src/lib/CRSF2MSP/crsf2msp.h

   1 #pragma once
   2
   3 #include <cstdint>
   4 #include "FIFO.h"
   5 #include "crsfmsp_common.h"
   6 #include "crc.h"
   7 #include "logging.h"
   8
   9 /*  Takes a CRSF(MSP) frame and converts it to raw MSP frame
  10     adding the MSP header and checksum. Handles chunked MSP messages.
  11 */
  12
  13 class CROSSFIRE2MSP
  14 {
  15 private:
  16     uint8_t outBuffer[MSP_FRAME_MAX_LEN];
  17     uint32_t pktLen; // packet length of the incomming msp frame
  18     uint32_t idx;    // number of bytes received in the current msp frame
  19     uint8_t seqNumberPrev;
  20     bool frameComplete;
  21     uint8_t src;            // source of the msp frame (from CRSF ext header)
  22     uint8_t dest;           // destination of the msp frame (from CRSF ext header)
  23     MSPframeType_e MSPvers; // need to store the MSP version since it can only be inferred from the first frame
  24
  25     bool isNewFrame(const uint8_t *data);
  26     bool isError(const uint8_t *data);
  27
  28     uint8_t getSeqNumber(const uint8_t *data);
  29     MSPframeType_e getVersion(const uint8_t *data);
  30     uint8_t getHeaderDir(const uint8_t *data);
  31     uint8_t getChecksum(const uint8_t *data, const uint32_t packetLen, MSPframeType_e mspVersion);
  32     uint32_t getFrameLen(const uint8_t *data, MSPframeType_e mspVersion);
  33
  34 public:
  35     CROSSFIRE2MSP();
  36     FIFO<MSP_FRAME_MAX_LEN> FIFOout;
  37     void parse(const uint8_t *data); // accept crsf frame input
  38     bool isFrameReady();
  39     const uint8_t *getFrame();
  40     uint32_t getFrameLen();
  41     void reset();
  42     uint8_t getSrc();
  43     uint8_t getDest();
  44 };
  45
  46 extern CROSSFIRE2MSP crsf2msp;