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added camera button sim handling #10

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f33237f
added camera button sim handling
b-atteryacid Jun 9, 2026
d3637c7
cam tx video commands
b-atteryacid Jun 15, 2026
17637cc
updated comms submodule and fixed naming
b-atteryacid Jun 15, 2026
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2 changes: 1 addition & 1 deletion CommunicationSystemsSubmodule
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Submodule CommunicationSystemsSubmodule updated 1 files
+23 −1 CanAutoNode/LogTypes/RPBLogs.hpp
30 changes: 30 additions & 0 deletions Components/Communication/CANMessageHandler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,5 +89,35 @@ bool CANTask::HandleCANCommands() {
}
}

{
RPB_CAMERA_SIMULATE_BUTTON_COMMAND cmd;
if(dau.ReadMessageByLogIndex(_RPB_CAMERA_SIMULATE_BUTTON_COMMAND_LOGINDEX, (uint8_t*)&cmd,sizeof(cmd))) {
SOAR_PRINT("got sim button cmd %d btn %d\n",cmd.cam,cmd.button);
Command cm = {TASK_SPECIFIC_COMMAND,CAMERA_COMMAND_SIM_BUTTON};
cm.CopyDataToCommand((uint8_t*)&cmd, sizeof(cmd));
CameraTask::Inst().SendCommandReference(cm);
}
}

{
RPB_CAM_TX_CONTROL_COMMAND cmd;
if(dau.ReadMessageByLogIndex(_RPB_CAM_TX_CONTROL_COMMAND_LOGINDEX, (uint8_t*)&cmd,sizeof(cmd))) {
SOAR_PRINT("got tx cmd %d\n",cmd.fieldToSet);
if(cmd.fieldToSet == cmd.ENABLED) {
Command cm = {TASK_SPECIFIC_COMMAND,cmd.enabled ? CAMERA_COMMAND_VIDEO_ENABLE : CAMERA_COMMAND_VIDEO_DISABLE};
CameraTask::Inst().SendCommandReference(cm);
} else if(cmd.fieldToSet == cmd.POWER) {
Command cm = {TASK_SPECIFIC_COMMAND,CAMERA_COMMAND_SET_TX_POWER};
cm.CopyDataToCommand((uint8_t*)&cmd.power, sizeof(cmd.power));
CameraTask::Inst().SendCommandReference(cm);
} else if(cmd.fieldToSet == cmd.FREQUENCY) {
Command cm = {TASK_SPECIFIC_COMMAND,CAMERA_COMMAND_SET_TX_FREQ};
cm.CopyDataToCommand((uint8_t*)&cmd.freq, sizeof(cmd.freq));
CameraTask::Inst().SendCommandReference(cm);
}

}
}

return foundone;
};
85 changes: 85 additions & 0 deletions Components/PeriphTasks/CameraTask.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include "callsign.h"
#include "logo.h"
#include "RPBLogs.hpp"
#include "IRCTramp.hpp"

/**
* @brief Constructor, sets up task
Expand Down Expand Up @@ -145,12 +146,15 @@ void CameraTask::HandleCommand(Command &cm)
switch (cam) {
case 0:
muxDriver.Select(Camera::CAMERA1);
cm.Reset();
return;
case 1:
muxDriver.Select(Camera::CAMERA2);
cm.Reset();
return;
case 2:
muxDriver.Select(Camera::CAMERA3);
cm.Reset();
return;
}
SOAR_PRINT("Invalid camera %d should be 0-2\n",cam);
Expand All @@ -168,6 +172,29 @@ void CameraTask::HandleCommand(Command &cm)
HAL_GPIO_WritePin(VideoTX_Enable_GPIO_Port,VideoTX_Enable_Pin,GPIO_PIN_SET);
break;

