mirror of https://github.com/ArduPilot/ardupilot
101 lines
3.0 KiB
C
101 lines
3.0 KiB
C
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/*
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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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#ifndef __AP_FRSKY_TELEM_H__
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#define __AP_FRSKY_TELEM_H__
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#include <AP_HAL.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <AP_GPS.h>
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#include <AP_AHRS.h>
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#include <AP_Baro.h>
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#include <AP_BattMonitor.h>
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/* FrSky sensor hub data IDs */
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#define FRSKY_ID_GPS_ALT_BP 0x01
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#define FRSKY_ID_TEMP1 0x02
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#define FRSKY_ID_RPM 0x03
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#define FRSKY_ID_FUEL 0x04
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#define FRSKY_ID_TEMP2 0x05
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#define FRSKY_ID_VOLTS 0x06
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#define FRSKY_ID_GPS_ALT_AP 0x09
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#define FRSKY_ID_BARO_ALT_BP 0x10
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#define FRSKY_ID_GPS_SPEED_BP 0x11
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#define FRSKY_ID_GPS_LONG_BP 0x12
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#define FRSKY_ID_GPS_LAT_BP 0x13
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#define FRSKY_ID_GPS_COURS_BP 0x14
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#define FRSKY_ID_GPS_DAY_MONTH 0x15
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#define FRSKY_ID_GPS_YEAR 0x16
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#define FRSKY_ID_GPS_HOUR_MIN 0x17
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#define FRSKY_ID_GPS_SEC 0x18
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#define FRSKY_ID_GPS_SPEED_AP 0x19
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#define FRSKY_ID_GPS_LONG_AP 0x1A
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#define FRSKY_ID_GPS_LAT_AP 0x1B
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#define FRSKY_ID_GPS_COURS_AP 0x1C
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#define FRSKY_ID_BARO_ALT_AP 0x21
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#define FRSKY_ID_GPS_LONG_EW 0x22
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#define FRSKY_ID_GPS_LAT_NS 0x23
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#define FRSKY_ID_ACCEL_X 0x24
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#define FRSKY_ID_ACCEL_Y 0x25
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#define FRSKY_ID_ACCEL_Z 0x26
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#define FRSKY_ID_CURRENT 0x28
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#define FRSKY_ID_VARIO 0x30
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#define FRSKY_ID_VFAS 0x39
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#define FRSKY_ID_VOLTS_BP 0x3A
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#define FRSKY_ID_VOLTS_AP 0x3B
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#define HUB_PORT true
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#define S_PORT false
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class AP_Frsky_Telem
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{
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public:
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//constructor
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AP_Frsky_Telem(AP_AHRS &ahrs, AP_BattMonitor &battery) :
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_initialised(false),
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_ahrs(ahrs),
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_battery(battery)
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{}
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// these enums must match up with TELEM2_PROTOCOL in vehicle code
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enum FrSkyProtocol {
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FrSkyDPORT = 2,
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FrSkySPORT = 3
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};
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void init(AP_HAL::UARTDriver *port, uint8_t frsky_type);
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void send_frames(uint8_t control_mode, enum FrSkyProtocol protocol);
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private:
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void frsky_send_data(uint8_t id, int16_t data);
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void frsky_send_frame1(uint8_t mode);
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void frsky_send_frame2();
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void check_sport_input(void);
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float frsky_format_gps(float dec);
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void frsky_send_byte(uint8_t value);
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void frsky_send_hub_startstop();
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AP_HAL::UARTDriver *_port;
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bool _initialised;
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AP_AHRS &_ahrs;
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AP_BattMonitor &_battery;
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uint32_t _last_frame1_ms;
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uint32_t _last_frame2_ms;
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};
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#endif
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