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AP_Frsky_Telem: fix for conditional compilation of bidir support

This commit is contained in:
yaapu 2020-11-18 18:16:15 +01:00 committed by Andrew Tridgell
parent 6dfa42c958
commit e044cdfde7
13 changed files with 48 additions and 29 deletions
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7
libraries/AP_Frsky_Telem/AP_Frsky_Backend.h
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@ -3,6 +3,10 @@
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#ifndef HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
#define HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL 1
#endif
class AP_Frsky_Backend
{
public:
@ -26,10 +30,13 @@ public:
{
return false;
}
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
virtual bool set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)
{
return false;
}
#endif
virtual void queue_text_message(MAV_SEVERITY severity, const char *text) { }

2
libraries/AP_Frsky_Telem/AP_Frsky_MAVlite.h
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@ -1,4 +1,5 @@
#pragma once
#include "AP_Frsky_Backend.h"
/*
@ -26,7 +27,6 @@
*/
#define MAVLITE_MAX_PAYLOAD_LEN 31 // 7 float params + cmd_id + options
#define MAVLITE_MSG_SPORT_PACKETS_COUNT(LEN) static_cast<uint8_t>(1 + ceilf((LEN-2)/5.0f)) // number of sport packets required to transport a message with LEN payload
#define SPORT_PACKET_QUEUE_LENGTH static_cast<uint8_t>(30U*MAVLITE_MSG_SPORT_PACKETS_COUNT(MAVLITE_MAX_PAYLOAD_LEN))

2
libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp
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@ -5,6 +5,7 @@
extern const AP_HAL::HAL& hal;
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
/*
* Handle the COMMAND_LONG mavlite message
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
@ -284,3 +285,4 @@ bool AP_Frsky_MAVliteMsgHandler::send_message(AP_Frsky_MAVlite_Message &txmsg)
{
return _send_fn(txmsg);
}
#endif

2
libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_MAVliteToSPort.cpp
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@ -4,6 +4,7 @@
#include "AP_Frsky_SPort.h"
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
void AP_Frsky_MAVlite_MAVliteToSPort::reset()
{
checksum = 0;
@ -96,3 +97,4 @@ void AP_Frsky_MAVlite_MAVliteToSPort::process_byte(const uint8_t b, ObjectBuffer
packet_offs = 2; // skip setting sensorid and frame
}
}
#endif

2
libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_MAVliteToSPort.h
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@ -7,6 +7,7 @@
#include <stdint.h>
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
/*
* An instance of this class encodes a MAVlite message into several
* SPort packets, and pushes them onto the supplied queue.
@ -50,3 +51,4 @@ private:
int16_t checksum; // sent at end of packet
void update_checksum(const uint8_t c);
};
#endif

2
libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_Message.cpp
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@ -2,6 +2,7 @@
#include <AP_Math/AP_Math.h>
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
bool AP_Frsky_MAVlite_Message::get_bytes(uint8_t *bytes, const uint8_t offset, const uint8_t count) const
{
if (offset + count > MAVLITE_MAX_PAYLOAD_LEN) {
@ -53,3 +54,4 @@ void AP_Frsky_MAVlite_Message::bit8_pack(uint8_t &value, const uint8_t bit_value
}
value |= (bit_value<<bit_offset) & mask;
}
#endif

2
libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_Message.h
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@ -6,6 +6,7 @@
#include <stdint.h>
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
class AP_Frsky_MAVlite_Message {
public:
// helpers
@ -44,3 +45,4 @@ private:
bool get_bytes(uint8_t *bytes, const uint8_t offset, const uint8_t count) const WARN_IF_UNUSED;
bool set_bytes(const uint8_t *bytes, const uint8_t offset, const uint8_t count) WARN_IF_UNUSED;
};
#endif

