src/lib/Handset/CRSFHandset.h

   1 #ifndef H_CRSF_CONTROLLER
   2 #define H_CRSF_CONTROLLER
   3
   4 #include "handset.h"
   5 #include "crsf_protocol.h"
   6 #ifndef TARGET_NATIVE
   7 #include "HardwareSerial.h"
   8 #endif
   9 #include "common.h"
  10
  11 #ifdef PLATFORM_ESP32
  12 #include "driver/uart.h"
  13 #endif
  14
  15 class CRSFHandset final : public Handset
  16 {
  17
  18 public:
  19     /////Variables/////
  20     void Begin() override;
  21     void End() override;
  22
  23 #ifdef CRSF_TX_MODULE
  24     bool IsArmed() override { return armCmd; } // AUX1/CH5 (CH5 mode) or extra byte in RC channels message (Switch mode)
  25     void handleInput() override;
  26     void handleOutput(int receivedBytes);
  27
  28     static HardwareSerial Port;
  29     static Stream *PortSecondary; // A second UART used to mirror telemetry out on the TX, not read from
  30
  31     static uint8_t modelId;         // The model ID as received from the Transmitter
  32     static bool ForwardDevicePings; // true if device pings should be forwarded OTA
  33     static bool elrsLUAmode;
  34
  35     static uint32_t GoodPktsCountResult; // need to latch the results
  36     static uint32_t BadPktsCountResult;  // need to latch the results
  37
  38     static void makeLinkStatisticsPacket(uint8_t *buffer);
  39
  40     static void packetQueueExtended(uint8_t type, void *data, uint8_t len);
  41
  42     void setPacketInterval(int32_t PacketInterval) override;
  43     void JustSentRFpacket() override;
  44     void sendTelemetryToTX(uint8_t *data) override;
  45
  46     static uint8_t getModelID() { return modelId; }
  47
  48     uint8_t GetMaxPacketBytes() const override { return maxPacketBytes; }
  49     static uint32_t GetCurrentBaudRate() { return UARTrequestedBaud; }
  50     static bool isHalfDuplex() { return halfDuplex; }
  51     int getMinPacketInterval() const override;
  52
  53 private:
  54     inBuffer_U inBuffer = {};
  55
  56     /// OpenTX mixer sync ///
  57     volatile uint32_t dataLastRecv = 0;
  58     volatile int32_t OpenTXsyncOffset = 0;
  59     volatile int32_t OpenTXsyncWindow = 0;
  60     volatile int32_t OpenTXsyncWindowSize = 0;
  61     uint32_t OpenTXsyncLastSent = 0;
  62
  63     /// UART Handling ///
  64     uint8_t SerialInPacketPtr = 0; // index where we are reading/writing
  65     static bool halfDuplex;
  66     bool transmitting = false;
  67     uint32_t GoodPktsCount = 0;
  68     uint32_t BadPktsCount = 0;
  69     uint32_t UARTwdtLastChecked = 0;
  70     uint8_t maxPacketBytes = CRSF_MAX_PACKET_LEN;
  71     uint8_t maxPeriodBytes = CRSF_MAX_PACKET_LEN;
  72
  73     static uint8_t UARTcurrentBaudIdx;
  74     static uint32_t UARTrequestedBaud;
  75
  76     bool armCmd = false;           // Arm command from handset either via ch5 or arm message
  77     bool lastArmCmd = false;
  78
  79 #if defined(PLATFORM_ESP32)
  80     bool UARTinverted = false;
  81 #endif
  82
  83     void sendSyncPacketToTX();
  84     void adjustMaxPacketSize();
  85     void duplex_set_RX() const;
  86     void duplex_set_TX() const;
  87     void RcPacketToChannelsData();
  88     bool processInternalCrsfPackage(uint8_t *package);
  89     void alignBufferToSync(uint8_t startIdx);
  90     bool ProcessPacket();
  91     bool UARTwdt();
  92     uint32_t autobaud();
  93     void flush_port_input();
  94 #endif
  95 };
  96
  97 #endif