Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Frsky_config.h"
       4             : 
       5             : #if AP_FRSKY_TELEM_ENABLED
       6             : 
       7             : #include <GCS_MAVLink/GCS_MAVLink.h>
       8             : 
       9             : class AP_Frsky_Backend
      10             : {
      11             : public:
      12             : 
      13           5 :     AP_Frsky_Backend(AP_HAL::UARTDriver *port) :
      14           5 :         _port(port) { }
      15             : 
      16           0 :     virtual ~AP_Frsky_Backend()  {}
      17             : 
      18             :     virtual bool init();
      19             :     virtual void send() = 0;
      20             : 
      21             :     typedef union {
      22             :         struct PACKED {
      23             :             uint8_t sensor;
      24             :             uint8_t frame;
      25             :             uint16_t appid;
      26             :             uint32_t data;
      27             :         };
      28             :         uint8_t raw[8];
      29             :     } sport_packet_t;
      30             : 
      31             :     // SPort is at 57600, D overrides this
      32           4 :     virtual uint32_t initial_baud() const
      33             :     {
      34           4 :         return 57600;
      35             :     }
      36             : 
      37             :     // get next telemetry data for external consumers of SPort data
      38           0 :     virtual bool get_telem_data(sport_packet_t* packet_array, uint8_t &packet_count, const uint8_t max_size)
      39             :     {
      40           0 :         return false;
      41             :     }
      42             : 
      43             : #if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
      44           0 :     virtual bool set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)
      45             :     {
      46           0 :         return false;
      47             :     }
      48             : #endif
      49             : 
      50          62 :     virtual void queue_text_message(MAV_SEVERITY severity, const char *text) { }
      51             : 
      52             : protected:
      53             : 
      54             :     AP_HAL::UARTDriver *_port;  // UART used to send data to FrSky receiver
      55             : 
      56             :     virtual bool init_serial_port();
      57             : 
      58             :     void calc_nav_alt(void);
      59             :     void calc_gps_position(void);
      60             :     bool calc_rpm(const uint8_t instance, int32_t &value) const;
      61             : 
      62             :     float get_vspeed_ms(void);
      63             : 
      64             :     // methods to convert flight controller data to FrSky D or SPort format
      65             :     float format_gps(float dec);
      66             : 
      67             :     struct {
      68             :         int32_t vario_vspd;
      69             :         char lat_ns, lon_ew;
      70             :         uint16_t latdddmm;
      71             :         uint16_t latmmmm;
      72             :         uint16_t londddmm;
      73             :         uint16_t lonmmmm;
      74             :         uint16_t alt_gps_meters;
      75             :         uint16_t alt_gps_cm;
      76             :         uint16_t alt_nav_meters;
      77             :         uint16_t alt_nav_cm;
      78             :         int16_t speed_in_meter;
      79             :         uint16_t speed_in_centimeter;
      80             :         uint16_t yaw;
      81             :     } _SPort_data;
      82             : 
      83             :     /*
      84             :       for FrSky D protocol (D-receivers)
      85             :     */
      86             :     // FrSky sensor hub data IDs
      87             :     static const uint8_t DATA_ID_GPS_ALT_BP        = 0x01;
      88             :     static const uint8_t DATA_ID_TEMP1             = 0x02;
      89             :     static const uint8_t DATA_ID_FUEL              = 0x04;
      90             :     static const uint8_t DATA_ID_TEMP2             = 0x05;
      91             :     static const uint8_t DATA_ID_GPS_ALT_AP        = 0x09;
      92             :     static const uint8_t DATA_ID_BARO_ALT_BP       = 0x10;
      93             :     static const uint8_t DATA_ID_GPS_SPEED_BP      = 0x11;
      94             :     static const uint8_t DATA_ID_GPS_LONG_BP       = 0x12;
      95             :     static const uint8_t DATA_ID_GPS_LAT_BP        = 0x13;
      96             :     static const uint8_t DATA_ID_GPS_COURS_BP      = 0x14;
      97             :     static const uint8_t DATA_ID_GPS_SPEED_AP      = 0x19;
      98             :     static const uint8_t DATA_ID_GPS_LONG_AP       = 0x1A;
      99             :     static const uint8_t DATA_ID_GPS_LAT_AP        = 0x1B;
     100             :     static const uint8_t DATA_ID_BARO_ALT_AP       = 0x21;
     101             :     static const uint8_t DATA_ID_GPS_LONG_EW       = 0x22;
     102             :     static const uint8_t DATA_ID_GPS_LAT_NS        = 0x23;
     103             :     static const uint8_t DATA_ID_CURRENT           = 0x28;
     104             :     static const uint8_t DATA_ID_VFAS              = 0x39;
     105             : 
     106             :     static const uint8_t START_STOP_D              = 0x5E;
     107             :     static const uint8_t BYTESTUFF_D               = 0x5D;
     108             : 
     109             :     /*
     110             :       for FrSky X protocol (X-receivers)
     111             :     */
     112             :     // FrSky 2 bytes DATA IDs;
     113             :     static const uint16_t ALT_ID                    = 0x010F;
     114             :     static const uint16_t VARIO_ID                  = 0x011F;
     115             :     static const uint16_t CURR_ID                   = 0x020F;
     116             :     static const uint16_t VFAS_ID                   = 0x021F;
     117             :     static const uint16_t TEMP1_ID                  = 0x040F;
     118             :     static const uint16_t TEMP2_ID                  = 0x041F;
     119             :     static const uint16_t RPM1_ID                   = 0x050E;
     120             :     static const uint16_t RPM2_ID                   = 0x050F;
     121             :     static const uint16_t FUEL_ID                   = 0x060F;
     122             :     static const uint16_t GPS_LONG_LATI_FIRST_ID    = 0x0800;
     123             :     static const uint16_t GPS_ALT_ID                = 0x082F;
     124             :     static const uint16_t GPS_SPEED_ID              = 0x083F;
     125             :     static const uint16_t GPS_COURS_ID              = 0x084F;
     126             :     static const uint16_t DIY_FIRST_ID              = 0x5000;
     127             : 
     128             :     static const uint8_t FRAME_HEAD                = 0x7E;
     129             :     static const uint8_t FRAME_DLE                 = 0x7D;
     130             :     static const uint8_t FRAME_XOR                 = 0x20;
     131             : 
     132             :     static const uint8_t SPORT_DATA_FRAME          = 0x10;
     133             : 
     134             :     // for FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
     135             :     static const uint8_t SENSOR_ID_VARIO           = 0x00; // Sensor ID  0
     136             :     static const uint8_t SENSOR_ID_FAS             = 0x22; // Sensor ID  2
     137             :     static const uint8_t SENSOR_ID_GPS             = 0x83; // Sensor ID  3
     138             :     static const uint8_t SENSOR_ID_RPM             = 0xE4; // Sensor ID  4
     139             :     static const uint8_t SENSOR_ID_SP2UR           = 0xC6; // Sensor ID  6
     140             : 
     141             :     enum frsky_options_e : uint8_t {
     142             :         OPTION_AIRSPEED_AND_GROUNDSPEED = 1U<<0,
     143             :     };
     144             : 
     145             : private:
     146             : 
     147             :     void loop(void);
     148             : 
     149             : };
     150             : 
     151             : #endif  // AP_FRSKY_TELEM_ENABLED