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@@ -0,0 +1,455 @@
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diff --git a/osd.c b/osd.c
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index a8b756e..7e5ca2a 100644
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--- a/osd.c
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+++ b/osd.c
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@@ -959,48 +959,37 @@ static void rx_msp_callback(msp_msg_t *msp_message) {
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break;
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}
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- case MSP_GET_VTX_CONFIG: {
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- if (vtxInitDone) {
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- mspVtxConfigStruct *in_mspVtxConfigStruct = (mspVtxConfigStruct *)msp_message->payload;
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- uint16_t frequency =
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- (in_mspVtxConfigStruct->freqMSB << 8) | in_mspVtxConfigStruct->freqLSB;
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+ case MSP_SET_VTX_CONFIG:
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+ // FC-side desired settings are read-only for this VTX. The next
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+ // MSP_VTX_CONFIG reply will re-advertise the actual WFB runtime.
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+ break;
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- double current_frequency =
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- read_current_freq_from_interface(read_setting("/etc/wfb.conf", "wlan"));
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+ case MSP_GET_VTX_CONFIG: {
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+ if (msp_message->size < 15) {
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+ break;
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+ }
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- if (verbose)
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- printf("mspVTX Band: %i, Channel: %i, wanted Frequency: %u, set "
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- "Frequency: %.0f\n",
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- in_mspVtxConfigStruct->band, in_mspVtxConfigStruct->channel, frequency,
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- current_frequency);
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-
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- if (frequency != (uint16_t)current_frequency) {
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- int channel = 0;
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- for (int i = 0; i < MAX_ENTRIES; i++) {
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- if (fc_list[i].frequency == frequency)
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- channel = fc_list[i].channel;
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- }
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- if (channel > 0) {
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- if (verbose)
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- printf("mspVTX executing channel change to channel "
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- "%d\n",
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- channel);
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-
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- set_frequency(read_setting("/etc/wfb.conf", "wlan"), channel);
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-
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- // store new channel to wfb.conf
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- char cha_str[32];
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- sprintf(cha_str, "%i", channel);
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- write_setting("/etc/wfb.conf", "channel", cha_str);
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- } else {
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- printf("Never change to channel 0, we should not reach "
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- "here, check "
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- "vtx table in your fc\n");
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- }
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- }
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+ mspVtxConfigStruct *fc_vtx = (mspVtxConfigStruct *)msp_message->payload;
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+ bool table_ready = fc_vtx->vtxTableAvailable &&
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+ fc_vtx->bands == BAND_COUNT &&
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+ fc_vtx->channels == CHANNEL_COUNT &&
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+ fc_vtx->powerLevels == NUM_POWER_LEVELS;
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+
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+ // This is an actual FC reply to our periodic MSP_VTX_CONFIG request.
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+ // Keep publishing the true local WFB configuration. If the FC reset or
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+ // discarded its table, rebuild it here instead of depending on boot order.
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+ if (table_ready) {
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+ msp_send_vtx_runtime_config(serial_fd);
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} else {
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- if (verbose)
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- printf("vtxInitDone not finished, should never happen\n");
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+ msp_set_vtx_config(serial_fd);
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+ }
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+
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+ if (verbose) {
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+ uint16_t fc_frequency =
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+ (fc_vtx->freqMSB << 8) | fc_vtx->freqLSB;
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+ printf("mspVTX: FC %u MHz, table %u/%u/%u; local WFB %d MHz\n",
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+ fc_frequency, fc_vtx->bands, fc_vtx->channels, fc_vtx->powerLevels,
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+ read_wfb_frequency());
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}
