src/lib/CRSF2MSP/msp2crsf.h

   1 #pragma once
   2
   3 #include <cstdint>
   4 #include "FIFO.h"
   5 #include "crsfmsp_common.h"
   6 #include "crsf_protocol.h"
   7 #include "crc.h"
   8 #include "logging.h"
   9
  10 /* Takes a MSP frame and converts it to raw CRSF frame
  11    adding the CRSF header and checksum. Handles chunking of messages
  12 */
  13
  14 class MSP2CROSSFIRE
  15 {
  16 private:
  17     // bool isBusy;
  18     void setNewFrame(uint8_t &data, bool isNewFrame);
  19     void setSeqNumber(uint8_t &data, uint8_t seqNumber);
  20     void setVersion(uint8_t &data, MSPframeType_e version);
  21     uint8_t getHeaderDir(uint8_t headerDir);
  22     void setError(uint8_t &data, bool isError);
  23     uint8_t seqNum;
  24
  25     uint32_t getFrameLen(uint32_t payloadLen, uint8_t mspVersion);
  26     MSPframeType_e getVersion(const uint8_t *data);
  27     uint32_t getPayloadLen(const uint8_t *data, MSPframeType_e mspVersion);
  28
  29 public:
  30     MSP2CROSSFIRE();
  31     FIFO<MSP_FRAME_MAX_LEN> FIFOout;
  32     void parse(const uint8_t *data, uint32_t frameLen, uint8_t src = CRSF_ADDRESS_CRSF_RECEIVER, uint8_t dest = CRSF_ADDRESS_FLIGHT_CONTROLLER);
  33     bool validate(const uint8_t *data, uint32_t expectLen);
  34 };
  35
  36 extern MSP2CROSSFIRE msp2crsf;