mirror of https://github.com/ArduPilot/ardupilot
49 lines
962 B
C
49 lines
962 B
C
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/*
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* based on Cleanflight 4way driver
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*
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*/
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#pragma once
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#include <stdint.h>
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#include <stdbool.h>
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#include <AP_HAL/AP_HAL.h>
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#include <hal.h>
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#include <systick.h>
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#include "serial_4way_impl.h"
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#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER
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#define USE_SERIAL_4WAY_SK_BOOTLOADER
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#define imC2 0
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#define imSIL_BLB 1
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#define imATM_BLB 2
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#define imSK 3
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#define imARM_BLB 4
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typedef union __attribute__ ((packed)) {
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uint8_t bytes[2];
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uint16_t word;
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} uint8_16_u;
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typedef union __attribute__ ((packed)) {
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uint8_t bytes[4];
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uint16_t words[2];
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uint32_t dword;
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} uint8_32_u;
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extern uint16_t _crc_xmodem_update (uint16_t crc, uint8_t data);
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extern bool isMcuConnected(void);
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extern uint8_t esc4wayInit(const uint8_t *output_channels, uint8_t nm);
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// rem: App: Wait at least appx. 500 ms for BLHeli to jump into
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// bootloader mode before try to connect any ESC
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// Start to activate here
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extern void esc4wayProcess(AP_HAL::UARTDriver *uartPort);
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