mirror of https://github.com/ArduPilot/ardupilot
525 lines
19 KiB
C
525 lines
19 KiB
C
/*
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MIT License
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Copyright (c) 2019 Horizon Hobby, LLC
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*/
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#ifndef __SRXL_H__
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#define __SRXL_H__
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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// Standard C Libraries
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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// 7.1 General Overview
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#define SPEKTRUM_SRXL_ID (0xA6)
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#define SRXL_MAX_BUFFER_SIZE (80)
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#define SRXL_MAX_DEVICES (16)
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// Supported SRXL device types (upper nibble of device ID)
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typedef enum
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{
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SrxlDevType_None = 0,
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SrxlDevType_RemoteReceiver = 1,
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SrxlDevType_Receiver = 2,
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SrxlDevType_FlightController = 3,
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SrxlDevType_ESC = 4,
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SrxlDevType_SRXLServo1 = 6,
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SrxlDevType_SRXLServo2 = 7,
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SrxlDevType_VTX = 8,
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SrxlDevType_Broadcast = 15
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} SrxlDevType;
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// Set SRXL_CRC_OPTIMIZE_MODE in spm_srxl_config.h to one of the following values
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#define SRXL_CRC_OPTIMIZE_EXTERNAL (0) // Uses an external function defined by SRXL_CRC_EXTERNAL_FN for CRC
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#define SRXL_CRC_OPTIMIZE_SPEED (1) // Uses table lookup for CRC computation (requires 512 const bytes for CRC table)
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#define SRXL_CRC_OPTIMIZE_SIZE (2) // Uses bitwise operations
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#define SRXL_CRC_OPTIMIZE_STM_HW (3) // Uses STM32 register-level hardware acceleration (only available on STM32F30x devices for now)
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#define SRXL_CRC_OPTIMIZE_STM_HAL (4) // Uses STM32Cube HAL driver for hardware acceleration (only available on STM32F3/F7) -- see srxlCrc16() for details on HAL config
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// Set SRXL_STM_TARGET_FAMILY in spm_srxl_config.h to one of the following values when using one of the STM HW-optimized modes
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#define SRXL_STM_TARGET_F3 (3)
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#define SRXL_STM_TARGET_F7 (7)
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// 7.2 Handshake Packet
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#define SRXL_HANDSHAKE_ID (0x21)
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// Supported additional baud rates besides default 115200
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// NOTE: Treated as bitmask, ANDed with baud rates from slaves
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#define SRXL_BAUD_115200 (0x00)
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#define SRXL_BAUD_400000 (0x01)
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//#define SRXL_BAUD_NEXT_RATE (0x02)
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//#define SRXL_BAUD_ANOTHER (0x04)
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// Bit masks for Device Info byte sent via Handshake
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#define SRXL_DEVINFO_NO_RF (0x00) // This is the base for non-RF devices
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#define SRXL_DEVINFO_TELEM_TX_ENABLED (0x01) // This bit is set if the device is actively configured to transmit telemetry over RF
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#define SRXL_DEVINFO_TELEM_FULL_RANGE (0x02) // This bit is set if the device can send full-range telemetry over RF
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#define SRXL_DEVINFO_FWD_PROG_SUPPORT (0x04) // This bit is set if the device supports Forward Programming via RF or SRXL
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// 7.3 Bind Info Packet
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#define SRXL_BIND_ID (0x41)
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#define SRXL_BIND_REQ_ENTER (0xEB)
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#define SRXL_BIND_REQ_STATUS (0xB5)
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#define SRXL_BIND_REQ_BOUND_DATA (0xDB)
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#define SRXL_BIND_REQ_SET_BIND (0x5B)
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// Bit masks for Options byte
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#define SRXL_BIND_OPT_NONE (0x00)
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#define SRXL_BIND_OPT_TELEM_TX_ENABLE (0x01) // Set if this device should be enabled as the current telemetry device to tx over RF
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#define SRXL_BIND_OPT_BIND_TX_ENABLE (0x02) // Set if this device should reply to a bind request with a Discover packet over RF
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#define SRXL_BIND_OPT_US_POWER (0x04) // Set if this device should request US transmit power levels instead of EU
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// Current Bind Status
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typedef enum
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{
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NOT_BOUND = 0x00,
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// Air types
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DSM2_1024_22MS = 0x01,
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DSM2_1024_MC24 = 0x02,
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DSM2_2048_11MS = 0x12,
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DSMX_22MS = 0xA2,
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DSMX_11MS = 0xB2,
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// Surface types (corresponding Air type bitwise OR'd with 0x40)
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SURFACE_DSM1 = 0x40,
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SURFACE_DSM2_16p5MS = 0x63,
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DSMR_11MS_22MS = 0xE2,
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DSMR_5p5MS = 0xE4,
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} BIND_STATUS;
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// 7.4 Parameter Configuration
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#define SRXL_PARAM_ID (0x50)
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#define SRXL_PARAM_REQ_QUERY (0x50)
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#define SRXL_PARAM_REQ_WRITE (0x57)
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// 7.5 Signal Quality Packet
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#define SRXL_RSSI_ID (0x55)
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#define SRXL_RSSI_REQ_REQUEST (0x52)
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#define SRXL_RSSI_REQ_SEND (0x53)
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// 7.6 Telemetry Sensor Data Packet
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#define SRXL_TELEM_ID (0x80)
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// 7.7 Control Data Packet
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#define SRXL_CTRL_ID (0xCD)
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#define SRXL_CTRL_BASE_LENGTH (3 + 2 + 2) // header + cmd/replyID + crc
