mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.3 KiB
C++
87 lines
2.3 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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Base class for CRSF telemetry
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*/
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#include "SIM_CRSF.h"
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#if AP_SIM_CRSF_ENABLED
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using namespace SITL;
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extern const AP_HAL::HAL& hal;
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const char *CRSF::dataid_string(DataID id, ssize_t& len)
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{
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switch (id) {
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case DataID::VTX_FRAME: {
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static const uint8_t vtx_frame[] = { 0xC8, 0x8, 0xF, 0xCE, 0x30, 0x8, 0x16, 0xE9, 0x0, 0x5F }; // VTX
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len = sizeof(vtx_frame);
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return (const char*)vtx_frame;
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}
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break;
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case DataID::VTX_TELEM: {
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static const uint8_t vtx_frame[] = { 0xC8, 0x7, 0x10, 0xCE, 0xE, 0x16, 0x65, 0x0, 0x1B }; // VTX Telem
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len = sizeof(vtx_frame);
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return (const char*)vtx_frame;
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}
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break;
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case DataID::VTX_UNKNOWN: {
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static const uint8_t vtx_frame[] = { 0xC8, 0x9, 0x8, 0x0, 0x9E, 0x0, 0x0, 0x0, 0x0, 0x0, 0x95}; // Battery 15.8v
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len = sizeof(vtx_frame);
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return (const char*)vtx_frame;
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}
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default:
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break;
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}
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return "UNKNOWN";
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}
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void CRSF::update()
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{
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const ssize_t n = read_from_autopilot(&_buffer[_buflen], ARRAY_SIZE(_buffer) - _buflen - 1);
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if (n != -1) {
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_buflen += n;
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}
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// update every 400ms
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uint32_t now = AP_HAL::millis();
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if (now - _last_update_ms < 400) {
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return;
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}
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_last_update_ms = now;
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ssize_t len = 0;
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ssize_t index = 0;
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const char* bytes = dataid_string(DataID(_id), len);
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while (len > 0) {
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const ssize_t nwrite = write_to_autopilot(&bytes[index], len);
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len -= nwrite;
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index += nwrite;
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}
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_id = (_id + 1) % MAX_DATA_FRAMES;
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if (_buflen == 0) {
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return;
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}
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}
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#endif // AP_SIM_CRSF_ENABLED
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