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break;
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}
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diff --git a/osd/msp/msp.c b/osd/msp/msp.c
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index b1a538c..d834780 100644
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--- a/osd/msp/msp.c
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+++ b/osd/msp/msp.c
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@@ -5,6 +5,7 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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+#include <termios.h>
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#include <unistd.h>
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extern bool verbose;
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@@ -33,12 +34,11 @@ uint16_t channelFreqTable[FREQ_TABLE_SIZE] = {
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5925 // WLAN CHANNEL: 132, 140, 144, 153, 161, 169, 177, 185
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};
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-uint8_t saPowerLevelsLut[NUM_POWER_LEVELS] = {20, 25, 30, 35, 45, 50, 55, 58};
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+uint8_t saPowerLevelsLut[NUM_POWER_LEVELS] = {0, 10, 25, 40, 55, 70, 85, 100};
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-uint8_t saPowerLevelsLabel[NUM_POWER_LEVELS * POWER_LEVEL_LABEL_LENGTH] = {'2', '0', ' ', '2', '5',
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- ' ', '3', '0', ' ', '3', '5', ' ', '4', '5', ' ', '5', '0', ' ', '5', '5', ' ', '5', '8', ' '};
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-
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-int frequency = 0;
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+uint8_t saPowerLevelsLabel[NUM_POWER_LEVELS * POWER_LEVEL_LABEL_LENGTH] = {
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+ '0', ' ', ' ', '1', '0', ' ', '2', '5', ' ', '4', '0', ' ',
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+ '5', '5', ' ', '7', '0', ' ', '8', '5', ' ', '1', '0', '0'};
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uint16_t msp_data_from_msg(uint8_t message_buffer[], msp_msg_t *msg) {
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// return size
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@@ -46,50 +46,103 @@ uint16_t msp_data_from_msg(uint8_t message_buffer[], msp_msg_t *msg) {
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return msg->size + 6;
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}
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-void wipeVtxTable(int serial_fd, int band, int channel) {
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-
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- // lets first wipe all
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- uint8_t payload[15];
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- payload[0] = 0; // idx LSB
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- payload[1] = 0; // idx MSB
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- payload[2] = 0; // power
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- payload[3] = 0; // pitmode
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- payload[4] = 0; // lowPowerDisarm
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- payload[5] = 0; // pitModeFreq LSB
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- payload[6] = 0; // pitModeFreq MSB
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- payload[7] = 0; // newBand - WLAN Channel
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- payload[8] = 0; // newChannel - 161
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- payload[9] = 0; // newFreq LSB
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- payload[10] = 0; // newFreq MSB
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- payload[11] = 0; // newBandCount
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- payload[12] = 0; // newChannelCount
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- payload[13] = 0; // newPowerCount
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- payload[14] = 1; // vtxtable should be cleared
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+static void write_msp_packet(int serial_fd, const uint8_t *buffer, size_t size) {
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+ ssize_t written = write(serial_fd, buffer, size);
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+ if (written != (ssize_t)size) {
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+ fprintf(stderr, "mspVTX: short serial write (%zd/%zu)\n", written, size);
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+ return;
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+ }
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- uint8_t buffer[256];
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+ // Betaflight's MSP parser is also carrying DisplayPort traffic on this
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+ // UART. Drain and pace table frames so a cold boot cannot overrun its
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+ // receive path before it has processed the preceding configuration frame.
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+ tcdrain(serial_fd);
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+ usleep(20 * 1000);
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+}
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- construct_msp_command(buffer, MSP_SET_VTX_CONFIG, payload, sizeof(payload), MSP_OUTBOUND);
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- write(serial_fd, &buffer, sizeof(buffer));
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-
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- // now prepare the table
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- payload[0] = 0; // idx LSB
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- payload[1] = 0; // idx MSB
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- payload[2] = 7; // 55, default wfb-ng
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- payload[3] = 0; // pitmode
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- payload[4] = 0; // lowPowerDisarm
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- payload[5] = 0; // pitModeFreq LSB
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- payload[6] = 0; // pitModeFreq MSB
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- payload[7] = band; // newBand - WLAN Channel
