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AP_Frsky_Telem: move #defines to be static const members of AP_Frsky_Backend

This commit is contained in:
Peter Barker 2020-09-29 07:51:19 +10:00 committed by Peter Barker
parent 0bb7a31850
commit 9c211d9847
1 changed files with 44 additions and 47 deletions
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91
libraries/AP_Frsky_Telem/AP_Frsky_Backend.h
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@ -3,53 +3,6 @@
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
/*
for FrSky D protocol (D-receivers)
*/
// FrSky sensor hub data IDs
#define DATA_ID_GPS_ALT_BP 0x01
#define DATA_ID_TEMP1 0x02
#define DATA_ID_FUEL 0x04
#define DATA_ID_TEMP2 0x05
#define DATA_ID_GPS_ALT_AP 0x09
#define DATA_ID_BARO_ALT_BP 0x10
#define DATA_ID_GPS_SPEED_BP 0x11
#define DATA_ID_GPS_LONG_BP 0x12
#define DATA_ID_GPS_LAT_BP 0x13
#define DATA_ID_GPS_COURS_BP 0x14
#define DATA_ID_GPS_SPEED_AP 0x19
#define DATA_ID_GPS_LONG_AP 0x1A
#define DATA_ID_GPS_LAT_AP 0x1B
#define DATA_ID_BARO_ALT_AP 0x21
#define DATA_ID_GPS_LONG_EW 0x22
#define DATA_ID_GPS_LAT_NS 0x23
#define DATA_ID_CURRENT 0x28
#define DATA_ID_VARIO 0x30
#define DATA_ID_VFAS 0x39
#define START_STOP_D 0x5E
#define BYTESTUFF_D 0x5D
/*
for FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
*/
// FrSky Sensor IDs
#define SENSOR_ID_VARIO 0x00 // Sensor ID 0
#define SENSOR_ID_FAS 0x22 // Sensor ID 2
#define SENSOR_ID_GPS 0x83 // Sensor ID 3
#define SENSOR_ID_SP2UR 0xC6 // Sensor ID 6
#define SENSOR_ID_27 0x1B // Sensor ID 27
// FrSky data IDs
#define GPS_LONG_LATI_FIRST_ID 0x0800
#define DIY_FIRST_ID 0x5000
#define FRAME_HEAD 0x7E
#define FRAME_DLE 0x7D
#define FRAME_XOR 0x20
#define SPORT_DATA_FRAME 0x10
class AP_Frsky_Backend {
public:
@ -102,6 +55,50 @@ protected:
uint16_t yaw;
} _SPort_data;
/*
for FrSky D protocol (D-receivers)
*/
// FrSky sensor hub data IDs
static const uint8_t DATA_ID_GPS_ALT_BP = 0x01;
static const uint8_t DATA_ID_TEMP1 = 0x02;
static const uint8_t DATA_ID_FUEL = 0x04;
static const uint8_t DATA_ID_TEMP2 = 0x05;
static const uint8_t DATA_ID_GPS_ALT_AP = 0x09;
static const uint8_t DATA_ID_BARO_ALT_BP = 0x10;
static const uint8_t DATA_ID_GPS_SPEED_BP = 0x11;
static const uint8_t DATA_ID_GPS_LONG_BP = 0x12;
static const uint8_t DATA_ID_GPS_LAT_BP = 0x13;
static const uint8_t DATA_ID_GPS_COURS_BP = 0x14;
static const uint8_t DATA_ID_GPS_SPEED_AP = 0x19;
static const uint8_t DATA_ID_GPS_LONG_AP = 0x1A;
static const uint8_t DATA_ID_GPS_LAT_AP = 0x1B;
static const uint8_t DATA_ID_BARO_ALT_AP = 0x21;
static const uint8_t DATA_ID_GPS_LONG_EW = 0x22;
static const uint8_t DATA_ID_GPS_LAT_NS = 0x23;
static const uint8_t DATA_ID_CURRENT = 0x28;
static const uint8_t DATA_ID_VARIO = 0x30;
static const uint8_t DATA_ID_VFAS = 0x39;
static const uint8_t START_STOP_D = 0x5E;
static const uint8_t BYTESTUFF_D = 0x5D;
// FrSky data IDs;
static const uint16_t GPS_LONG_LATI_FIRST_ID = 0x0800;
static const uint16_t DIY_FIRST_ID = 0x5000;
static const uint8_t FRAME_HEAD = 0x7E;
static const uint8_t FRAME_DLE = 0x7D;
static const uint8_t FRAME_XOR = 0x20;
static const uint8_t SPORT_DATA_FRAME = 0x10;
// for FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
static const uint8_t SENSOR_ID_VARIO = 0x00; // Sensor ID 0
static const uint8_t SENSOR_ID_FAS = 0x22; // Sensor ID 2
static const uint8_t SENSOR_ID_GPS = 0x83; // Sensor ID 3
static const uint8_t SENSOR_ID_SP2UR = 0xC6; // Sensor ID 6
static const uint8_t SENSOR_ID_27 = 0x1B; // Sensor ID 27
private:
void loop(void);