src/main/rx/expresslrs_telemetry.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 <stdbool.h>
  24 #include <stdint.h>
  25
  26 #define ELRS_TELEMETRY_SHIFT 2
  27 #define ELRS_TELEMETRY_BYTES_PER_CALL 5
  28 #define ELRS_TELEMETRY_MAX_PACKAGES (255 >> ELRS_TELEMETRY_SHIFT)
  29 #define ELRS_TELEMETRY_MAX_MISSED_PACKETS 20
  30
  31 #define ELRS_MSP_BYTES_PER_CALL 5
  32 #define ELRS_MSP_BUFFER_SIZE 65
  33 #define ELRS_MSP_MAX_PACKAGES ((ELRS_MSP_BUFFER_SIZE / ELRS_MSP_BYTES_PER_CALL) + 1)
  34 #define ELRS_MSP_PACKET_OFFSET 5
  35 #define ELRS_MSP_COMMAND_INDEX 7
  36
  37 typedef enum {
  38     ELRS_SENDER_IDLE = 0,
  39     ELRS_SENDING,
  40     ELRS_WAIT_UNTIL_NEXT_CONFIRM,
  41     ELRS_RESYNC,
  42     ELRS_RESYNC_THEN_SEND, // perform a RESYNC then go to SENDING
  43 } stubbornSenderState_e;
  44
  45 void initTelemetry(void);
  46 bool getNextTelemetryPayload(uint8_t *nextPayloadSize, uint8_t **payloadData);
  47
  48 void setTelemetryDataToTransmit(const uint8_t lengthToTransmit, uint8_t* dataToTransmit, const uint8_t bpc);
  49 bool isTelemetrySenderActive(void);
  50 void getCurrentTelemetryPayload(uint8_t *packageIndex, uint8_t *count, uint8_t **currentData);
  51 void confirmCurrentTelemetryPayload(const bool telemetryConfirmValue);
  52 void updateTelemetryRate(const uint16_t airRate, const uint8_t tlmRatio, const uint8_t tlmBurst);
  53
  54 void mspReceiverResetState(void);
  55 bool getCurrentMspConfirm(void);
  56 void setMspDataToReceive(const uint8_t maxLength, uint8_t* dataToReceive, const uint8_t bpc);
  57 void receiveMspData(const uint8_t packageIndex, const volatile uint8_t* receiveData);
  58 bool hasFinishedMspData(void);
  59 void mspReceiverUnlock(void);
  60 void processMspPacket(uint8_t *packet);