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#define SRXL_CTRL_CMD_CHANNEL (0x00)
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#define SRXL_CTRL_CMD_CHANNEL_FS (0x01)
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#define SRXL_CTRL_CMD_VTX (0x02)
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#define SRXL_CTRL_CMD_FWDPGM (0x03)
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typedef enum
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{
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SRXL_CMD_NONE,
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SRXL_CMD_CHANNEL,
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SRXL_CMD_CHANNEL_FS,
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SRXL_CMD_VTX,
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SRXL_CMD_FWDPGM,
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SRXL_CMD_RSSI,
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SRXL_CMD_HANDSHAKE,
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SRXL_CMD_TELEMETRY,
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SRXL_CMD_ENTER_BIND,
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SRXL_CMD_REQ_BIND,
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SRXL_CMD_SET_BIND,
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SRXL_CMD_BIND_INFO,
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} SRXL_CMD;
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// VTX Band
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#define VTX_BAND_FATSHARK (0)
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#define VTX_BAND_RACEBAND (1)
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#define VTX_BAND_E_BAND (2)
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#define VTX_BAND_B_BAND (3)
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#define VTX_BAND_A_BAND (4)
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// VTX Pit Mode
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#define VTX_MODE_RACE (0)
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#define VTX_MODE_PIT (1)
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// VTX Power
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#define VTX_POWER_OFF (0)
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#define VTX_POWER_1MW_14MW (1)
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#define VTX_POWER_15MW_25MW (2)
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#define VTX_POWER_26MW_99MW (3)
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#define VTX_POWER_100MW_299MW (4)
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#define VTX_POWER_300MW_600MW (5)
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#define VTX_POWER_601_PLUS (6)
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#define VTX_POWER_MANUAL (7)
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// VTX Region
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#define VTX_REGION_US (0)
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#define VTX_REGION_EU (1)
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// Forward Programming Pass-Thru
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#define FWD_PGM_MAX_DATA_SIZE (64)
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// Enable byte packing for all structs defined here!
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#ifdef PACKED
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#define SRXL_EXTERNAL_PACKED
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#elif defined(__GNUC__)
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#define PACKED __attribute__((packed))
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#else
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#pragma pack(push, 1)
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#define PACKED
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#endif
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// Spektrum SRXL header
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typedef struct SrxlHeader
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{
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uint8_t srxlID; // Always 0xA6 for SRXL2
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uint8_t packetType;
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uint8_t length;
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} PACKED SrxlHeader;
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// Handshake
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typedef struct SrxlHandshakeData
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{
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uint8_t srcDevID;
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uint8_t destDevID;
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uint8_t priority;
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uint8_t baudSupported; // 0 = 115200, 1 = 400000 (See SRXL_BAUD_xxx definitions above)
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uint8_t info; // See SRXL_DEVINFO_xxx definitions above for defined bits
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uint32_t uid; // Unique/random id to allow detection of two devices on bus with same deviceID
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} PACKED SrxlHandshakeData;
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typedef struct SrxlHandshakePacket
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{
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SrxlHeader hdr;
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SrxlHandshakeData payload;
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uint16_t crc;
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} PACKED SrxlHandshakePacket;
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// Bind
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typedef struct SrxlBindData
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{
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uint8_t type;
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uint8_t options;
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uint64_t guid;
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uint32_t uid;
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} PACKED SrxlBindData;
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typedef struct SrxlBindPacket
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{
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SrxlHeader hdr;
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uint8_t request;
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uint8_t deviceID;
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SrxlBindData data;
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uint16_t crc;
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} PACKED SrxlBindPacket;
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// Telemetry
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typedef struct SrxlTelemetryData
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{
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union
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{
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struct
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{
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uint8_t sensorID;
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uint8_t secondaryID;
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uint8_t data[14];
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};
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uint8_t raw[16];
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};
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} PACKED SrxlTelemetryData;
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typedef struct SrxlTelemetryPacket
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{
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SrxlHeader hdr;
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uint8_t destDevID;
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SrxlTelemetryData payload;
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uint16_t crc;
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} PACKED SrxlTelemetryPacket;
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// Signal Quality
