ardupilot/libraries/AP_IBus_Telem/AP_IBus_Telem.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
i-BUS telemetry for FlySky/Turnigy receivers and other peripherals
(eg iA6B, iA10) by Nicole Ashley <nicole@ashley.kiwi>.
Originally based on work by Jan Verhulst:
https://github.com/ArduPilot/ardupilot/pull/16545
Libraries used for reference and inspiration:
* iBUStelemetry
https://github.com/Hrastovc/iBUStelemetry
* IBusBM
https://github.com/bmellink/IBusBM
* BetaFlight
https://github.com/betaflight/betaflight/blob/master/src/main/telemetry/ibus_shared.c
*/
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_IBUS_TELEM_ENABLED
#define AP_IBUS_TELEM_ENABLED BOARD_FLASH_SIZE > 2048
#endif
#if AP_IBUS_TELEM_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/vector3.h>
#include <AP_AHRS/AP_AHRS_config.h>
#include <AP_BattMonitor/AP_BattMonitor_config.h>
#include <AP_GPS/AP_GPS_config.h>
#include <AP_RPM/AP_RPM_config.h>
class AP_IBus_Telem
{
public:
AP_IBus_Telem() {}
CLASS_NO_COPY(AP_IBus_Telem);
void init();
typedef struct {
uint8_t sensor_type; // Sensor type (IBUS_SENSOR_TYPE_* above)
uint8_t sensor_length; // Data length for defined sensor (can be 2 or 4 bytes)
} SensorDefinition;
typedef struct {
uint8_t ap_mode;
uint8_t ibus_mode;
} ModeMap;
private:
typedef union {
uint16_t uint16;
uint32_t uint32;
int16_t int16;
int32_t int32;
uint8_t byte[4];
} SensorValue;
struct PACKED CommandPacket {
uint8_t message_length;
uint8_t sensor_id : 4;
uint8_t command : 4;
uint16_t checksum;
};
void tick();
void handle_incoming_message(const CommandPacket &incoming);
void handle_discover_command(const CommandPacket &incoming);
void handle_type_command(const CommandPacket &incoming, const SensorDefinition &sensor);
void handle_value_command(const CommandPacket &incoming, const SensorDefinition &sensor);
void handle_2_byte_value_command(const CommandPacket &incoming, const SensorValue &value);
void handle_4_byte_value_command(const CommandPacket &incoming, const SensorValue &value);
SensorValue get_sensor_value(uint8_t sensor_id);
#if AP_BATTERY_ENABLED
uint16_t get_average_cell_voltage_cV();
uint16_t get_current_cAh();
uint8_t get_battery_or_fuel_level_pct();
#endif
#if AP_RPM_ENABLED
uint16_t get_rpm();
#endif
#if AP_GPS_ENABLED
uint8_t get_gps_status();
#endif
#if AP_AHRS_ENABLED
uint16_t get_distance_from_home_m();
#endif
uint16_t get_vehicle_mode();
void populate_checksum(uint8_t *packet, const uint16_t size);
static const uint8_t PROTOCOL_COMMAND_DISCOVER = 0x80; // Command to discover a sensor (lowest 4 bits are sensor)
static const uint8_t PROTOCOL_COMMAND_TYPE = 0x90; // Command to request a sensor type (lowest 4 bits are sensor)
static const uint8_t PROTOCOL_COMMAND_VALUE = 0xA0; // Command to request a sensor's value (lowest 4 bits are sensor)
static const uint8_t PROTOCOL_TIMEGAP = 3; // Packets are received very ~7ms so use ~half that for the gap
static const uint8_t PROTOCOL_FOUR_LENGTH = 0x04; // indicate that the message has 4 bytes
static const uint8_t PROTOCOL_SIX_LENGTH = 0x06; // indicate that the message has 6 bytes
static const uint8_t PROTOCOL_EIGHT_LENGTH = 0x08; // indicate that the message has 8 bytes
static const uint8_t PROTOCOL_INCOMING_MESSAGE_LENGTH = PROTOCOL_FOUR_LENGTH; // All incoming messages are the same length
AP_HAL::UARTDriver *port;
bool initialized;
uint32_t last_received_message_time_ms; // When the last message was received
};
#endif