src/main/io/headtracker_msp.h

   1 /*
   2  * This file is part of INAV.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18
  19 #pragma once
  20
  21 #include <platform.h>
  22
  23 #if (defined(USE_HEADTRACKER_MSP) && defined(USE_HEADTRACKER))
  24
  25 #include <stdint.h>
  26 #include <unistd.h>
  27
  28 #include "drivers/headtracker_common.h"
  29
  30 typedef struct headtrackerMspMessage_s {
  31     uint8_t version;        // 0
  32     int16_t pan;            // -2048~2047. Scale is min/max angle for gimbal
  33     int16_t tilt;           // -2048~2047. Scale is min/max angle for gimbal
  34     int16_t roll;           // -2048~2047. Scale is min/max angle for gimbal
  35     int16_t sensitivity;    // -16~15. Scale is min/max angle for gimbal
  36 } __attribute__((packed)) headtrackerMspMessage_t;
  37
  38 void mspHeadTrackerInit(void);
  39
  40 void mspHeadTrackerReceiverNewData(uint8_t *data, unsigned int dataSize);
  41
  42 headTrackerDevType_e heatTrackerMspGetDeviceType(const headTrackerDevice_t *headTrackerDevice);
  43 bool heatTrackerMspIsReady(const headTrackerDevice_t *headTrackerDevice);
  44
  45 #endif