mirror of https://github.com/ArduPilot/ardupilot
68 lines
1.7 KiB
C++
68 lines
1.7 KiB
C++
#pragma once
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#include "AP_Frsky_Backend.h"
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class AP_Frsky_SPort : public AP_Frsky_Backend
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{
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public:
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AP_Frsky_SPort(AP_HAL::UARTDriver *port) : AP_Frsky_Backend(port) {
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singleton = this;
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}
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/* Do not allow copies */
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AP_Frsky_SPort(const AP_Frsky_SPort &other) = delete;
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AP_Frsky_SPort &operator=(const AP_Frsky_SPort&) = delete;
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void send() override;
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// send an sport packet by responding to the specified polled sensor
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bool sport_telemetry_push(const uint8_t sensor, const uint8_t frame, const uint16_t appid, const int32_t data);
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// utility method to pack numbers in a compact size
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uint16_t prep_number(int32_t const number, const uint8_t digits, const uint8_t power);
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static AP_Frsky_SPort *get_singleton(void) {
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return singleton;
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}
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protected:
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void send_sport_frame(uint8_t frame, uint16_t appid, uint32_t data);
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struct PACKED {
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bool send_latitude; // sizeof(bool) = 4 ?
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bool send_airspeed; // toggles 0x5005 between airspeed and groundspeed
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uint32_t gps_lng_sample;
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uint8_t new_byte;
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} _passthrough;
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uint32_t calc_gps_latlng(bool &send_latitude);
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static uint8_t calc_sensor_id(const uint8_t physical_id);
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struct {
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sport_packet_t packet;
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bool pending = false;
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HAL_Semaphore sem;
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} _sport_push_buffer;
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private:
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struct {
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bool sport_status;
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bool gps_refresh;
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bool vario_refresh;
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uint8_t fas_call;
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uint8_t gps_call;
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uint8_t vario_call;
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uint8_t various_call;
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uint8_t rpm_call;
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} _SPort;
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static AP_Frsky_SPort *singleton;
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};
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namespace AP {
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AP_Frsky_SPort *frsky_sport();
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};
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