ardupilot/libraries/AP_Radio/AP_Radio.h

122 lines
3.0 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
* base class for direct attached radios
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
class AP_Radio_backend;
class AP_Radio
{
public:
friend class AP_Radio_backend;
// constructor
AP_Radio(void);
// init - initialise radio
bool init(void);
// reset the radio
bool reset(void);
// send a packet
bool send(const uint8_t *pkt, uint16_t len);
// start bind process as a receiver
void start_recv_bind(void);
// return time in microseconds of last received R/C packet
uint32_t last_recv_us(void);
// return number of input channels
uint8_t num_channels(void);
// return current PWM of a channel
uint16_t read(uint8_t chan);
// update status, should be called from main thread
void update(void);
// get transmitter firmware version
uint32_t get_tx_version(void);
struct stats {
uint32_t bad_packets;
uint32_t recv_errors;
uint32_t recv_packets;
uint32_t lost_packets;
uint32_t timeouts;
};
enum ap_radio_type {
RADIO_TYPE_NONE=0,
RADIO_TYPE_CYRF6936=1,
RADIO_TYPE_CC2500=2,
};
enum ap_radio_protocol {
PROTOCOL_AUTO=0,
PROTOCOL_DSM2=1,
PROTOCOL_DSMX=2,
PROTOCOL_D16=3,
};
// get packet statistics
const struct stats &get_stats(void);
static const struct AP_Param::GroupInfo var_info[];
// get singleton instance
static AP_Radio *get_singleton(void) {
return _singleton;
}
// handle a data96 mavlink packet for fw upload
void handle_data_packet(mavlink_channel_t chan, const mavlink_data96_t &m);
// set the 2.4GHz wifi channel used by companion computer, so it can be avoided
void set_wifi_channel(uint8_t channel);
private:
AP_Radio_backend *driver;
AP_Int8 radio_type;
AP_Int8 protocol;
AP_Int8 debug_level;
AP_Int8 disable_crc;
AP_Int8 rssi_chan;
AP_Int8 pps_chan;
AP_Int8 tx_rssi_chan;
AP_Int8 tx_pps_chan;
AP_Int8 telem_enable;
AP_Int8 transmit_power;
AP_Int8 tx_max_power;
AP_Int8 fcc_test;
AP_Int8 stick_mode;
AP_Int8 factory_test;
AP_Int8 tx_buzzer_adjust;
AP_Int8 auto_bind_time;
AP_Int8 auto_bind_rssi;
static AP_Radio *_singleton;
};