first commit

2025-07-28 13:21:36 +03:00
commit 0de214c9a1
547 changed files with 287132 additions and 0 deletions
--- a/dev/crsf.hpp
+++ b/dev/crsf.hpp
@ -0,0 +1,31 @@
+#pragma once
+#include <cstdint>
+
+static constexpr uint16_t 
+JOY_MIN = 172,
+JOY_MID =992,
+JOY_MAX= 1811;
+
+static constexpr float JOY_VAL = (JOY_MAX - JOY_MIN) / 1e3;
+
+#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
+#define CRSF_PAYLOAD_SIZE_MAX (CRSF_FRAME_SIZE_MAX-4)
+
+#define CRSF_BAUDRATE 420000
+
+struct CRSF_Data // FlySky
+{
+  uint16_t X, Y, Z, W;
+  uint16_t SWA, SWB, SWC, SWD;
+  uint16_t VRA, VRB;
+  uint16_t OTHER[8];
+  
+  bool FrameLost;
+  bool FailSafe;
+};
+
+void CRSF_Init(void);
+bool CRSF_Update(CRSF_Data& data, bool& off);
+
+bool crsf_parse(const uint8_t *frame, unsigned len, uint16_t *values,
+		uint16_t *num_values, uint16_t max_channels);