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72 lines
2.4 KiB
72 lines
2.4 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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#pragma once |
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#include "AP_Frsky_Backend.h" |
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#include "AP_Frsky_SPort.h" |
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class AP_Frsky_Parameters; |
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class AP_Frsky_Telem { |
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public: |
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AP_Frsky_Telem(); |
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~AP_Frsky_Telem(); |
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/* Do not allow copies */ |
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AP_Frsky_Telem(const AP_Frsky_Telem &other) = delete; |
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AP_Frsky_Telem &operator=(const AP_Frsky_Telem&) = delete; |
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// init - perform required initialisation |
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bool init(bool use_external_data=false); |
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static AP_Frsky_Telem *get_singleton(void) { |
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return singleton; |
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} |
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// get next telemetry data for external consumers of SPort data |
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static bool get_telem_data(AP_Frsky_Backend::sport_packet_t* packet_array, uint8_t &packet_count, const uint8_t max_size); |
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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL |
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// set telemetry data from external producer of SPort data |
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static bool set_telem_data(const uint8_t frame,const uint16_t appid, const uint32_t data); |
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#endif |
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void queue_message(MAV_SEVERITY severity, const char *text) { |
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if (_backend == nullptr) { |
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return; |
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} |
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return _backend->queue_text_message(severity, text); |
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} |
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private: |
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AP_Frsky_Backend *_backend; |
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AP_Frsky_Parameters* _frsky_parameters; |
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// get next telemetry data for external consumers of SPort data (internal function) |
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bool _get_telem_data(AP_Frsky_Backend::sport_packet_t* packet_array, uint8_t &packet_count, const uint8_t max_size); |
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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL |
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// set telemetry data from external producer of SPort data (internal function) |
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bool _set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data); |
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#endif |
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static void try_create_singleton_for_external_data(void); |
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static AP_Frsky_Telem *singleton; |
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}; |
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namespace AP { |
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AP_Frsky_Telem *frsky_telem(); |
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};
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