mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
e3a88f686d
add support for temperature, battery voltage, battery current, flight pack altitiude, airspeed, attitude and compass, GPS, ESC telemetry based on BLHeli status messages and QOS packets. refactor into AP_Telemetry conditionally compile based on HAL_MINIMIZE_FEATURES don't initialize spektrum telemetry if there is no RC uart
148 lines
3.9 KiB
C++
148 lines
3.9 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 HAL_SPEKTRUM_TELEM_ENABLED
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#define HAL_SPEKTRUM_TELEM_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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#if HAL_SPEKTRUM_TELEM_ENABLED
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#include <AP_Notify/AP_Notify.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include "AP_RCTelemetry.h"
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#define UINT8 uint8_t
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#define UINT16 uint16_t
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#define UINT32 uint32_t
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#define UINT64 uint64_t
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#define INT8 int8_t
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#define INT16 int16_t
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#define INT32 int32_t
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extern "C" {
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#include "spektrumTelemetrySensors.h"
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}
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#undef UINT8
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#undef UINT16
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#undef UINT32
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#undef UINT64
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#undef INT8
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#undef INT16
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#undef INT32
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class AP_Spektrum_Telem : public AP_RCTelemetry {
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public:
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AP_Spektrum_Telem();
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~AP_Spektrum_Telem() override;
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/* Do not allow copies */
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AP_Spektrum_Telem(const AP_Spektrum_Telem &other) = delete;
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AP_Spektrum_Telem &operator=(const AP_Spektrum_Telem&) = delete;
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// init - perform required initialisation
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virtual bool init() override;
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static AP_Spektrum_Telem *get_singleton(void) {
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return singleton;
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}
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// get next telemetry data for external consumers of SPort data
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static bool get_telem_data(uint8_t* data);
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private:
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enum SensorType {
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QOS,
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RPM,
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TEXT,
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ATTITUDE,
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GPS_LOC,
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ESC,
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ALTITUDE,
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AIRSPEED,
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GPS_STATUS,
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VOLTAGE,
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AMPS,
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MAH,
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TEMP,
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NUM_SENSORS
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};
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struct MessageChunk
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{
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uint8_t chunk[13]; // a "chunk" (13 characters/bytes) at a time of the queued message to be sent
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uint8_t linenumber;
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uint8_t char_index; // index of which character to get in the message
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uint8_t repeats;
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} _msg_chunk;
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float _max_speed = 0.0f;
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float _max_alt = 0.0f;
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// passthrough WFQ scheduler
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// Text Generator
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bool get_next_msg_chunk(void) override;
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bool repeat_msg_chunk(void);
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void send_msg_chunk(const MessageChunk& message);
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bool is_packet_ready(uint8_t idx, bool queue_empty) override;
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void process_packet(uint8_t idx) override;
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void adjust_packet_weight(bool queue_empty) override;
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// RxV + flight log data
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void calc_qos();
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// High-Voltage sensor
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void calc_batt_volts(uint8_t instance);
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// Temperature Sensor
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void calc_temperature(uint8_t instance);
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// Amps
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void calc_batt_amps(uint8_t instance);
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// Flight Battery Capacity (Dual)
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void calc_batt_mah();
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// Altitude (Eagle Tree Sensor)
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void calc_altitude();
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// Air Speed (Eagle Tree Sensor)
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void calc_airspeed();
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// Attitude and Magnetic Compass
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void calc_attandmag();
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// GPS Location Data (Eagle Tree)
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void calc_gps_location();
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// GPS Status (Eagle Tree)
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void calc_gps_status();
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// Electronic Speed Control
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void calc_esc();
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// RPM sensor
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void calc_rpm();
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// setup ready for passthrough operation
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void setup_wfq_scheduler(void) override;
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// get next telemetry data for external consumers of SPort data (internal function)
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bool _get_telem_data(uint8_t* data);
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// all Spektrum telemtry packets are big-endian!
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PACKED UN_TELEMETRY _telem;
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bool _telem_pending;
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static AP_Spektrum_Telem *singleton;
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};
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namespace AP {
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AP_Spektrum_Telem *spektrum_telem();
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};
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#endif
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