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             : /*
      16             :   Simulated CRSF device
      17             : 
      18             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:crsf --speedup=1
      19             : 
      20             : param set SERIAL5_PROTOCOL 23
      21             : reboot
      22             : 
      23             : arm throttle
      24             : rc 3 1600
      25             : 
      26             : */
      27             : 
      28             : #pragma once
      29             : 
      30             : #include "SIM_config.h"
      31             : 
      32             : #if AP_SIM_CRSF_ENABLED
      33             : 
      34             : #include "SIM_Aircraft.h"
      35             : #include <SITL/SITL.h>
      36             : #include "SIM_SerialDevice.h"
      37             : 
      38             : namespace SITL {
      39             : 
      40             : class CRSF : public SerialDevice {
      41             : public:
      42             : 
      43           0 :     CRSF() {};
      44             : 
      45             :     // update state
      46             :     void update();
      47             : 
      48             : protected:
      49             :     enum DataID {
      50             :         VTX_FRAME           = 0x00,
      51             :         VTX_TELEM           = 0x01,
      52             :         VTX_UNKNOWN         = 0x02,
      53             :         MAX_DATA_FRAMES     = 0x03
      54             :     };
      55             : 
      56             :     const char* dataid_string(DataID id, ssize_t& len);
      57             : 
      58             :     char _buffer[64];
      59             :     uint16_t _buflen = 0;
      60             :     uint8_t _id;
      61             :     uint32_t _last_update_ms;
      62             : };
      63             : 
      64             : }
      65             : 
      66             : #endif  // AP_SIM_CRSF_ENABLED