mirror of https://github.com/ArduPilot/ardupilot
136 lines
4.3 KiB
C++
136 lines
4.3 KiB
C++
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <GCS_MAVLink/GCS_MAVLink.h>
|
|
|
|
#ifndef HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
|
|
#define HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL 1
|
|
#endif
|
|
|
|
class AP_Frsky_Backend
|
|
{
|
|
public:
|
|
|
|
AP_Frsky_Backend(AP_HAL::UARTDriver *port) :
|
|
_port(port) { }
|
|
|
|
virtual ~AP_Frsky_Backend() {}
|
|
|
|
virtual bool init();
|
|
virtual void send() = 0;
|
|
|
|
typedef union {
|
|
struct PACKED {
|
|
uint8_t sensor;
|
|
uint8_t frame;
|
|
uint16_t appid;
|
|
uint32_t data;
|
|
};
|
|
uint8_t raw[8];
|
|
} sport_packet_t;
|
|
|
|
// SPort is at 57600, D overrides this
|
|
virtual uint32_t initial_baud() const
|
|
{
|
|
return 57600;
|
|
}
|
|
|
|
// get next telemetry data for external consumers of SPort data
|
|
virtual bool get_telem_data(sport_packet_t* packet_array, uint8_t &packet_count, const uint8_t max_size)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
|
|
virtual bool set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)
|
|
{
|
|
return false;
|
|
}
|
|
#endif
|
|
|
|
virtual void queue_text_message(MAV_SEVERITY severity, const char *text) { }
|
|
|
|
protected:
|
|
|
|
AP_HAL::UARTDriver *_port; // UART used to send data to FrSky receiver
|
|
|
|
virtual bool init_serial_port();
|
|
|
|
void calc_nav_alt(void);
|
|
void calc_gps_position(void);
|
|
bool calc_rpm(const uint8_t instance, int32_t &value) const;
|
|
|
|
float get_vspeed_ms(void);
|
|
|
|
// methods to convert flight controller data to FrSky D or SPort format
|
|
float format_gps(float dec);
|
|
|
|
struct {
|
|
int32_t vario_vspd;
|
|
char lat_ns, lon_ew;
|
|
uint16_t latdddmm;
|
|
uint16_t latmmmm;
|
|
uint16_t londddmm;
|
|
uint16_t lonmmmm;
|
|
uint16_t alt_gps_meters;
|
|
uint16_t alt_gps_cm;
|
|
uint16_t alt_nav_meters;
|
|
uint16_t alt_nav_cm;
|
|
int16_t speed_in_meter;
|
|
uint16_t speed_in_centimeter;
|
|
uint16_t yaw;
|
|
} _SPort_data;
|
|
|
|
/*
|
|
for FrSky D protocol (D-receivers)
|
|
*/
|
|
// FrSky sensor hub data IDs
|
|
static const uint8_t DATA_ID_GPS_ALT_BP = 0x01;
|
|
static const uint8_t DATA_ID_TEMP1 = 0x02;
|
|
static const uint8_t DATA_ID_FUEL = 0x04;
|
|
static const uint8_t DATA_ID_TEMP2 = 0x05;
|
|
static const uint8_t DATA_ID_GPS_ALT_AP = 0x09;
|
|
static const uint8_t DATA_ID_BARO_ALT_BP = 0x10;
|
|
static const uint8_t DATA_ID_GPS_SPEED_BP = 0x11;
|
|
static const uint8_t DATA_ID_GPS_LONG_BP = 0x12;
|
|
static const uint8_t DATA_ID_GPS_LAT_BP = 0x13;
|
|
static const uint8_t DATA_ID_GPS_COURS_BP = 0x14;
|
|
static const uint8_t DATA_ID_GPS_SPEED_AP = 0x19;
|
|
static const uint8_t DATA_ID_GPS_LONG_AP = 0x1A;
|
|
static const uint8_t DATA_ID_GPS_LAT_AP = 0x1B;
|
|
static const uint8_t DATA_ID_BARO_ALT_AP = 0x21;
|
|
static const uint8_t DATA_ID_GPS_LONG_EW = 0x22;
|
|
static const uint8_t DATA_ID_GPS_LAT_NS = 0x23;
|
|
static const uint8_t DATA_ID_CURRENT = 0x28;
|
|
static const uint8_t DATA_ID_VARIO = 0x30;
|
|
static const uint8_t DATA_ID_VFAS = 0x39;
|
|
|
|
static const uint8_t START_STOP_D = 0x5E;
|
|
static const uint8_t BYTESTUFF_D = 0x5D;
|
|
|
|
// FrSky data IDs;
|
|
static const uint16_t RPM1_ID = 0x050E;
|
|
static const uint16_t RPM2_ID = 0x050F;
|
|
static const uint16_t GPS_LONG_LATI_FIRST_ID = 0x0800;
|
|
static const uint16_t DIY_FIRST_ID = 0x5000;
|
|
|
|
static const uint8_t FRAME_HEAD = 0x7E;
|
|
static const uint8_t FRAME_DLE = 0x7D;
|
|
static const uint8_t FRAME_XOR = 0x20;
|
|
|
|
static const uint8_t SPORT_DATA_FRAME = 0x10;
|
|
|
|
// for FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
|
|
static const uint8_t SENSOR_ID_VARIO = 0x00; // Sensor ID 0
|
|
static const uint8_t SENSOR_ID_FAS = 0x22; // Sensor ID 2
|
|
static const uint8_t SENSOR_ID_GPS = 0x83; // Sensor ID 3
|
|
static const uint8_t SENSOR_ID_RPM = 0xE4; // Sensor ID 4
|
|
static const uint8_t SENSOR_ID_SP2UR = 0xC6; // Sensor ID 6
|
|
static const uint8_t SENSOR_ID_27 = 0x1B; // Sensor ID 27
|
|
|
|
private:
|
|
|
|
void loop(void);
|
|
|
|
};
|