ardupilot/libraries/AP_Radio/AP_Radio_backend.h

138 lines
3.6 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
* backend class for direct attached radios
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_Radio.h"
class AP_Radio_backend
{
public:
AP_Radio_backend(AP_Radio &radio);
virtual ~AP_Radio_backend();
// init - initialise radio
virtual bool init(void) = 0;
// init - reset radio
virtual bool reset(void) = 0;
// send a packet
virtual bool send(const uint8_t *pkt, uint16_t len) = 0;
// start bind process as a receiver
virtual void start_recv_bind(void) = 0;
// return time in microseconds of last received R/C packet
virtual uint32_t last_recv_us(void) = 0;
// return number of input channels
virtual uint8_t num_channels(void) = 0;
// return current PWM of a channel
virtual uint16_t read(uint8_t chan) = 0;
// handle a data96 mavlink packet for fw upload
virtual void handle_data_packet(mavlink_channel_t chan, const mavlink_data96_t &m) {}
// update status
virtual void update(void) = 0;
// get TX fw version
virtual uint32_t get_tx_version(void) = 0;
// get radio statistics structure
virtual const AP_Radio::stats &get_stats(void) = 0;
// set the 2.4GHz wifi channel used by companion computer, so it can be avoided
virtual void set_wifi_channel(uint8_t channel) = 0;
protected:
AP_Radio::ap_radio_protocol get_protocol(void) const {
return (AP_Radio::ap_radio_protocol)radio.protocol.get();
}
uint8_t get_debug_level(void) const {
return (uint8_t)radio.debug_level.get();
}
bool get_disable_crc(void) const {
return (bool)radio.disable_crc.get();
}
uint8_t get_rssi_chan(void) const {
return (uint8_t)radio.rssi_chan.get();
}
uint8_t get_pps_chan(void) const {
return (uint8_t)radio.pps_chan.get();
}
uint8_t get_tx_rssi_chan(void) const {
return (uint8_t)radio.tx_rssi_chan.get();
}
uint8_t get_tx_pps_chan(void) const {
return (uint8_t)radio.tx_pps_chan.get();
}
bool get_telem_enable(void) const {
return radio.telem_enable.get() > 0;
}
uint8_t get_transmit_power(void) const {
return constrain_int16(radio.transmit_power.get(), 1, 8);
}
uint8_t get_tx_max_power(void) const {
return constrain_int16(radio.tx_max_power.get(), 1, 8);
}
void set_tx_max_power_default(uint8_t v) {
return radio.tx_max_power.set_default(v);
}
int8_t get_fcc_test(void) const {
return radio.fcc_test.get();
}
uint8_t get_stick_mode(void) const {
return radio.stick_mode.get();
}
uint8_t get_factory_test(void) const {
return radio.factory_test.get();
}
uint8_t get_tx_buzzer_adjust(void) const {
return radio.tx_buzzer_adjust.get();
}
uint8_t get_autobind_time(void) const {
return radio.auto_bind_time.get();
}
uint8_t get_autobind_rssi(void) const {
return radio.auto_bind_rssi.get();
}
AP_Radio &radio;
};