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76 lines
2.2 KiB
76 lines
2.2 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include <AP_Common/AP_FWVersion.h> |
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#include <AP_Vehicle/AP_Vehicle_Type.h> |
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#include "AP_MSP.h" |
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#include "AP_MSP_Telem_DisplayPort.h" |
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#if HAL_WITH_MSP_DISPLAYPORT |
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extern const AP_HAL::HAL& hal; |
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using namespace MSP; |
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MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_api_version(sbuf_t *dst) |
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{ |
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struct { |
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uint8_t proto; |
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uint8_t major; |
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uint8_t minor; |
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} api_version; |
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api_version.proto = MSP_PROTOCOL_VERSION; |
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api_version.major = API_VERSION_MAJOR; |
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api_version.minor = API_VERSION_MINOR; |
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sbuf_write_data(dst, &api_version, sizeof(api_version)); |
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return MSP_RESULT_ACK; |
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} |
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MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_version(sbuf_t *dst) |
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{ |
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struct { |
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uint8_t major; |
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uint8_t minor; |
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uint8_t patch; |
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} fc_version; |
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fc_version.major = FC_VERSION_MAJOR; |
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fc_version.minor = FC_VERSION_MINOR; |
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fc_version.patch = FC_VERSION_PATCH_LEVEL; |
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sbuf_write_data(dst, &fc_version, sizeof(fc_version)); |
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return MSP_RESULT_ACK; |
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} |
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MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_variant(sbuf_t *dst) |
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{ |
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const AP_MSP *msp = AP::msp(); |
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if (msp == nullptr) { |
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return MSP_RESULT_ERROR; |
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} |
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// do we use backend specific symbols table? |
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if (msp->check_option(AP_MSP::MspOption::OPTION_DISPLAYPORT_BTFL_SYMBOLS)) { |
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sbuf_write_data(dst, BETAFLIGHT_IDENTIFIER, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH); |
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} else { |
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sbuf_write_data(dst, ARDUPILOT_IDENTIFIER, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH); |
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} |
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return MSP_RESULT_ACK; |
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} |
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#endif //HAL_WITH_MSP_DISPLAYPORT
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