2
libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_SPortToMAVlite.cpp
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@ -2,6 +2,7 @@
#include "AP_Frsky_MAVlite.h"
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
void AP_Frsky_MAVlite_SPortToMAVlite::reset(void)
{
checksum = 0;
@ -102,3 +103,4 @@ void AP_Frsky_MAVlite_SPortToMAVlite::parse(uint8_t byte)
return;
}
}
#endif

2
libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_SPortToMAVlite.h
View File

@ -5,6 +5,7 @@
#include <stdint.h>
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
/*
* An instance of this class decodes a stream of SPort packets into a
* MAVlite message (see AP_Frsky_MAVlite_Message.h). It is expected
@ -46,3 +47,4 @@ private:
int16_t checksum; // sent at end of packet
void update_checksum(const uint8_t c);
};
#endif

41
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
View File

@ -545,27 +545,6 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_attiandrng(void)
return attiandrng;
}
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
/*
allow external transports (e.g. FPort), to supply telemetry data
*/
bool AP_Frsky_SPort_Passthrough::set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)
{
// queue only Uplink packets
if (frame == SPORT_UPLINK_FRAME || frame == SPORT_UPLINK_FRAME_RW) {
const AP_Frsky_SPort::sport_packet_t sp {
0x00, // this is ignored by process_sport_rx_queue() so no need for a real sensor ID
frame,
appid,
data
};
_SPort_bidir.rx_packet_queue.push_force(sp);
return true;
}
return false;
}
/*
fetch Sport data for an external transport, such as FPort
*/
@ -647,8 +626,26 @@ uint16_t AP_Frsky_SPort_Passthrough::prep_number(int32_t number, uint8_t digits,
return res;
}
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
/*
allow external transports (e.g. FPort), to supply telemetry data
*/
bool AP_Frsky_SPort_Passthrough::set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)
{
// queue only Uplink packets
if (frame == SPORT_UPLINK_FRAME || frame == SPORT_UPLINK_FRAME_RW) {
const AP_Frsky_SPort::sport_packet_t sp {
0x00, // this is ignored by process_sport_rx_queue() so no need for a real sensor ID
frame,
appid,
data
};
_SPort_bidir.rx_packet_queue.push_force(sp);
return true;
}
return false;
}
/*
* Queue uplink packets in the sport rx queue

2
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.h
View File

@ -43,7 +43,9 @@ public:
bool get_next_msg_chunk(void) override;
bool get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data) override;
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
bool set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data) override;
#endif
void queue_text_message(MAV_SEVERITY severity, const char *text) override
{

4
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -89,6 +89,7 @@ bool AP_Frsky_Telem::_get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &
return _backend->get_telem_data(frame, appid, data);
}
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
bool AP_Frsky_Telem::_set_telem_data(uint8_t frame, uint16_t appid, uint32_t data)
{
if (_backend == nullptr) {
@ -96,6 +97,7 @@ bool AP_Frsky_Telem::_set_telem_data(uint8_t frame, uint16_t appid, uint32_t dat
}
return _backend->set_telem_data(frame, appid, data);
}
#endif
/*
fetch Sport data for an external transport, such as FPort
@ -117,6 +119,7 @@ bool AP_Frsky_Telem::get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &d
return singleton->_get_telem_data(frame, appid, data);
}
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
/*
allow external transports (e.g. FPort), to supply telemetry data
*/
@ -135,6 +138,7 @@ bool AP_Frsky_Telem::set_telem_data(const uint8_t frame, const uint16_t appid, c
}
return singleton->_set_telem_data(frame, appid, data);
}
#endif
namespace AP
{

7
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -14,10 +14,6 @@
*/
#pragma once
#ifndef HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
#define HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL 1
#endif
#include "AP_Frsky_Backend.h"
class AP_Frsky_Parameters;
@ -57,12 +53,11 @@ public:
private:
AP_Frsky_Backend *_backend;
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
AP_Frsky_Parameters* _frsky_parameters;
// get next telemetry data for external consumers of SPort data (internal function)
bool _get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data);
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
// set telemetry data from external producer of SPort data (internal function)
bool _set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data);
#endif