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- payload[8] = channel; // newChannel - 161
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- payload[9] = 0; // newFreq LSB
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- payload[10] = 0; // newFreq MSB
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- payload[11] = BAND_COUNT; // newBandCount
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- payload[12] = CHANNEL_COUNT; // newChannelCount
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- payload[13] = NUM_POWER_LEVELS; // newPowerCount
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- payload[14] = 0; // vtxtable should be cleared
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+static bool wfb_runtime_active(void) {
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+ return system("pidof wfb_tx wfb_rx wfb_tun wifilink >/dev/null 2>&1") == 0;
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+}
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+
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+static uint8_t power_index_for_txpower(int txpower) {
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+ uint8_t best = 0;
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+ int smallest_delta = 101;
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+
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+ for (uint8_t i = 0; i < NUM_POWER_LEVELS; i++) {
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+ int delta = abs(txpower - saPowerLevelsLut[i]);
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+ if (delta < smallest_delta) {
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+ best = i;
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+ smallest_delta = delta;
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+ }
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+ }
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+
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+ return best + 1;
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+}
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+
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+static int get_wfb_vtx_config(int *band, int *channel, int *configured_frequency,
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+ uint8_t *power_index, bool *pit_mode) {
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+ *configured_frequency = read_wfb_frequency();
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+ if (*configured_frequency < 0) {
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+ fprintf(stderr, "mspVTX: cannot read /etc/wfb.yaml channel\n");
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+ return -1;
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+ }
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+
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+ int txpower = read_wfb_txpower();
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+ if (txpower < 0) {
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+ fprintf(stderr, "mspVTX: cannot read /etc/wfb.yaml txpower\n");
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+ return -1;
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+ }
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+ bool active = wfb_runtime_active();
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+ *pit_mode = !active;
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+ if (!active) {
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+ txpower = 0;
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+ }
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+ *power_index = power_index_for_txpower(txpower);
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+
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+ *band = 1;
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+ *channel = 1;
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+ for (int index = 0; index < FREQ_TABLE_SIZE; index++) {
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+ if (channelFreqTable[index] == *configured_frequency) {
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+ *band = index / CHANNEL_COUNT + 1;
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+ *channel = index % CHANNEL_COUNT + 1;
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+ return 0;
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+ }
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+ }
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+
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+ fprintf(stderr, "mspVTX: %d MHz is absent from the VTX table\n", *configured_frequency);
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+ return -1;
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+}
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+
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+static void send_vtx_config(int serial_fd, int band, int channel, int configured_frequency,
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+ uint8_t power_index, bool pit_mode, bool clear_table) {
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+ uint8_t payload[15] = {
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+ configured_frequency & 0xFF,
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+ (configured_frequency >> 8) & 0xFF,
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+ power_index, // nearest configured 0..100 WFB txpower table entry
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+ pit_mode, // management standby is represented as VTX pit mode
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+ 0, // low power when disarmed
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+ 0, 0, // pit frequency
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+ band,
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+ channel,
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+ configured_frequency & 0xFF,
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+ (configured_frequency >> 8) & 0xFF,
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+ BAND_COUNT,
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+ CHANNEL_COUNT,
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+ NUM_POWER_LEVELS,
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+ clear_table ? 1 : 0,
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+ };
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+ uint8_t buffer[21];
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construct_msp_command(buffer, MSP_SET_VTX_CONFIG, payload, sizeof(payload), MSP_OUTBOUND);
