src/main/rx/ghst_protocol.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 <stdint.h>
  24 #include <stdbool.h>
  25
  26 #define GHST_RX_BAUDRATE                420000
  27
  28 #define GHST_TX_BAUDRATE_FAST           400000
  29 #define GHST_TX_BAUDRATE_SLOW           115200
  30 #define GHST_BYTE_TIME_FAST_US          ((1000000/GHST_TX_BAUDRATE_FAST)*10)      // 10 bit words (8 data, 1 start, 1 stop)
  31 #define GHST_BYTE_TIME_SLOW_US          ((1000000/GHST_TX_BAUDRATE_SLOW)*10)
  32 #define GHST_UART_WORDLENGTH            UART_WORDLENGTH_8B
  33
  34 typedef enum {
  35     GHST_ADDR_RADIO             = 0x80,
  36     GHST_ADDR_TX_MODULE_SYM     = 0x81,     // symmetrical, 400k pulses, 400k telemetry
  37     GHST_ADDR_TX_MODULE_ASYM    = 0x88,     // asymmetrical, 400k pulses, 115k telemetry
  38     GHST_ADDR_FC                = 0x82,
  39     GHST_ADDR_GOGGLES           = 0x83,
  40     GHST_ADDR_QUANTUM_TEE1      = 0x84,     // phase 2
  41     GHST_ADDR_QUANTUM_TEE2      = 0x85,
  42     GHST_ADDR_QUANTUM_GW1       = 0x86,
  43     GHST_ADDR_5G_CLK            = 0x87,     // phase 3
  44     GHST_ADDR_RX                = 0x89
  45 } ghstAddr_e;
  46
  47 typedef enum {
  48     // frame types 0x10 - 0x1f always include 4 primary channels, plus either 4 aux channels,
  49     // or other type-specific data. Expect types 0x14-0x1f to be added in the future, and even though
  50     // not explicitly supported, the 4 primary channels should always be extracted.
  51     GHST_UL_RC_CHANS_HS4_FIRST  = 0x10,     // First frame type including 4 primary channels
  52     GHST_UL_RC_CHANS_HS4_5TO8   = 0x10,     // primary 4 channel, plus CH5-8
  53     GHST_UL_RC_CHANS_HS4_9TO12  = 0x11,     // primary 4 channel, plus CH9-12
  54     GHST_UL_RC_CHANS_HS4_13TO16 = 0x12,     // primary 4 channel, plus CH13-16
  55     GHST_UL_RC_CHANS_HS4_RSSI   = 0x13,     // primary 4 channel, plus RSSI, LQ, RF Mode, and Tx Power
  56     GHST_UL_RC_CHANS_HS4_LAST   = 0x1f      // Last frame type including 4 primary channels
  57 } ghstUl_e;
  58
  59 #define GHST_UL_RC_CHANS_FRAME_COUNT    (GHST_UL_RC_CHANS_HS4_13TO16 - GHST_UL_RC_CHANS_HS4_5TO8 + 1)   // CH1-16
  60 #define GHST_UL_RC_TOTAL_FRAME_COUNT    (GHST_UL_RC_CHANS_HS4_LAST - GHST_UL_RC_CHANS_HS4_FIRST + 1)    // Include service frames - RSSI etc
  61 #define GHST_UL_RC_CHANS_SIZE           12      // 1 (type) + 10 (data) + 1 (crc)
  62
  63 typedef enum {
  64     GHST_DL_OPENTX_SYNC         = 0x20,
  65     GHST_DL_LINK_STAT           = 0x21,
  66     GHST_DL_VTX_STAT            = 0x22,
  67     GHST_DL_PACK_STAT           = 0x23,     // Battery (Pack) Status
  68     GHST_DL_GPS_PRIMARY         = 0x25,     // Primary GPS data (position)
  69     GHST_DL_GPS_SECONDARY       = 0x26      // Secondary GPS data (auxiliary)
  70 } ghstDl_e;
  71
  72 #define GHST_RC_CTR_VAL_12BIT       0x7C0   // servo center for 12 bit values (0x3e0 << 1)
  73 #define GHST_RC_CTR_VAL_8BIT        0x7C    // servo center for 8 bit values
  74
  75 #define GHST_FRAME_SIZE             14      // including addr, type, len, crc, and payload
  76
  77 #define GHST_PAYLOAD_SIZE_MAX       14
  78
  79 #define GHST_FRAME_SIZE_MAX         24
  80
  81 #define GPS_FLAGS_FIX               0x01
  82 #define GPS_FLAGS_FIX_HOME          0x02
  83
  84 typedef struct ghstFrameDef_s {
  85     uint8_t addr;
  86     uint8_t len;
  87     uint8_t type;
  88     uint8_t payload[GHST_PAYLOAD_SIZE_MAX + 1];         // CRC adds 1
  89 } ghstFrameDef_t;
  90
  91 typedef union ghstFrame_u {
  92     uint8_t bytes[GHST_FRAME_SIZE];
  93     ghstFrameDef_t frame;
  94 } ghstFrame_t;
  95
  96
  97 /* Pulses payload (channel data), for 4x 12-bit channels */
  98 typedef struct ghstPayloadServo4_s {
  99     // 48 bits, or 6 bytes
 100     unsigned int ch1: 12;
 101     unsigned int ch2: 12;
 102     unsigned int ch3: 12;
 103     unsigned int ch4: 12;
 104 } __attribute__ ((__packed__)) ghstPayloadServo4_t;
 105
 106 /* Pulses payload (channel data). Includes 4x high speed control channels, plus 4 channels from CH5-CH12 */
 107 typedef struct ghstPayloadPulses_s {
 108     // 80 bits, or 10 bytes
 109     ghstPayloadServo4_t ch1to4;
 110
 111     unsigned int cha: 8;
 112     unsigned int chb: 8;
 113     unsigned int chc: 8;
 114     unsigned int chd: 8;
 115 } __attribute__ ((__packed__)) ghstPayloadPulses_t;
 116
 117 /* Pulses payload (channel data), with RSSI/LQ, and other related data */
 118 typedef struct ghstPayloadPulsesRSSI_s {
 119     // 80 bits, or 10 bytes
 120    ghstPayloadServo4_t ch1to4;
 121
 122     unsigned int lq: 8;                 // 0-100
 123     unsigned int rssi: 8;               // 0 - 128 sign inverted, dBm
 124     unsigned int rfProtocol: 8;
 125     signed int txPwrdBm: 8;             // tx power in dBm, use lookup table to map to published mW values
 126 } __attribute__ ((__packed__)) ghstPayloadPulsesRSSI_t;