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70 lines
1.5 KiB
70 lines
1.5 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 CRSF device |
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:crsf --speedup=1 |
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param set SERIAL5_PROTOCOL 23 |
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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 <AP_HAL/AP_HAL_Boards.h> |
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#ifndef AP_SIM_CRSF_ENABLED |
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#define AP_SIM_CRSF_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) |
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#endif |
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#if AP_SIM_CRSF_ENABLED |
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#include "SIM_Aircraft.h" |
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#include <SITL/SITL.h> |
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#include "SIM_SerialDevice.h" |
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namespace SITL { |
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class CRSF : public SerialDevice { |
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public: |
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CRSF() {}; |
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// update state |
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void update(); |
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protected: |
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enum DataID { |
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VTX_FRAME = 0x00, |
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VTX_TELEM = 0x01, |
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VTX_UNKNOWN = 0x02, |
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MAX_DATA_FRAMES = 0x03 |
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}; |
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const char* dataid_string(DataID id, ssize_t& len); |
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char _buffer[64]; |
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uint16_t _buflen = 0; |
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uint8_t _id; |
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uint32_t _last_update_ms; |
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}; |
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} |
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#endif // AP_SIM_CRSF_ENABLED
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