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typedef struct SrxlRssiPacket
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{
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SrxlHeader hdr;
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uint8_t request;
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int8_t antennaA;
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int8_t antennaB;
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int8_t antennaC;
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int8_t antennaD;
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uint16_t crc;
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} PACKED SrxlRssiPacket;
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// Parameter Config
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typedef struct SrxlParamPacket
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{
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SrxlHeader hdr;
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uint8_t request;
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uint8_t destDevID;
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uint32_t paramID;
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uint32_t paramVal;
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uint16_t crc;
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} PACKED SrxlParamPacket;
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// VTX Data
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typedef struct SrxlVtxData
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{
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uint8_t band; // VTX Band (0 = Fatshark, 1 = Raceband, 2 = E, 3 = B, 4 = A)
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uint8_t channel; // VTX Channel (0-7)
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uint8_t pit; // Pit/Race mode (0 = Race, 1 = Pit). Race = normal power, Pit = reduced power
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uint8_t power; // VTX Power (0 = Off, 1 = 1mw to 14mW, 2 = 15mW to 25mW, 3 = 26mW to 99mW,
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// 4 = 100mW to 299mW, 5 = 300mW to 600mW, 6 = 601mW+, 7 = manual control)
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uint16_t powerDec; // VTX Power as a decimal 1mw/unit
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uint8_t region; // Region (0 = USA, 1 = EU)
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} PACKED SrxlVtxData;
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// Forward Programming Data
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typedef struct SrxlFwdPgmData
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{
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uint8_t rfu[3]; // 0 for now -- used to word-align data
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uint8_t data[FWD_PGM_MAX_DATA_SIZE];
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} PACKED SrxlFwdPgmData;
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// Channel Data
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typedef struct SrxlChannelData
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{
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int8_t rssi; // Best RSSI when sending channel data, or dropout RSSI when sending failsafe data
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uint16_t frameLosses; // Total lost frames (or fade count when sent from Remote Rx to main Receiver)
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uint32_t mask; // Set bits indicate that channel data with the corresponding index is present
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uint16_t values[32]; // Channel values, shifted to full 16-bit range (32768 = mid-scale); lowest 2 bits RFU
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} PACKED SrxlChannelData;
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// Control Data
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typedef struct SrxlControlData
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{
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uint8_t cmd;
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uint8_t replyID;
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union
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{
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SrxlChannelData channelData; // Used for Channel Data and Failsafe Channel Data commands
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SrxlVtxData vtxData; // Used for VTX commands
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SrxlFwdPgmData fpData; // Used to pass forward programming data to an SRXL device
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};
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} PACKED SrxlControlData;
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typedef struct SrxlControlPacket
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{
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SrxlHeader hdr;
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SrxlControlData payload;
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// uint16_t crc; // NOTE: Since this packet is variable-length, we can't use this value anyway
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} PACKED SrxlControlPacket;
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// SRXL Packets
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typedef union
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{
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SrxlHeader header;
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SrxlBindPacket bind;
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SrxlHandshakePacket handshake;
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SrxlTelemetryPacket telemetry;
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SrxlRssiPacket rssi;
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SrxlParamPacket parameter;
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SrxlControlPacket control;
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uint8_t raw[SRXL_MAX_BUFFER_SIZE];
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} SrxlPacket;
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// SRXL full device identifier -- SRXL Device ID with bus number
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typedef union
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{
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struct
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{
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uint8_t deviceID;
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uint8_t busIndex;
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};
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uint16_t word;
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} PACKED SrxlFullID;
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// Restore packing back to default
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#ifndef SRXL_EXTERNAL_PACKED
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#undef PACKED
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#ifndef __GNUC__
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#pragma pack(pop)
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#endif
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#endif
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// Global vars
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extern SrxlChannelData srxlChData;
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extern SrxlTelemetryData srxlTelemData;
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extern SrxlVtxData srxlVtxData;
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// Include config here, after all typedefs that might be needed within it
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#include "spm_srxl_config.h"
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#ifndef FALLTHROUGH
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#define FALLTHROUGH
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#endif
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#if !defined(SRXL_NUM_OF_BUSES)
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#error "SRXL_NUM_OF_BUSES must be defined in spm_srxl_config.h!"