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- write(serial_fd, &buffer, sizeof(buffer));
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+ write_msp_packet(serial_fd, buffer, sizeof(payload) + 6);
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+}
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+
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+static void wipeVtxTable(int serial_fd, int band, int channel, int configured_frequency,
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+ uint8_t power_index, bool pit_mode) {
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+ // First tell Betaflight to discard any stale table, then publish the
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+ // configured WFB frequency and the table dimensions.
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+ send_vtx_config(serial_fd, band, channel, configured_frequency, power_index, pit_mode, true);
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+ send_vtx_config(serial_fd, band, channel, configured_frequency, power_index, pit_mode, false);
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}
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void setVtxTableBand(int serial_fd, uint8_t band) {
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@@ -119,7 +172,7 @@ void setVtxTableBand(int serial_fd, uint8_t band) {
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}
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construct_msp_command(buffer, MSP_SET_VTXTABLE_BAND, payload2, sizeof(payload2), MSP_OUTBOUND);
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- write(serial_fd, &buffer, sizeof(buffer));
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+ write_msp_packet(serial_fd, buffer, sizeof(payload2) + 6);
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}
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void setVtxTablePowerLevel(int serial_fd, uint8_t idx) {
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@@ -139,31 +192,26 @@ void setVtxTablePowerLevel(int serial_fd, uint8_t idx) {
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construct_msp_command(
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buffer, MSP_SET_VTXTABLE_POWERLEVEL, payload2, sizeof(payload2), MSP_OUTBOUND);
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- write(serial_fd, &buffer, sizeof(buffer));
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+ write_msp_packet(serial_fd, buffer, sizeof(payload2) + 6);
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}
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void msp_set_vtx_config(int serial_fd) {
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+ int band;
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+ int channel;
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+ int configured_frequency;
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+ uint8_t power_index;
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+ bool pit_mode;
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+
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+ if (get_wfb_vtx_config(&band, &channel, &configured_frequency, &power_index, &pit_mode) != 0) {
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+ return;
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+ }
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|
|
- // mspVTX read current frequency setting
|
|
|
|
|
- query_interface_for_available_frequencies();
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-
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|
|
|
- frequency = read_current_freq_from_interface(read_setting("/etc/wfb.conf", "wlan"));
|
|
|
|
|
-
|
|
|
|
|
- int band = 6;
|
|
|
|
|
- int channel = 3;
|
|
|
|
|
- for (int index = 0; index < FREQ_TABLE_SIZE; index++) {
|
|
|
|
|
- if (channelFreqTable[index] == frequency) {
|
|
|
|
|
- // Determine band and channel using division and modulo
|
|
|
|
|
- band = index / 8 + 1; // Which band (integer division)
|
|
|
|
|
- channel = (index % 8) + 1; // Channel within the band (modulo)
|
|
|
|
|
-
|
|
|
|
|
- if (verbose)
|
|
|
|
|
- printf("Frequency %d found in band %i, channel %d\n", frequency, band, channel);
|
|
|
|
|
- break; // Exit after finding the frequency
|
|
|
|
|
- }
|
|
|
|
|
+ if (verbose) {
|
|
|
|
|
+ printf("mspVTX table: %d MHz, band %d, channel %d\n",
|
|
|
|
|
+ configured_frequency, band, channel);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
- wipeVtxTable(serial_fd, band, channel);
|
|
|
|
|
+ wipeVtxTable(serial_fd, band, channel, configured_frequency, power_index, pit_mode);
|
|
|
|
|
|
|
|
|
|
for (int i = 1; i <= BAND_COUNT; i++) {
|
|
|
|
|
setVtxTableBand(serial_fd, i);
|
|
|
|
|
@@ -174,6 +222,20 @@ void msp_set_vtx_config(int serial_fd) {
|
|
|
|
|
vtxInitDone = true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
+void msp_send_vtx_runtime_config(int serial_fd) {
|
|
|
|
|
+ int band;
|
|
|
|
|
+ int channel;
|
|
|
|
|
+ int configured_frequency;
|
|
|
|
|
+ uint8_t power_index;
|
|
|
|
|
+ bool pit_mode;
|
|
|
|
|
+
|
|
|
|
|
+ if (get_wfb_vtx_config(&band, &channel, &configured_frequency, &power_index, &pit_mode) != 0) {
|
|
|
|
|
+ return;
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ send_vtx_config(serial_fd, band, channel, configured_frequency, power_index, pit_mode, false);
|
|
|
|
|
+}
|
|
|
|
|
+
|
|
|
|
|
msp_error_e construct_msp_command(uint8_t message_buffer[], uint8_t command, uint8_t payload[],
|
|
|
|
|
uint8_t size, msp_direction_e direction) {
|
|
|
|
|
uint8_t checksum;
|
|
|
|
|
diff --git a/osd/msp/msp.h b/osd/msp/msp.h
|
|
|
|
|
index 3e60a31..1fe1c28 100644
|
|
|
|
|
--- a/osd/msp/msp.h
|
|
|
|
|
+++ b/osd/msp/msp.h
|
|
|
|
|
@@ -40,10 +40,10 @@
|
|
|
|
|
// wfb-ng list
|
|
|
|
|
|
|
|
|
|
#define CHANNEL_COUNT 8
|
|
|
|
|
-#define BAND_COUNT 8
|
|
|
|
|
+#define BAND_COUNT 7
|
|
|
|
|
#define IS_FACTORY_BAND 0
|
|
|
|
|
-#define FREQ_TABLE_SIZE 64
|
|
|
|
|
-#define FREQ_LABEL_SIZE 64
|
|
|
|
|
+#define FREQ_TABLE_SIZE 56
|
|
|
|
|
+#define FREQ_LABEL_SIZE 56
|
|
|
|
|
|
|
|
|
|
#define MSP_REBOOT 68 // in message reboot settings
|
|
|
|
|
|
|
|
|
|
@@ -83,3 +83,5 @@ msp_error_e construct_msp_command(uint8_t message_buffer[], uint8_t command, uin
|
|
|
|
|
uint8_t size, msp_direction_e direction);
|
|
|
|
|
msp_error_e msp_process_data(msp_state_t *msp_state, uint8_t dat);
|
|
|
|
|
void msp_set_vtx_config(int serial_fd);
|
|
|
|
|
+// Advertise the actual local WFB configuration without resetting the FC table.
