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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Frsky_Telem/AP_Frsky_SPort.h
Views: 1798
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#pragma once

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#include "AP_Frsky_Backend.h"

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#if AP_FRSKY_SPORT_TELEM_ENABLED

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class AP_Frsky_SPort : public AP_Frsky_Backend

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{

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public:

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    AP_Frsky_SPort(AP_HAL::UARTDriver *port) : AP_Frsky_Backend(port) {

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        singleton = this;

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    }

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    /* Do not allow copies */

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    CLASS_NO_COPY(AP_Frsky_SPort);

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    void send() override;

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    // send an sport packet by responding to the specified polled sensor

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    bool sport_telemetry_push(const uint8_t sensor, const uint8_t frame, const uint16_t appid, const int32_t data);

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    // utility method to pack numbers in a compact size

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    uint16_t prep_number(int32_t const number, const uint8_t digits, const uint8_t power);

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    static AP_Frsky_SPort *get_singleton(void) {

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        return singleton;

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    }

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protected:

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    void send_sport_frame(uint8_t frame, uint16_t appid, uint32_t data);

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    struct {

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        bool send_latitude;

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        bool send_airspeed;     // toggles 0x5005 between airspeed and groundspeed

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        uint32_t gps_lng_sample;

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        uint8_t new_byte;

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    } _passthrough;

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    uint32_t calc_gps_latlng(bool &send_latitude);

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    static uint8_t calc_sensor_id(const uint8_t physical_id);

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    struct {

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        sport_packet_t packet;

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        bool pending = false;

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        HAL_Semaphore sem;

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    } _sport_push_buffer;

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private:

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    struct {

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        bool sport_status;

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        bool gps_refresh;

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        bool vario_refresh;

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        uint8_t fas_call;

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        uint8_t gps_call;

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        uint8_t vario_call;

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        uint8_t various_call;

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        uint8_t rpm_call;

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    } _SPort;

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    static AP_Frsky_SPort *singleton;

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};

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namespace AP {

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    AP_Frsky_SPort *frsky_sport();

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};

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#endif  // AP_FRSKY_SPORT_TELEM_ENABLED

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