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#elif SRXL_NUM_OF_BUSES <= 0
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#error "SRXL_NUM_OF_BUSES must be defined in spm_srxl_config.h!"
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#elif SRXL_NUM_OF_BUSES > 1
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#define SRXL_IS_HUB
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#endif
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#define SRXL_ALL_BUSES ((1u << SRXL_NUM_OF_BUSES) - 1)
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#define SRXL_MAX_RCVRS (2 * SRXL_NUM_OF_BUSES)
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#ifndef SRXL_CRC_OPTIMIZE_MODE // NOTE: This should be set in spm_srxl_config.h
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#define SRXL_CRC_OPTIMIZE_MODE SRXL_CRC_OPTIMIZE_SPEED
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#endif
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#define RSSI_RCVD_NONE (0)
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#define RSSI_RCVD_DBM (1)
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#define RSSI_RCVD_PCT (2)
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#define RSSI_RCVD_BOTH (3)
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// Internal types
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typedef enum
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{
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SrxlState_Disabled, // Default state before initialized or if bus is subsequently disabled
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SrxlState_ListenOnStartup, // Wait 50ms to see if anything is already talking (i.e. we probably browned out)
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SrxlState_SendHandshake, // Call when handshake should be sent every 50ms
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SrxlState_ListenForHandshake, // Wait at least 150ms more for handshake request
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SrxlState_Running, // Normal run state
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SrxlState_SendTelemetry, // Send telemetry reply when requested
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SrxlState_SendVTX, // Send VTX packet when needed
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SrxlState_SendEnterBind,
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SrxlState_SendBoundDataReport,
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SrxlState_SendSetBindInfo,
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} SrxlState;
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//#ifdef SRXL_IS_HUB
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typedef struct SrxlRcvrEntry
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{
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uint8_t deviceID; // SRXL device ID of the receiver
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uint8_t busBits; // Supports 8 buses, with each bit corresponding to busIndex (bit 0 = bus 0, bit 7 = bus 7)
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uint8_t info; // Info bits reported during handshake - See SRXL_DEVINFO_XXX mask bits in header
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uint8_t rssiRcvd; // 0 = none, 1 = dBm, 2 = percent, 3 = both dBm and percent
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int8_t rssi_dBm; // Latest RSSI dBm value reported by receiver (negative, varies with receiver type)
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int8_t rssi_Pct; // Latest RSSI percent range estimate reported by receiver (0-100)
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uint16_t fades; // Latest number of fades reported for a given receiver
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uint32_t channelMask; // Latest channel mask for channels provided in channel data packet (0 during fade)
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} SrxlRcvrEntry;
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typedef struct SrxlReceiverInfo
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{
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SrxlRcvrEntry rcvr[SRXL_MAX_RCVRS]; // Stats for each receiver, filled when ch data is received
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SrxlRcvrEntry* rcvrSorted[SRXL_MAX_RCVRS]; // Pointers to receiver entries sorted in telemetry range order
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uint8_t rcvrSortInsert; // Index into rcvrSorted where full-range telem rcvrs should be inserted
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uint8_t rcvrCount; // Number of entries in rcvr[] and rcvrSorted[]
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uint8_t rxBusBits;
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int8_t bestRssi_dBm;
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int8_t bestRssi_Pct;
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uint8_t lossCountdown; // Reset to lossHoldCount when frame is good, and decrement for each consecutive
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// frame loss -- when we get to 0, convert lossHoldCount frame losses to a hold
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uint8_t lossHoldCount; // Consecutive frame losses required to count as hold
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uint16_t frameLosses; // Increment each time all receivers are in frame loss -- if 45
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// consecutive, subtract those and increment holds
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uint16_t holds; // Increment each time 45 or more consecutive frames are lost (but don't keep
