Line data    Source code

       1             : /*
       2             :  This program is free software: you can redistribute it and/or modify
       3             :  it under the terms of the GNU General Public License as published by
       4             :  the Free Software Foundation, either version 3 of the License, or
       5             :  (at your option) any later version.
       6             : 
       7             :  This program is distributed in the hope that it will be useful,
       8             :  but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :  GNU General Public License for more details.
      11             : 
      12             :  You should have received a copy of the GNU General Public License
      13             :  along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include <AP_HAL/AP_HAL.h>
      18             : 
      19             : #ifndef AP_LTM_TELEM_ENABLED
      20             : #define AP_LTM_TELEM_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 2048
      21             : #endif
      22             : 
      23             : #if AP_LTM_TELEM_ENABLED
      24             : 
      25             : static const uint8_t LTM_GFRAME_SIZE = 18;
      26             : static const uint8_t LTM_AFRAME_SIZE = 10;
      27             : static const uint8_t LTM_SFRAME_SIZE = 11;
      28             : 
      29             : class AP_LTM_Telem {
      30             : public:
      31             :     // Constructor
      32        2098 :     AP_LTM_Telem() {}
      33             : 
      34             :     /* Do not allow copies */
      35             :     CLASS_NO_COPY(AP_LTM_Telem);
      36             : 
      37             :     // init - perform required initialisation
      38             :     void init();
      39             : 
      40             : private:
      41             :     AP_HAL::UARTDriver *_port;              // UART
      42             : 
      43             :     uint8_t _ltm_scheduler;
      44             :     uint32_t _last_frame_ms;
      45             : 
      46             :     void send_Gframe(void);
      47             :     void send_Sframe(void);
      48             :     void send_Aframe(void);
      49             :     void generate_LTM(void);
      50             :     void send_LTM(uint8_t lt_packet[], uint8_t lt_packet_size);
      51             :     void tick(void); // tick - main call to send updates to transmitter (called by scheduler at 1kHz)
      52             : };
      53             : 
      54             : #endif