mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-06 01:00:35 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
135 lines
4.8 KiB
C
135 lines
4.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file crsf.h
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*
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* RC protocol definition for CSRF (TBS Crossfire).
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* It is an uninverted protocol at 420000 baudrate.
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*
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* RC channels come in at 150Hz.
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*
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* @author Beat Küng <beat-kueng@gmx.net>
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*/
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#pragma once
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#include <stdint.h>
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#include <px4_platform_common/defines.h>
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__BEGIN_DECLS
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#define CRSF_FRAME_SIZE_MAX 30 // the actual maximum length is 64, but we're only interested in RC channels and want to minimize buffer size
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#define CRSF_PAYLOAD_SIZE_MAX (CRSF_FRAME_SIZE_MAX-4)
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struct crsf_frame_header_t {
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uint8_t device_address; ///< @see crsf_address_t
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uint8_t length; ///< length of crsf_frame_t (including CRC) minus sizeof(crsf_frame_header_t)
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};
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struct crsf_frame_t {
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crsf_frame_header_t header;
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uint8_t type; ///< @see crsf_frame_type_t
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uint8_t payload[CRSF_PAYLOAD_SIZE_MAX + 1]; ///< payload data including 1 byte CRC at end
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};
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/**
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* Configure an UART port to be used for CRSF
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* @param uart_fd UART file descriptor
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* @return 0 on success, -errno otherwise
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*/
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__EXPORT int crsf_config(int uart_fd);
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/**
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* Parse the CRSF protocol and extract RC channel data.
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*
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* @param now current time
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* @param frame data to parse
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* @param len length of frame
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* @param values output channel values, each in range [1000, 2000]
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* @param num_values set to the number of parsed channels in values
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* @param max_channels maximum length of values
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* @return true if channels successfully decoded
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*/
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__EXPORT bool crsf_parse(const uint64_t now, const uint8_t *frame, unsigned len, uint16_t *values,
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uint16_t *num_values, uint16_t max_channels);
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/**
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* Send telemetry battery information
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* @param uart_fd UART file descriptor
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* @param voltage Voltage [0.1V]
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* @param current Current [0.1A]
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* @param fuel drawn mAh
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* @param remaining battery remaining [%]
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* @return true on success
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*/
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__EXPORT bool crsf_send_telemetry_battery(int uart_fd, uint16_t voltage, uint16_t current, int fuel, uint8_t remaining);
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/**
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* Send telemetry GPS information
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* @param uart_fd UART file descriptor
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* @param latitude latitude [degree * 1e7]
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* @param longitude longitude [degree * 1e7]
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* @param groundspeed Ground speed [km/h * 10]
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* @param gps_heading GPS heading [degree * 100]
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* @param altitude Altitude [meters + 1000m offset]
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* @param num_satellites number of satellites used
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* @return true on success
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*/
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__EXPORT bool crsf_send_telemetry_gps(int uart_fd, int32_t latitude, int32_t longitude, uint16_t groundspeed,
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uint16_t gps_heading, uint16_t altitude, uint8_t num_satellites);
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/**
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* Send telemetry Attitude information
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* @param uart_fd UART file descriptor
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* @param pitch Pitch angle [rad * 1e4]
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* @param roll Roll angle [rad * 1e4]
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* @param yaw Yaw angle [rad * 1e4]
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* @return true on success
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*/
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__EXPORT bool crsf_send_telemetry_attitude(int uart_fd, int16_t pitch, int16_t roll, int16_t yaw);
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/**
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* Send telemetry Flight Mode information
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* @param uart_fd UART file descriptor
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* @param flight_mode Flight Mode string (max length = 15)
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* @return true on success
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*/
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__EXPORT bool crsf_send_telemetry_flight_mode(int uart_fd, const char *flight_mode);
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__END_DECLS
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