src/main/telemetry/ltm.h

   1 /*
   2  * ltm.h
   3  *
   4  * This file is part of Cleanflight.
   5  *
   6  * Cleanflight is free software: you can redistribute it and/or modify
   7  * it under the terms of the GNU General Public License as published by
   8  * the Free Software Foundation, either version 3 of the License, or
   9  * (at your option) any later version.
  10  *
  11  * Cleanflight is distributed in the hope that it will be useful,
  12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  14  * GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public License
  17  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  18  */
  19
  20 #pragma once
  21
  22 typedef enum {
  23     LTM_FRAME_START = 0,
  24     LTM_AFRAME = LTM_FRAME_START, // Attitude Frame
  25     LTM_SFRAME, // Status Frame
  26 #if defined(USE_GPS)
  27     LTM_GFRAME, // GPS Frame
  28     LTM_OFRAME, // Origin Frame
  29     LTM_XFRAME, // Extended information data frame
  30 #endif
  31     LTM_NFRAME, // Navigation Frame (inav extension)
  32     LTM_FRAME_COUNT
  33 } ltm_frame_e;
  34
  35 // payload size does not include the '$T' header, the frame type byte or the checksum byte
  36 #define LTM_GFRAME_PAYLOAD_SIZE 14
  37 #define LTM_AFRAME_PAYLOAD_SIZE  6
  38 #define LTM_SFRAME_PAYLOAD_SIZE  7
  39 #define LTM_OFRAME_PAYLOAD_SIZE 14
  40 #define LTM_NFRAME_PAYLOAD_SIZE  6
  41 #define LTM_XFRAME_PAYLOAD_SIZE  6
  42
  43 #define LTM_MAX_PAYLOAD_SIZE 14
  44 #define LTM_MAX_MESSAGE_SIZE (LTM_MAX_PAYLOAD_SIZE+4)
  45
  46
  47 typedef enum {
  48     LTM_MODE_MANUAL = 0,
  49     LTM_MODE_RATE,
  50     LTM_MODE_ANGLE,
  51     LTM_MODE_HORIZON,
  52     LTM_MODE_ACRO,
  53     LTM_MODE_STABALIZED1,
  54     LTM_MODE_STABALIZED2,
  55     LTM_MODE_STABILIZED3,
  56     LTM_MODE_ALTHOLD,
  57     LTM_MODE_GPSHOLD,
  58     LTM_MODE_WAYPOINTS,
  59     LTM_MODE_HEADHOLD,
  60     LTM_MODE_CIRCLE,
  61     LTM_MODE_RTH,
  62     LTM_MODE_FOLLOWWME,
  63     LTM_MODE_LAND,
  64     LTM_MODE_FLYBYWIRE1,
  65     LTM_MODE_FLYBYWIRE2,
  66     LTM_MODE_CRUISE,
  67     LTM_MODE_UNKNOWN,
  68         // INAV specific extensions
  69     LTM_MODE_LAUNCH,
  70     LTM_MODE_AUTOTUNE
  71 } ltm_modes_e;
  72
  73 void initLtmTelemetry(void);
  74 void handleLtmTelemetry(void);
  75 void checkLtmTelemetryState(void);
  76
  77 void freeLtmTelemetryPort(void);
  78 void configureLtmTelemetryPort(void);
  79
  80 int getLtmFrame(uint8_t *frame, ltm_frame_e ltmFrameType);