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68 lines
1.4 KiB
68 lines
1.4 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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/* |
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Simulated Frsky D device |
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:frsky-d --speedup=1 |
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param set SERIAL5_PROTOCOL 3 |
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reboot |
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arm throttle |
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rc 3 1600 |
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*/ |
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#pragma once |
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#include "SIM_Aircraft.h" |
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#include <SITL/SITL.h> |
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#include "SIM_Frsky.h" |
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namespace SITL { |
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class Frsky_D : public Frsky { |
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public: |
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using Frsky::Frsky; |
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// update state |
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virtual void update() override; |
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private: |
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enum class State { |
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WANT_START_STOP_D = 16, |
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WANT_ID = 17, |
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WANT_BYTE1 = 18, |
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WANT_BYTE2 = 19, |
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}; |
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State _state = State::WANT_START_STOP_D; |
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char _buffer[32]; |
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uint16_t _buflen = 0; |
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uint8_t _id; |
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uint16_t _data; |
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void handle_data(uint8_t id, uint16_t data); |
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void shift_start_stop_d(); |
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}; |
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}
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