src/main/rx/crsf.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "rx/crsf_protocol.h"
  24
  25
  26 #define CRSF_PORT_OPTIONS       (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO)
  27 #define CRSF_PORT_MODE          MODE_RXTX
  28
  29 #define CRSF_MAX_CHANNEL        16
  30 #define CRSFV3_MAX_CHANNEL      24
  31
  32 #define CRSF_SUBSET_RC_STARTING_CHANNEL_BITS        5
  33 #define CRSF_SUBSET_RC_STARTING_CHANNEL_MASK        0x1F
  34 #define CRSF_SUBSET_RC_RES_CONFIGURATION_BITS       2
  35 #define CRSF_SUBSET_RC_RES_CONFIGURATION_MASK       0x03
  36 #define CRSF_SUBSET_RC_RESERVED_CONFIGURATION_BITS  1
  37
  38 #define CRSF_RC_CHANNEL_SCALE_LEGACY                0.62477120195241f
  39 #define CRSF_SUBSET_RC_RES_CONF_10B                 0
  40 #define CRSF_SUBSET_RC_RES_BITS_10B                 10
  41 #define CRSF_SUBSET_RC_RES_MASK_10B                 0x03FF
  42 #define CRSF_SUBSET_RC_CHANNEL_SCALE_10B            1.0f
  43 #define CRSF_SUBSET_RC_RES_CONF_11B                 1
  44 #define CRSF_SUBSET_RC_RES_BITS_11B                 11
  45 #define CRSF_SUBSET_RC_RES_MASK_11B                 0x07FF
  46 #define CRSF_SUBSET_RC_CHANNEL_SCALE_11B            0.5f
  47 #define CRSF_SUBSET_RC_RES_CONF_12B                 2
  48 #define CRSF_SUBSET_RC_RES_BITS_12B                 12
  49 #define CRSF_SUBSET_RC_RES_MASK_12B                 0x0FFF
  50 #define CRSF_SUBSET_RC_CHANNEL_SCALE_12B            0.25f
  51 #define CRSF_SUBSET_RC_RES_CONF_13B                 3
  52 #define CRSF_SUBSET_RC_RES_BITS_13B                 13
  53 #define CRSF_SUBSET_RC_RES_MASK_13B                 0x1FFF
  54 #define CRSF_SUBSET_RC_CHANNEL_SCALE_13B            0.125f
  55
  56 #define CRSF_RSSI_MIN (-130)
  57 #define CRSF_RSSI_MAX 0
  58 #define CRSF_SNR_MIN (-30)
  59 #define CRSF_SNR_MAX 20
  60
  61 /* For documentation purposes
  62 typedef enum {
  63     CRSF_RF_MODE_4_FPS = 0,
  64     CRSF_RF_MODE_50_FPS,
  65     CRSF_RF_MODE_150_FPS,
  66 } crsfRfMode_e;
  67 */
  68
  69 typedef struct crsfFrameDef_s {
  70     uint8_t deviceAddress;
  71     uint8_t frameLength;
  72     uint8_t type;
  73     uint8_t payload[CRSF_PAYLOAD_SIZE_MAX + 1]; // +1 for CRC at end of payload
  74 } crsfFrameDef_t;
  75
  76 typedef union crsfFrame_u {
  77     uint8_t bytes[CRSF_FRAME_SIZE_MAX];
  78     crsfFrameDef_t frame;
  79 } crsfFrame_t;
  80
  81 void crsfRxWriteTelemetryData(const void *data, int len);
  82 void crsfRxSendTelemetryData(void);
  83 bool crsfRxIsTelemetryBufEmpty(void); // check this function before using crsfRxWriteTelemetryData()
  84
  85 struct rxConfig_s;
  86 struct rxRuntimeState_s;
  87 bool crsfRxInit(const struct rxConfig_s *initialRxConfig, struct rxRuntimeState_s *rxRuntimeState);
  88 void crsfRxUpdateBaudrate(uint32_t baudrate);
  89 bool crsfRxUseNegotiatedBaud(void);
  90 bool crsfRxIsActive(void);