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// incrementing once in that state)
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SrxlRcvrEntry* pTelemRcvr; // Pointer to current assigned telemetry receiver (used for checking
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// for fade to know when to switch)
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SrxlRcvrEntry* pBindRcvr; // Pointer to receiver that we told to Enter Bind Mode (used to
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// process Bound Data Report and send Set Bind Info)
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} SrxlReceiverStats;
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//#endif
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typedef struct SrxlDevEntry
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{
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uint8_t deviceID;
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uint8_t priority; // Requested telemetry priority of this device
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uint8_t info; // Refer to SRXL_DEVINFO_XXX mask bits in header
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uint8_t rfu;
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} SrxlDevEntry;
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typedef struct SrxlTxFlags
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{
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unsigned int enterBind : 1;
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unsigned int getBindInfo : 1;
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unsigned int setBindInfo : 1;
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unsigned int broadcastBindInfo : 1;
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unsigned int reportBindInfo : 1;
|
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unsigned int sendVtxData : 1;
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unsigned int sendFwdPgmData : 1;
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} SrxlTxFlags;
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|
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typedef struct SrxlBus
|
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{
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SrxlPacket srxlOut; // Transmit packet buffer
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SrxlPacket srxlIn; // Receive packet buffer
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|
|
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SrxlState state; // Current state of SRXL state machine
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|
SrxlFullID fullID; // Device ID and Bus Index of this device, set during init
|
|
uint8_t rxDevCount; // Number of other SRXL devices discovered via handshake
|
|
SrxlDevEntry rxDev[SRXL_MAX_DEVICES]; // Device entries for tracking SRXL telemetry priorities
|
|
#ifdef SRXL_INCLUDE_MASTER_CODE
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|
uint16_t rxDevAge[SRXL_MAX_DEVICES]; // Telemetry age value for the associated device
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|
#endif
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|
uint16_t rxDevPrioritySum; // Sum of priorities requested for each discovered SRXL device
|
|
uint16_t timeoutCount_ms; // Milliseconds since SRXL packet was received (incremented in srxlRun)
|
|
uint8_t requestID; // Device ID to poll
|
|
uint8_t baudSupported; // Baud rates this device can do: 0 = 115200, 1 = 400000
|
|
uint8_t baudRate; // Current baud rate: 0 = 115200, 1 = 400000
|
|
uint8_t frameErrCount; // Number of consecutive missed frames
|
|
SrxlTxFlags txFlags; // Pending outgoing packet types
|
|
uint8_t uart; // Index number of UART tied to this SRXL bus
|
|
SrxlRcvrEntry* pMasterRcvr; // Receiver entry for the bus master, if one exists
|
|
bool master; // True if this device is the bus master on this bus
|
|
bool initialized; // True when this SRXL bus is initialized
|
|
} SrxlBus;
|
|
|
|
typedef struct SrxlDevice
|
|
{
|
|
SrxlDevEntry devEntry; // Device info for this local device, shared across all buses.
|
|
uint32_t uid; // ID statistically likely to be unique (Random, hash of serial, etc.)
|
|
SrxlRcvrEntry* pRcvr; // Pointer to our receiver entry, if we're a receiver (don't set for
|
|
// flight controller acting as hub -- only true receiver)
|
|
bool vtxProxy; // Set true if this device can and should respond to VTX commands
|
|
} SrxlDevice;
|
|
|
|
|
|
// Function prototypes
|
|
bool srxlInitDevice(uint8_t deviceID, uint8_t priority, uint8_t info, uint32_t uid);
|
|
bool srxlInitBus(uint8_t busIndex, uint8_t uart, uint8_t baudSupported);
|
|
bool srxlIsBusMaster(uint8_t busIndex);
|
|
uint16_t srxlGetTimeoutCount_ms(uint8_t busIndex);
|
|
uint8_t srxlGetDeviceID(uint8_t busIndex);
|
|
bool srxlParsePacket(uint8_t busIndex, uint8_t *packet, uint8_t length);
|
|
void srxlRun(uint8_t busIndex, int16_t timeoutDelta_ms);
|
|
bool srxlEnterBind(uint8_t bindType, bool broadcast);
|
|
bool srxlSetBindInfo(uint8_t bindType, uint64_t guid, uint32_t uid);
|
|
void srxlOnFrameError(uint8_t busIndex);
|
|
SrxlFullID srxlGetTelemetryEndpoint(void);
|
|
bool srxlSetVtxData(SrxlVtxData *pVtxData);
|
|
bool srxlPassThruFwdPgm(uint8_t *pData, uint8_t length);
|
|
void srxlSetHoldThreshold(uint8_t countdownReset);
|
|
void srxlClearCommStats(void);
|
|
bool srxlUpdateCommStats(bool isFade);
|
|
|
|
#ifdef __cplusplus
|
|
} // extern "C"
|
|
#endif
|
|
|
|
#ifdef SRXL_INCLUDE_MASTER_CODE
|
|
// NOTE: Most user applications should not be an SRXL2 bus master, so master-specific code is not open.
|
|
// If your application requires this functionality, please inquire about this from Spektrum RC.
|
|
#include "spm_srxl_master.h"
|
|
#endif
|
|
|
|
#endif //__SRXL_H__
|