mirror of https://github.com/ArduPilot/ardupilot
137 lines
3.3 KiB
C++
137 lines
3.3 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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#pragma once
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#include "AP_Radio_config.h"
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#if AP_RADIO_ENABLED
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/*
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* base class for direct attached radios
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*/
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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class AP_Radio_backend;
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class AP_Radio
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{
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public:
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friend class AP_Radio_backend;
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// constructor
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AP_Radio(void);
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// init - initialise radio
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bool init(void);
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// reset the radio
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bool reset(void);
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// send a packet
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bool send(const uint8_t *pkt, uint16_t len);
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// start bind process as a receiver
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void start_recv_bind(void);
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// return time in microseconds of last received R/C packet
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uint32_t last_recv_us(void);
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// return number of input channels
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uint8_t num_channels(void);
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// return current PWM of a channel
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uint16_t read(uint8_t chan);
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// update status, should be called from main thread
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void update(void);
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// get transmitter firmware version
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uint32_t get_tx_version(void);
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struct stats {
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uint32_t bad_packets;
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uint32_t recv_errors;
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uint32_t recv_packets;
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uint32_t lost_packets;
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uint32_t timeouts;
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};
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enum ap_radio_type {
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RADIO_TYPE_NONE=0,
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RADIO_TYPE_CYRF6936=1,
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RADIO_TYPE_CC2500=2,
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RADIO_TYPE_BK2425=3,
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RADIO_TYPE_AUTO=100,
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};
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enum ap_radio_protocol {
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PROTOCOL_AUTO=0,
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PROTOCOL_DSM2=1,
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PROTOCOL_DSMX=2,
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PROTOCOL_D16=3,
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PROTOCOL_CC2500_GFSK=4, // deviation 57kHz for update of cc2500 with GFSK
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};
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// get packet statistics
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const struct stats &get_stats(void);
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static const struct AP_Param::GroupInfo var_info[];
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// get singleton instance
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static AP_Radio *get_singleton(void)
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{
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return _singleton;
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}
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// handle a data96 mavlink packet for fw upload
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void handle_data_packet(mavlink_channel_t chan, const mavlink_data96_t &m);
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// set the 2.4GHz wifi channel used by companion computer, so it can be avoided
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void set_wifi_channel(uint8_t channel);
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// play a tune on the TX
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void play_tune(const char *tune_str);
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// change TX mode
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void change_txmode(void);
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private:
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AP_Radio_backend *driver;
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AP_Int8 radio_type;
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AP_Int8 protocol;
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AP_Int8 debug_level;
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AP_Int8 disable_crc;
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AP_Int8 rssi_chan;
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AP_Int8 pps_chan;
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AP_Int8 tx_rssi_chan;
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AP_Int8 tx_pps_chan;
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AP_Int8 telem_enable;
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AP_Int8 transmit_power;
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AP_Int8 tx_max_power;
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AP_Int8 fcc_test;
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AP_Int8 stick_mode;
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AP_Int8 factory_test;
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AP_Int8 tx_buzzer_adjust;
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AP_Int8 auto_bind_time;
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AP_Int8 auto_bind_rssi;
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static AP_Radio *_singleton;
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};
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#endif // AP_RADIO_ENABLED
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