ardupilot/libraries/AP_RCProtocol/spm_srxl_config.h

/*
MIT License

Copyright (c) 2019 Horizon Hobby, LLC

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
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*/

// This file is automatically included within spm_srxl.h -- do not include elsewhere!

#ifndef _SRXL_CONFIG_H_
#define _SRXL_CONFIG_H_

//### USER PROVIDED HEADER FUNCTIONS AND FORWARD DECLARATIONS ###

// User included headers/declarations to access interface functions required below
//#include <AP_HAL/AP_HAL.h>

extern "C++" {
#include <AP_Math/crc.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
}

//### USER CONFIGURATION ###

// Set this value to the number of physically separate SRXL buses on the device
#define SRXL_NUM_OF_BUSES           1

// Set this to the appropriate device ID (See Section 7.1.1 in Spektrum Bi-Directional SRXL Documentation).
// Typical values are:
//    Flight Controller = 0x31 (or possibly 0x30 if connected to Base Receiver instead of Remote Receiver)
//    Smart ESC = 0x40
//    VTX = 0x81
// NOTE: This value is not used internally -- it is passed as a parameter to srxlInit() in the example app
#define SRXL_DEVICE_ID              0x31

// Set this to the desired priority level for sending telemetry, ranging from 0 to 100.
// Generally, this number should be 10 times the number of different telemetry packets to regularly send.
// If there are telemetry messages that should be sent more often, increase this value.
// If there are messages that are rarely sent, add less than 10 for those.
// For example, if you had two normal priority messages and one that you plan to send twice as often as those,
// you could set the priority to 40 (10 + 10 + 2*10)
// NOTE: This value is not used internally -- it is passed as a parameter to srxlInit() in the example app
#define SRXL_DEVICE_PRIORITY        20

// Set these information bits based on the capabilities of the device.
// The only bit currently applicable to third-party devices is the SRXL_DEVINFO_FWD_PROG_SUPPORT flag,
// which should be set if you would like to allow Forward Programming of the device via SRXL pass-through.
#define SRXL_DEVICE_INFO            (SRXL_DEVINFO_NO_RF)

// Set this value to 0 for 115200 baud only, or 1 for 400000 baud support
#define SRXL_SUPPORTED_BAUD_RATES   0

// Set this value to choose which code to include for CRC computation. Choices are:
//    SRXL_CRC_OPTIMIZE_SPEED   -- Uses table lookup for CRC computation (requires 512 const bytes for CRC table)
//    SRXL_CRC_OPTIMIZE_SIZE    -- Uses bitwise operations for smaller code size but slower execution
//    SRXL_CRC_OPTIMIZE_STM_HW  -- Uses STM32 register-level hardware acceleration (only available on STM32F30x devices for now)
//    SRXL_CRC_OPTIMIZE_STM_HAL -- Uses STM32Cube HAL driver for hardware acceleration (only available on STM32F3/F7) -- see srxlCrc16() for details on HAL config

#define SRXL_CRC_CALCULATE(packet, length, crc) crc16_ccitt(packet, length, crc)

#define SRXL_CRC_OPTIMIZE_MODE      SRXL_CRC_OPTIMIZE_EXTERNAL

// If using STM32 hardware CRC acceleration above, set this flag to the target family. Choices are:
//    SRXL_STM_TARGET_F3
//    SRXL_STM_TARGET_F7
#define SRXL_STM_TARGET_FAMILY      SRXL_STM_TARGET_F3

// If using SRXL_CRC_OPTIMIZE_STM_HW and the CRC hardware is shared with non-SRXL code, then
// uncomment the following flag to save and restore the CRC registers after use by SRXL:
//#define SRXL_SAVE_HW_CRC_CONTEXT

// Uncomment the following flag if your code must support Forward Programming received via SRXL
//#define SRXL_INCLUDE_FWD_PGM_CODE

//### USER PROVIDED INTERFACE FUNCTIONS ###

// User-provided routine to change the baud rate settings on the given UART:
// uart - the same uint8_t value as the uart parameter passed to srxlInit()
// baudRate - the actual baud rate (currently either 115200 or 400000)
void srxlChangeBaudRate(uint8_t uart, uint32_t baudRate);

// User-provided routine to actually transmit a packet on the given UART:
// uart - the same uint8_t value as the uart parameter passed to srxlInit()
// pBuffer - a pointer to an array of uint8_t values to send over the UART
// length - the number of bytes contained in pBuffer that should be sent
void srxlSendOnUart(uint8_t uart, uint8_t* pBuffer, uint8_t length);

// User-provided callback routine to fill in the telemetry data to send to the master when requested:
// pTelemetryData - a pointer to the 16-byte SrxlTelemetryData transmit buffer to populate
// NOTE: srxlTelemData is available as a global variable, so the memcpy line commented out below
// could be used if you would prefer to just populate that with the next outgoing telemetry packet.
void srxlFillTelemetry(SrxlTelemetryData* pTelemetryData);

// User-provided callback routine that is called whenever a control data packet is received:
// pChannelData - a pointer to the received SrxlChannelData structure for manual parsing
// isFailsafe - true if channel data is set to failsafe values, else false.
// NOTE: srxlChData is available as a global variable that contains all of the latest values
// for channel data, so this callback is intended to be used if more control is desired.
// It might make sense to only use this to trigger your own handling of the received servo values.
void srxlReceivedChannelData(SrxlChannelData* pChannelData, bool isFailsafe);

// User-provided callback routine to handle reception of a bound data report (either requested or unprompted).
// Return true if you want this bind information set automatically for all other receivers on all SRXL buses.
bool srxlOnBind(SrxlFullID device, SrxlBindData info);

// User-provided callback routine to handle reception of a VTX control packet.
void srxlOnVtx(SrxlVtxData* pVtxData);

// Optional user-provided callback routine to handle Forward Programming command locally if supported
#ifdef SRXL_INCLUDE_FWD_PGM_CODE
static inline void srxlOnFwdPgm(uint8_t* pData, uint8_t dataLength)
{
    // TODO: Pass data to Forward Programming library
}
#endif // SRXL_INCLUDE_FWD_PGM_CODE

// User-provided routine to enter a critical section (only needed with multiple buses or if HW CRC is used externally)
static inline void srxlEnterCriticalSection(void)
{
}

// User-provided routine to exit a critical section (only needed with multiple buses or if HW CRC is used externally)
static inline void srxlExitCriticalSection(void)
{
}

#endif // _SRXL_CONFIG_H_