31 lines
745 B
C++
31 lines
745 B
C++
#pragma once
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#include <cstdint>
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static constexpr uint16_t
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JOY_MIN = 172,
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JOY_MID =992,
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JOY_MAX= 1811;
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static constexpr float JOY_VAL = (JOY_MAX - JOY_MIN) / 1e3;
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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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#define CRSF_BAUDRATE 420000
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struct CRSF_Data // FlySky
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{
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uint16_t X, Y, Z, W;
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uint16_t SWA, SWB, SWC, SWD;
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uint16_t VRA, VRB;
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uint16_t OTHER[8];
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bool FrameLost;
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bool FailSafe;
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};
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void CRSF_Init(void);
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bool CRSF_Update(CRSF_Data& data, bool& off);
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bool crsf_parse(const uint8_t *frame, unsigned len, uint16_t *values,
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uint16_t *num_values, uint16_t max_channels); |