mirror of
https://github.com/ArduPilot/ardupilot
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6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
55 lines
1.5 KiB
C++
55 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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#ifndef AP_LTM_TELEM_ENABLED
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#define AP_LTM_TELEM_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 2048
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#endif
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#if AP_LTM_TELEM_ENABLED
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static const uint8_t LTM_GFRAME_SIZE = 18;
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static const uint8_t LTM_AFRAME_SIZE = 10;
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static const uint8_t LTM_SFRAME_SIZE = 11;
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class AP_LTM_Telem {
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public:
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// Constructor
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AP_LTM_Telem() {}
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/* Do not allow copies */
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CLASS_NO_COPY(AP_LTM_Telem);
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// init - perform required initialisation
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void init();
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private:
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AP_HAL::UARTDriver *_port; // UART
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uint8_t _ltm_scheduler;
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uint32_t _last_frame_ms;
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void send_Gframe(void);
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void send_Sframe(void);
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void send_Aframe(void);
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void generate_LTM(void);
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void send_LTM(uint8_t lt_packet[], uint8_t lt_packet_size);
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void tick(void); // tick - main call to send updates to transmitter (called by scheduler at 1kHz)
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};
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#endif
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