ardupilot/libraries/AP_Frsky_Telem/AP_Frsky_SPort.h

68 lines
1.6 KiB
C++

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