mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.4 KiB
C++
73 lines
2.4 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
|
|
|
|
#include "AP_Frsky_Backend.h"
|
|
#include "AP_Frsky_SPort.h"
|
|
|
|
class AP_Frsky_Parameters;
|
|
|
|
class AP_Frsky_Telem {
|
|
|
|
public:
|
|
AP_Frsky_Telem();
|
|
|
|
~AP_Frsky_Telem();
|
|
|
|
/* Do not allow copies */
|
|
AP_Frsky_Telem(const AP_Frsky_Telem &other) = delete;
|
|
AP_Frsky_Telem &operator=(const AP_Frsky_Telem&) = delete;
|
|
|
|
// init - perform required initialisation
|
|
bool init(bool use_external_data=false);
|
|
|
|
static AP_Frsky_Telem *get_singleton(void) {
|
|
return singleton;
|
|
}
|
|
|
|
// get next telemetry data for external consumers of SPort data
|
|
static bool get_telem_data(AP_Frsky_Backend::sport_packet_t* packet_array, uint8_t &packet_count, const uint8_t max_size);
|
|
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
|
|
// set telemetry data from external producer of SPort data
|
|
static bool set_telem_data(const uint8_t frame,const uint16_t appid, const uint32_t data);
|
|
#endif
|
|
|
|
void queue_message(MAV_SEVERITY severity, const char *text) {
|
|
if (_backend == nullptr) {
|
|
return;
|
|
}
|
|
return _backend->queue_text_message(severity, text);
|
|
}
|
|
|
|
private:
|
|
|
|
AP_Frsky_Backend *_backend;
|
|
AP_Frsky_Parameters* _frsky_parameters;
|
|
|
|
// get next telemetry data for external consumers of SPort data (internal function)
|
|
bool _get_telem_data(AP_Frsky_Backend::sport_packet_t* packet_array, uint8_t &packet_count, const uint8_t max_size);
|
|
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
|
|
// set telemetry data from external producer of SPort data (internal function)
|
|
bool _set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data);
|
|
#endif
|
|
static void try_create_singleton_for_external_data(void);
|
|
static AP_Frsky_Telem *singleton;
|
|
|
|
};
|
|
|
|
namespace AP {
|
|
AP_Frsky_Telem *frsky_telem();
|
|
};
|