION_MAJOR);
sbufWriteU8(dst, FC_VERSION_MINOR);
sbufWriteU8(dst, FC_VERSION_PATCH_LEVEL);
break;
case MSP_BOARD_INFO:
sbufWriteData(dst, boardIdentifier, BOARD_IDENTIFIER_LENGTH);
sbufWriteU16(dst, 0); // hardware revision
sbufWriteU8(dst, 1); // 0 == FC, 1 == OSD
break;
case MSP_BUILD_INFO:
sbufWriteData(dst, buildDate, BUILD_DATE_LENGTH);
sbufWriteData(dst, buildTime, BUILD_TIME_LENGTH);
sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
break;
// DEPRECATED - Use MSP_API_VERSION
case MSP_IDENT:
sbufWriteU8(dst, MW_VERSION);
sbufWriteU8(dst, 0); // mixer mode
sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
sbufWriteU32(dst, CAP_DYNBALANCE); // "capability"
break;
case MSP_STATUS_EX:
case MSP_STATUS:
sbufWriteU16(dst, cycleTime);
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, 0); // sensors
sbufWriteU32(dst, 0); // flight mode flags
sbufWriteU8(dst, 0); // profile index
if(cmd->cmd == MSP_STATUS_EX) {
sbufWriteU16(dst, averageSystemLoadPercent);
}
break;
case MSP_DEBUG:
// output some useful QA statistics
// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
for (int i = 0; i < DEBUG16_VALUE_COUNT; i++)
sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
break;
case MSP_UID:
sbufWriteU32(dst, U_ID_0);
sbufWriteU32(dst, U_ID_1);
sbufWriteU32(dst, U_ID_2);
break;
case MSP_VOLTAGE_METER_CONFIG:
for (int i = 0; i < MAX_VOLTAGE_METERS; i++) {
// FIXME update for multiple voltage sources i.e. use `i` and support at least OSD VBAT, OSD 12V, OSD 5V
sbufWriteU8(dst, batteryConfig()->vbatscale);
sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
}
break;
case MSP_CURRENT_METER_CONFIG:
sbufWriteU16(dst, batteryConfig()->currentMeterScale);
sbufWriteU16(dst, batteryConfig()->currentMeterOffset);
sbufWriteU8(dst, batteryConfig()->currentMeterType);
sbufWriteU16(dst, batteryConfig()->batteryCapacity);
break;
case MSP_CF_SERIAL_CONFIG:
for (int i = 0; i < serialGetAvailablePortCount(); i++) {
if (!serialIsPortAvailable(serialConfig()->portConfigs[i].identifier)) {
continue;
};
sbufWriteU8(dst, serialConfig()->portConfigs[i].identifier);
sbufWriteU16(dst, serialConfig()->portConfigs[i].functionMask);
sbufWriteU8(dst, serialConfig()->portConfigs[i].baudRates[BAUDRATE_MSP_SERVER]);
sbufWriteU8(dst, serialConfig()->portConfigs[i].baudRates[BAUDRATE_MSP_CLIENT]);
sbufWriteU8(dst, serialConfig()->portConfigs[i].baudRates[BAUDRATE_RESERVED1]);
sbufWriteU8(dst, serialConfig()->portConfigs[i].baudRates[BAUDRATE_RESERVED2]);
}
break;
case MSP_BF_BUILD_INFO:
sbufWriteData(dst, buildDate, 11); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc
sbufWriteU32(dst, 0); // future exp
sbufWriteU32(dst, 0); // future exp
break;
case MSP_DATAFLASH_SUMMARY: // FIXME update GUI and remove this.
sbufWriteU8(dst, 0); // FlashFS is neither ready nor supported
sbufWriteU32(dst, 0);
sbufWriteU32(dst, 0);
sbufWriteU32(dst, 0);
break;
case MSP_BATTERY_STATES:
// write out battery states, once for each battery
sbufWriteU8(dst, (uint8_t)getBatteryState() == BATTERY_NOT_PRESENT ? 0 : 1); // battery connected - 0 not connected, 1 connected
sbufWriteU8(dst, (uint8_t)constrain(vbat, 0, 255));
sbufWriteU16(dst, (uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
break;
case MSP_CURRENT_METERS:
// write out amperage, once for each current meter.
sbufWriteU16(dst, (uint16_t)constrain(amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps. Negative range is truncated to zero
break;
case MSP_VOLTAGE_METERS:
// write out voltage, once for each meter.
for (int i = 0; i < 3; i++) {
// FIXME hack that needs cleanup, see issue #2221
// This works for now, but the vbat scale also changes the 12V and 5V readings.
switch(i) {
case 0:
sbufWriteU8(dst, (uint8_t)constrain(vbat, 0, 255));
break;
case 1:
sbufWriteU8(dst, (uint8_t)constrain(batteryAdcToVoltage(adcGetChannel(ADC_12V)), 0, 255));
break;
case 2:
sbufWriteU8(dst, (uint8_t)constrain(batteryAdcToVoltage(adcGetChannel(ADC_5V)), 0, 255));
break;
}
}
break;
case MSP_OSD_VIDEO_CONFIG:
sbufWriteU8(dst, osdVideoConfig()->videoMode); // 0 = NTSC, 1 = PAL
break;
case MSP_RESET_CONF:
resetEEPROM();
readEEPROM();
break;
case MSP_EEPROM_WRITE:
writeEEPROM();
readEEPROM();
break;
case MSP_SET_VOLTAGE_METER_CONFIG: {
uint8_t i = sbufReadU8(src);
if (i >= MAX_VOLTAGE_METERS) {
return -1;
}
// FIXME use `i`, see MSP_VOLTAGE_METER_CONFIG
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break;
}
case MSP_SET_CURRENT_METER_CONFIG:
batteryConfig()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src);
batteryConfig()->currentMeterType = sbufReadU8(src);
batteryConfig()->batteryCapacity = sbufReadU16(src);
break;
case MSP_SET_CF_SERIAL_CONFIG: {
int portConfigSize = sizeof(uint8_t) + sizeof(uint16_t) + (sizeof(uint8_t) * 4);
if (len % portConfigSize != 0)
return -1;
while (sbufBytesRemaining(src) >= portConfigSize) {
uint8_t identifier = sbufReadU8(src);
serialPortConfig_t *portConfig = serialFindPortConfiguration(identifier);
if (!portConfig)
return -1;
portConfig->identifier = identifier;
portConfig->functionMask = sbufReadU16(src);
portConfig->baudRates[BAUDRATE_MSP_SERVER] = sbufReadU8(src);
portConfig->baudRates[BAUDRATE_MSP_CLIENT] = sbufReadU8(src);
portConfig->baudRates[BAUDRATE_RESERVED1] = sbufReadU8(src);
portConfig->baudRates[BAUDRATE_RESERVED2] = sbufReadU8(src);
}
break;
}
case MSP_REBOOT:
mspPostProcessFn = mspRebootFn;
break;
case MSP_SET_OSD_VIDEO_CONFIG:
osdVideoConfig()->videoMode = sbufReadU8(src);
mspPostProcessFn = mspApplyVideoConfigurationFn;
break;
default:
// we do not know how to handle the message
return 0;
}
return 1; // message was handled successfully
}
