mirror of https://github.com/ArduPilot/ardupilot
131 lines
4.3 KiB
C++
131 lines
4.3 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_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#define VTX_MAX_CHANNELS 8
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class AP_VideoTX {
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public:
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AP_VideoTX();
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~AP_VideoTX();
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/* Do not allow copies */
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AP_VideoTX(const AP_VideoTX &other) = delete;
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AP_VideoTX &operator=(const AP_VideoTX&) = delete;
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// init - perform required initialisation
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bool init();
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// run any required updates
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void update();
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static AP_VideoTX *get_singleton(void) {
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return singleton;
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}
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static const struct AP_Param::GroupInfo var_info[];
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enum class VideoOptions {
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VTX_PITMODE = 1 << 0
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};
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enum VideoBand {
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BAND_A,
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BAND_B,
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BAND_E,
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FATSHARK,
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RACEBAND,
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LOW_RACEBAND,
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MAX_BANDS
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};
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static const uint16_t VIDEO_CHANNELS[MAX_BANDS][VTX_MAX_CHANNELS];
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static uint16_t get_frequency_mhz(uint8_t band, uint8_t channel) { return VIDEO_CHANNELS[band][channel]; }
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static bool get_band_and_channel(uint16_t freq, VideoBand& band, uint8_t& channel);
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void set_frequency_mhz(uint16_t freq) { _frequency_mhz.set_and_save(freq); }
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uint16_t get_frequency_mhz() const { return _frequency_mhz; }
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// get / set power level
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void set_power_mw(uint16_t power) { _current_power = power; }
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void set_power_dbm(uint8_t power);
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void set_configured_power_mw(uint16_t power);
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uint16_t get_configured_power_mw() const { return _power_mw; }
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uint16_t get_power_mw() const { return _current_power; }
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uint8_t get_configured_power_dbm() const;
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bool update_power() const { return _defaults_set && _power_mw != _current_power; }
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// get / set the frequency band
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void set_band(uint8_t band) { _current_band = band; }
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void set_configured_band(uint8_t band) { _band.set_and_save_ifchanged(band); }
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uint8_t get_configured_band() const { return _band; }
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uint8_t get_band() const { return _current_band; }
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bool update_band() const { return _defaults_set && _band != _current_band; }
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// get / set the frequency channel
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void set_channel(uint8_t channel) { _current_channel = channel; }
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void set_configured_channel(uint8_t channel) { _channel.set_and_save_ifchanged(channel); }
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uint8_t get_configured_channel() const { return _channel; }
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uint8_t get_channel() const { return _current_channel; }
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bool update_channel() const { return _defaults_set && _channel != _current_channel; }
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// get / set vtx option
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void set_options(uint8_t options) { _current_options = options; }
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void set_configured_options(uint8_t options) { _options.set_and_save_ifchanged(options); }
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uint8_t get_configured_options() const { return _options; }
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uint8_t get_options() const { return _current_options; }
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bool update_options() const { return _defaults_set && _options != _current_options; }
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// get / set whether the vtx is enabled
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void set_enabled(bool enabled);
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bool get_enabled() const { return _enabled; }
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bool update_enabled() const { return _defaults_set && _enabled != _current_enabled; }
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// have the parameters been updated
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bool have_params_changed() const;
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// set configured defaults from current settings
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void set_defaults();
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static AP_VideoTX *singleton;
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private:
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// channel frequency
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AP_Int16 _frequency_mhz;
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// power output in mw
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AP_Int16 _power_mw;
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uint16_t _current_power;
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// frequency band
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AP_Int8 _band;
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uint16_t _current_band;
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// frequency channel
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AP_Int8 _channel;
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uint8_t _current_channel;
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// vtx options
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AP_Int8 _options;
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uint8_t _current_options;
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AP_Int8 _enabled;
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bool _current_enabled;
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bool _initialized;
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// when defaults have been configured
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bool _defaults_set;
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};
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namespace AP {
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AP_VideoTX& vtx();
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}; |