mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.3 KiB
C++
77 lines
2.3 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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#ifndef HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
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#define HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL 1
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#endif
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#include "AP_Frsky_Backend.h"
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class AP_Frsky_Parameters;
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class AP_Frsky_Telem {
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public:
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AP_Frsky_Telem();
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~AP_Frsky_Telem();
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/* Do not allow copies */
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AP_Frsky_Telem(const AP_Frsky_Telem &other) = delete;
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AP_Frsky_Telem &operator=(const AP_Frsky_Telem&) = delete;
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// init - perform required initialisation
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bool init(bool use_external_data=false);
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static AP_Frsky_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 &frame, uint16_t &appid, uint32_t &data);
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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
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// set telemetry data from external producer of SPort data
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static bool set_telem_data(const uint8_t frame,const uint16_t appid, const uint32_t data);
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#endif
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void queue_message(MAV_SEVERITY severity, const char *text) {
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if (_backend == nullptr) {
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return;
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}
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return _backend->queue_text_message(severity, text);
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}
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private:
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AP_Frsky_Backend *_backend;
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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
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AP_Frsky_Parameters* _frsky_parameters;
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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 &frame, uint16_t &appid, uint32_t &data);
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// set telemetry data from external producer of SPort data (internal function)
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bool _set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data);
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#endif
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static AP_Frsky_Telem *singleton;
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};
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namespace AP {
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AP_Frsky_Telem *frsky_telem();
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};
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