mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.8 KiB
C
60 lines
2.8 KiB
C
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/*
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SUMD decoder, based on PX4Firmware/src/rc/lib/rc/sumd.c from PX4Firmware
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modified for use in AP_HAL_* by Andrew Tridgell
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*/
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/****************************************************************************
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*
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* Copyright (c) 2015 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 sumd.h
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*
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* RC protocol definition for Graupner HoTT transmitter
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*
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* @author Marco Bauer <marco@wtns.de>
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*/
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#pragma once
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/**
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* Decoder for SUMD/SUMH protocol
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*
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* @param byte current char to read
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* @param rssi pointer to a byte where the RSSI value is written back to
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* @param rx_count pointer to a byte where the receive count of packets signce last wireless frame is written back to
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* @param channels pointer to a datastructure of size max_chan_count where channel values (12 bit) are written back to
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* @param max_chan_count maximum channels to decode - if more channels are decoded, the last n are skipped and success (0) is returned
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* @return 0 for success (a decoded packet), 1 for no packet yet (accumulating), 2 for unknown packet, 3 for out of sync, 4 for checksum error
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*/
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int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
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uint16_t *channels, uint16_t max_chan_count);
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