CoCalc Logo Icon
StoreFeaturesDocsShareSupportNewsAboutSign UpSign In
Ardupilot

Real-time collaboration for Jupyter Notebooks, Linux Terminals, LaTeX, VS Code, R IDE, and more,
all in one place. Commercial Alternative to JupyterHub.

GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Frsky_Telem/AP_Frsky_Backend.h
Views: 1798
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
    AP_Frsky_Backend(AP_HAL::UARTDriver *port) :

14
        _port(port) { }

15


16
    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
    virtual uint32_t initial_baud() const

33
    {

34
        return 57600;

35
    }

36


37
    // get next telemetry data for external consumers of SPort data

38
    virtual bool get_telem_data(sport_packet_t* packet_array, uint8_t &packet_count, const uint8_t max_size)

39
    {

40
        return false;

41
    }

42


43
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL

44
    virtual bool set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)

45
    {

46
        return false;

47
    }

48
#endif

49


50
    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

152


153