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55 lines
1.6 KiB
55 lines
1.6 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#ifndef AP_LTM_TELEM_ENABLED |
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#define AP_LTM_TELEM_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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#if AP_LTM_TELEM_ENABLED |
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static const uint8_t LTM_GFRAME_SIZE = 18; |
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static const uint8_t LTM_AFRAME_SIZE = 10; |
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static const uint8_t LTM_SFRAME_SIZE = 11; |
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class AP_LTM_Telem { |
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public: |
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// Constructor |
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AP_LTM_Telem() {} |
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/* Do not allow copies */ |
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AP_LTM_Telem(const AP_LTM_Telem &other) = delete; |
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AP_LTM_Telem &operator=(const AP_LTM_Telem&) = delete; |
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// init - perform required initialisation |
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void init(); |
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private: |
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AP_HAL::UARTDriver *_port; // UART |
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uint8_t _ltm_scheduler; |
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uint32_t _last_frame_ms; |
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void send_Gframe(void); |
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void send_Sframe(void); |
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void send_Aframe(void); |
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void generate_LTM(void); |
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void send_LTM(uint8_t lt_packet[], uint8_t lt_packet_size); |
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void tick(void); // tick - main call to send updates to transmitter (called by scheduler at 1kHz) |
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}; |
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#endif
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