ardupilot/libraries/AP_LTM_Telem/AP_LTM_Telem.h

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2019-09-05 02:01:50 -03:00
/*
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/>.
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
static const uint8_t LTM_GFRAME_SIZE = 18;
static const uint8_t LTM_AFRAME_SIZE = 10;
static const uint8_t LTM_SFRAME_SIZE = 11;
class AP_LTM_Telem {
public:
// Constructor
AP_LTM_Telem() {}
/* Do not allow copies */
AP_LTM_Telem(const AP_LTM_Telem &other) = delete;
AP_LTM_Telem &operator=(const AP_LTM_Telem&) = delete;
// init - perform required initialisation
void init();
private:
AP_HAL::UARTDriver *_port; // UART
uint8_t _ltm_scheduler;
uint32_t _last_frame_ms;
void send_Gframe(void);
void send_Sframe(void);
void send_Aframe(void);
void generate_LTM(void);
void send_LTM(uint8_t lt_packet[], uint8_t lt_packet_size);
void tick(void); // tick - main call to send updates to transmitter (called by scheduler at 1kHz)
};