mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.5 KiB
C++
71 lines
1.5 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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/*
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Simulated CRSF device
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:crsf --speedup=1
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param set SERIAL5_PROTOCOL 23
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reboot
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arm throttle
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rc 3 1600
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef AP_SIM_CRSF_ENABLED
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#define AP_SIM_CRSF_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
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#endif
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#if AP_SIM_CRSF_ENABLED
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#include "SIM_Aircraft.h"
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#include <SITL/SITL.h>
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#include "SIM_SerialDevice.h"
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namespace SITL {
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class CRSF : public SerialDevice {
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public:
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CRSF() {};
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// update state
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void update();
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protected:
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enum DataID {
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VTX_FRAME = 0x00,
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VTX_TELEM = 0x01,
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VTX_UNKNOWN = 0x02,
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MAX_DATA_FRAMES = 0x03
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};
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const char* dataid_string(DataID id, ssize_t& len);
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char _buffer[64];
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uint16_t _buflen = 0;
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uint8_t _id;
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uint32_t _last_update_ms;
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};
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}
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#endif // AP_SIM_CRSF_ENABLED
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