|
|
|
|
|
+void msp_send_vtx_runtime_config(int serial_fd);
|
|
|
|
|
diff --git a/osd/util/interface.c b/osd/util/interface.c
|
|
|
|
|
index 089fdc2..a783431 100644
|
|
|
|
|
--- a/osd/util/interface.c
|
|
|
|
|
+++ b/osd/util/interface.c
|
|
|
|
|
@@ -153,3 +153,81 @@ void set_frequency(char *interface, int channel) {
|
|
|
|
|
printf("Failed to set channel on %s\n", interface);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
+
|
|
|
|
|
+int read_wfb_frequency(void) {
|
|
|
|
|
+ FILE *fp = fopen("/etc/wfb.yaml", "r");
|
|
|
|
|
+ char buffer[256];
|
|
|
|
|
+ int in_wireless = 0;
|
|
|
|
|
+ int channel = -1;
|
|
|
|
|
+
|
|
|
|
|
+ if (fp == NULL) {
|
|
|
|
|
+ return -1;
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ while (fgets(buffer, sizeof(buffer), fp) != NULL) {
|
|
|
|
|
+ if (strncmp(buffer, "wireless:", 9) == 0) {
|
|
|
|
|
+ in_wireless = 1;
|
|
|
|
|
+ continue;
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ if (in_wireless && buffer[0] != ' ' && buffer[0] != ' ' &&
|
|
|
|
|
+ buffer[0] != '\n') {
|
|
|
|
|
+ break;
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ if (in_wireless && sscanf(buffer, " channel: %d", &channel) == 1) {
|
|
|
|
|
+ break;
|
|
|
|
|
+ }
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ fclose(fp);
|
|
|
|
|
+
|
|
|
|
|
+ if (channel >= 1 && channel <= 14) {
|
|
|
|
|
+ return 2407 + channel * 5;
|
|
|
|
|
+ }
|
|
|
|
|
+ if (channel > 14 && channel <= 196) {
|
|
|
|
|
+ return 5000 + channel * 5;
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ return -1;
|
|
|
|
|
+}
|
|
|
|
|
+
|
|
|
|
|
+int read_wfb_txpower(void) {
|
|
|
|
|
+ FILE *fp = fopen("/run/wfb-power", "r");
|
|
|
|
|
+ int txpower = -1;
|
|
|
|
|
+
|
|
|
|
|
+ // CH6 knob state wins while WFB is active; it is intentionally kept in
|
|
|
|
|
+ // tmpfs so power changes do not wear the overlay flash.
|
|
|
|
|
+ if (fp != NULL) {
|
|
|
|
|
+ if (fscanf(fp, "%d", &txpower) == 1 && txpower >= 0 && txpower <= 100) {
|
|
|
|
|
+ fclose(fp);
|
|
|
|
|
+ return txpower;
|
|
|
|
|
+ }
|
|
|
|
|
+ fclose(fp);
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ fp = fopen("/etc/wfb.yaml", "r");
|
|
|
|
|
+ char buffer[256];
|
|
|
|
|
+ int in_wireless = 0;
|
|
|
|
|
+
|
|
|
|
|
+ if (fp == NULL) {
|
|
|
|
|
+ return -1;
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ while (fgets(buffer, sizeof(buffer), fp) != NULL) {
|
|
|
|
|
+ if (strncmp(buffer, "wireless:", 9) == 0) {
|
|
|
|
|
+ in_wireless = 1;
|
|
|
|
|
+ continue;
|
|
|
|
|
+ }
|
|
|
|
|
+ if (in_wireless && buffer[0] != ' ' && buffer[0] != ' ' &&
|
|
|
|
|
+ buffer[0] != '\n') {
|
|
|
|
|
+ break;
|
|
|
|
|
+ }
|
|
|
|
|
+ if (in_wireless && sscanf(buffer, " txpower: %d", &txpower) == 1) {
|
|
|
|
|
+ break;
|
|
|
|
|
+ }
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ fclose(fp);
|
|
|
|
|
+ return txpower >= 0 && txpower <= 100 ? txpower : -1;
|
|
|
|
|
+}
|
|
|
|
|
diff --git a/osd/util/interface.h b/osd/util/interface.h
|
|
|
|
|
index 983971d..854c9e7 100644
|
|
|
|
|
--- a/osd/util/interface.h
|
|
|
|
|
+++ b/osd/util/interface.h
|
|
|
|
|
@@ -22,3 +22,10 @@ int query_interface_for_available_frequencies();
|
|
|
|
|
void set_frequency(char *interface, int channel);
|
|
|
|
|
|
|
|
|
|
int read_current_freq_from_interface(char *interface);
|
|
|
|
|
+
|
|
|
|
|
+// Read WiFiLink/OpenIPC WFB channel from the YAML runtime configuration.
|
|
|
|
|
+// Returns the centre frequency in MHz, or -1 when no valid channel is present.
|
|
|
|
|
+int read_wfb_frequency(void);
|
|
|
|
|
+
|
|
|
|
|
+// Read the configured WFB txpower scalar (0..100 convention used by this profile).
|
|
|
|
|
+int read_wfb_txpower(void);
|
piotr