mirror of https://github.com/ArduPilot/ardupilot
159 lines
3.8 KiB
C++
159 lines
3.8 KiB
C++
/*
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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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#pragma once
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/*
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* backend class for direct attached radios
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Radio.h"
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#include <AP_Math/AP_Math.h>
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class AP_Radio_backend
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{
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public:
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AP_Radio_backend(AP_Radio &radio);
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virtual ~AP_Radio_backend();
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// init - initialise radio
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virtual bool init(void) = 0;
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// init - reset radio
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virtual bool reset(void) = 0;
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// send a packet
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virtual bool send(const uint8_t *pkt, uint16_t len) = 0;
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// start bind process as a receiver
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virtual void start_recv_bind(void) = 0;
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// return time in microseconds of last received R/C packet
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virtual uint32_t last_recv_us(void) = 0;
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// return number of input channels
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virtual uint8_t num_channels(void) = 0;
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// return current PWM of a channel
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virtual uint16_t read(uint8_t chan) = 0;
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// handle a data96 mavlink packet for fw upload
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virtual void handle_data_packet(mavlink_channel_t chan, const mavlink_data96_t &m) {}
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// update status
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virtual void update(void) = 0;
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// get TX fw version
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virtual uint32_t get_tx_version(void) = 0;
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// get radio statistics structure
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virtual const AP_Radio::stats &get_stats(void) = 0;
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// set the 2.4GHz wifi channel used by companion computer, so it can be avoided
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virtual void set_wifi_channel(uint8_t channel) = 0;
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protected:
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// These functions are for the radio code to access the parameters
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// that the user can set using the web interface.
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AP_Radio::ap_radio_protocol get_protocol(void) const
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{
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return (AP_Radio::ap_radio_protocol)radio.protocol.get();
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}
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uint8_t get_debug_level(void) const
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{
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return (uint8_t)radio.debug_level.get();
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}
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bool get_disable_crc(void) const
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{
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return (bool)radio.disable_crc.get();
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}
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uint8_t get_rssi_chan(void) const
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{
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return (uint8_t)radio.rssi_chan.get();
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}
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uint8_t get_pps_chan(void) const
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{
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return (uint8_t)radio.pps_chan.get();
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}
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uint8_t get_tx_rssi_chan(void) const
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{
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return (uint8_t)radio.tx_rssi_chan.get();
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}
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uint8_t get_tx_pps_chan(void) const
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{
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return (uint8_t)radio.tx_pps_chan.get();
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}
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bool get_telem_enable(void) const
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{
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return radio.telem_enable.get() > 0;
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}
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uint8_t get_transmit_power(void) const
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{
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return constrain_int16(radio.transmit_power.get(), 1, 8);
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}
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uint8_t get_tx_max_power(void) const
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{
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return constrain_int16(radio.tx_max_power.get(), 1, 8);
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}
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void set_tx_max_power_default(uint8_t v)
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{
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return radio.tx_max_power.set_default(v);
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}
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int8_t get_fcc_test(void) const
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{
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return radio.fcc_test.get();
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}
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uint8_t get_stick_mode(void) const
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{
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return radio.stick_mode.get();
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}
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uint8_t get_factory_test(void) const
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{
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return radio.factory_test.get();
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}
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uint8_t get_tx_buzzer_adjust(void) const
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{
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return radio.tx_buzzer_adjust.get();
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}
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uint8_t get_autobind_time(void) const
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{
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return radio.auto_bind_time.get();
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}
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uint8_t get_autobind_rssi(void) const
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{
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return radio.auto_bind_rssi.get();
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}
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AP_Radio &radio;
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};
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