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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Lorenz Meier
95 lines
3.6 KiB
C
95 lines
3.6 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2021 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 dsm.h
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*
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* RC protocol definition for Spektrum RC
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*
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* @author Lorenz Meier <lorenz@px4.io>
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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/px4_config.h>
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#include <px4_platform_common/defines.h>
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__BEGIN_DECLS
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#define DSM_FRAME_SIZE 16 /**< DSM frame size in bytes */
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#define DSM_FRAME_CHANNELS 7 /**< Max supported DSM channels per frame */
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#define DSM_MAX_CHANNEL_COUNT 18 /**< Max channel count of any DSM RC */
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#define DSM_BUFFER_SIZE (DSM_FRAME_SIZE + DSM_FRAME_SIZE / 2)
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#pragma pack(push, 1)
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typedef uint8_t dsm_frame_t[DSM_BUFFER_SIZE]; /**< DSM dsm frame receive buffer */
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typedef uint8_t dsm_buf_t[DSM_FRAME_SIZE * 2]; // Define working buffer
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typedef struct dsm_decode_t {
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dsm_frame_t frame;
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dsm_buf_t buf;
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} dsm_decode_t;
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#pragma pack(pop)
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__EXPORT int dsm_init(const char *device);
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__EXPORT void dsm_deinit(void);
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__EXPORT void dsm_proto_init(void);
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__EXPORT int dsm_config(int dsm_fd);
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__EXPORT bool dsm_input(int dsm_fd, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, uint8_t *n_bytes,
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uint8_t **bytes, int8_t *rssi, unsigned *frame_drops, unsigned max_values);
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__EXPORT bool dsm_parse(const uint64_t now, const uint8_t *frame, const unsigned len, uint16_t *values,
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uint16_t *num_values, bool *dsm_11_bit, unsigned *frame_drops, int8_t *rssi_percent, uint16_t max_channels);
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#ifdef SPEKTRUM_POWER
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__EXPORT void dsm_bind(uint16_t cmd, int pulses);
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#endif
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enum DSM_CMD { /* DSM bind states */
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DSM_CMD_BIND_POWER_DOWN = 0,
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DSM_CMD_BIND_POWER_UP,
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DSM_CMD_BIND_SET_RX_OUT,
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DSM_CMD_BIND_SEND_PULSES,
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DSM_CMD_BIND_REINIT_UART
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};
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#define DSM2_BIND_PULSES 3 /* DSM_BIND_START parameter, pulses required to start pairing DSM2 22ms */
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#define DSMX_BIND_PULSES 7 /* DSM_BIND_START parameter, pulses required to start pairing DSMx 22ms */
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#define DSMX8_BIND_PULSES 9 /* DSM_BIND_START parameter, pulses required to start pairing DSMx 11ms */
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__END_DECLS
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