case CAMERA_COMMAND_SIM_BUTTON: {
RPB_CAMERA_SIMULATE_BUTTON_COMMAND cmd = *(RPB_CAMERA_SIMULATE_BUTTON_COMMAND*)cm.GetDataPointer();
USART_TypeDef* uart;
switch (cmd.cam) {
case 0:
uart = USART1;
break;
case 1:
uart = USART2;
break;
case 2:
uart = USART3;
break;
default:
SOAR_PRINT("invalid cam %d\n",cmd.cam);
cm.Reset();
return;
}
RunCamCommand(uart, cmd.button);
break;
}


case CAMERA_COMMAND_START_RECORDING: {
uint8_t cam = *cm.GetDataPointer();
USART_TypeDef* uart;
Expand All @@ -183,6 +210,7 @@ void CameraTask::HandleCommand(Command &cm)
break;
default:
SOAR_PRINT("invalid cam %d\n",cam);
cm.Reset();
return;
}
RunCamCommand(uart, 0x03);
Expand All @@ -203,6 +231,7 @@ void CameraTask::HandleCommand(Command &cm)
break;
default:
SOAR_PRINT("invalid cam %d\n",cam);
cm.Reset();
return;
}
RunCamCommand(uart, 0x04);
Expand All @@ -223,6 +252,7 @@ void CameraTask::HandleCommand(Command &cm)
break;
default:
SOAR_PRINT("invalid cam %d\n",cam);
cm.Reset();
return;
}
break;
Expand All @@ -241,10 +271,65 @@ void CameraTask::HandleCommand(Command &cm)
break;
default:
SOAR_PRINT("invalid cam %d\n",cam);
cm.Reset();
return;
}
break;
}
case CAMERA_COMMAND_SET_TX_POWER: {
uint16_t power = *cm.GetDataPointer();
SOAR_PRINT("set tx power %d\n",power);

IRCTramp::POWER pow;
bool invalid = false;
switch(power) {
case 25:
pow = IRCTramp::POWER_25MW;
break;
case 200:
pow = IRCTramp::POWER_200MW;
break;
case 1000:
pow = IRCTramp::POWER_1W;
break;
case 4000:
pow = IRCTramp::POWER_4W;
break;
default:
SOAR_PRINT("invalid power\n");
invalid = true;
break;
}
if(!invalid){
IRCTramp::SetVTXPower(pow, UART5);
}
break;

}
case CAMERA_COMMAND_SET_TX_FREQ: {
uint16_t freq = *cm.GetDataPointer();
SOAR_PRINT("set tx freq %d\n",freq);

IRCTramp::FREQUENCY frequency;
bool invalid = false;
switch(freq) {
case 1258:
frequency = IRCTramp::FREQ_1258MHZ;
break;
case 1280:
frequency = IRCTramp::FREQ_1280MHZ;
break;
default:
SOAR_PRINT("invalid freq\n");
invalid = true;
break;
}
if(!invalid){
IRCTramp::SetVTXFrequency(frequency,UART5);
}
break;

}
default:
SOAR_PRINT("CameraTask - Received Unsupported Task Command {%d}\n", cm.GetTaskCommand());
break;
Expand Down
5 changes: 4 additions & 1 deletion Components/PeriphTasks/Inc/CameraTask.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,10 @@ enum CAMERA_TASK_COMMANDS
CAMERA_COMMAND_START_RECORDING,
CAMERA_COMMAND_STOP_RECORDING,
CAMERA_COMMAND_POWER_ON,
CAMERA_COMMAND_POWER_OFF
CAMERA_COMMAND_POWER_OFF,
CAMERA_COMMAND_SIM_BUTTON,
CAMERA_COMMAND_SET_TX_POWER,
CAMERA_COMMAND_SET_TX_FREQ
};

/* Macros ------------------------------------------------------------------*/
Expand Down
2 changes: 1 addition & 1 deletion SoarDrivers
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Submodule SoarDrivers updated 2 files
+100 −0 IRCTramp/IRCTramp.cpp
+39 −0 IRCTramp/IRCTramp.hpp