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Diffstat (limited to 'src/lib/rc/st24.h')
| -rw-r--r-- | src/lib/rc/st24.h | 163 |
1 files changed, 163 insertions, 0 deletions
diff --git a/src/lib/rc/st24.h b/src/lib/rc/st24.h new file mode 100644 index 000000000..454234601 --- /dev/null +++ b/src/lib/rc/st24.h @@ -0,0 +1,163 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file st24.h + * + * RC protocol definition for Yuneec ST24 transmitter + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#pragma once + +#include <stdint.h> + +__BEGIN_DECLS + +#define ST24_DATA_LEN_MAX 64 +#define ST24_STX1 0x55 +#define ST24_STX2 0x55 + +enum ST24_PACKET_TYPE { + ST24_PACKET_TYPE_CHANNELDATA12 = 0, + ST24_PACKET_TYPE_CHANNELDATA24, + ST24_PACKET_TYPE_TRANSMITTERGPSDATA +}; + +#pragma pack(push, 1) +typedef struct { + uint8_t header1; ///< 0x55 for a valid packet + uint8_t header2; ///< 0x55 for a valid packet + uint8_t length; ///< length includes type, data, and crc = sizeof(type)+sizeof(data[payload_len])+sizeof(crc8) + uint8_t type; ///< from enum ST24_PACKET_TYPE + uint8_t st24_data[ST24_DATA_LEN_MAX]; + uint8_t crc8; ///< crc8 checksum, calculated by st24_common_crc8 and including fields length, type and st24_data +} ReceiverFcPacket; + +/** + * RC Channel data (12 channels). + * + * This is incoming from the ST24 + */ +typedef struct { + uint16_t t; ///< packet counter or clock + uint8_t rssi; ///< signal strength + uint8_t packet_count; ///< Number of UART packets sent since reception of last RF frame (this tells something about age / rate) + uint8_t channel[18]; ///< channel data, 12 channels (12 bit numbers) +} ChannelData12; + +/** + * RC Channel data (12 channels). + * + */ +typedef struct { + uint16_t t; ///< packet counter or clock + uint8_t rssi; ///< signal strength + uint8_t packet_count; ///< Number of UART packets sent since reception of last RF frame (this tells something about age / rate) + uint8_t channel[36]; ///< channel data, 24 channels (12 bit numbers) +} ChannelData24; + +/** + * Telemetry packet + * + * This is outgoing to the ST24 + * + * imuStatus: + * 8 bit total + * bits 0-2 for status + * - value 0 is FAILED + * - value 1 is INITIALIZING + * - value 2 is RUNNING + * - values 3 through 7 are reserved + * bits 3-7 are status for sensors (0 or 1) + * - mpu6050 + * - accelerometer + * - primary gyro x + * - primary gyro y + * - primary gyro z + * + * pressCompassStatus + * 8 bit total + * bits 0-3 for compass status + * - value 0 is FAILED + * - value 1 is INITIALIZING + * - value 2 is RUNNING + * - value 3 - 15 are reserved + * bits 4-7 for pressure status + * - value 0 is FAILED + * - value 1 is INITIALIZING + * - value 2 is RUNNING + * - value 3 - 15 are reserved + * + */ +typedef struct { + uint16_t t; ///< packet counter or clock + int32_t lat; ///< lattitude (degrees) +/- 90 deg + int32_t lon; ///< longitude (degrees) +/- 180 deg + int32_t alt; ///< 0.01m resolution, altitude (meters) + int16_t vx, vy, vz; ///< velocity 0.01m res, +/-320.00 North-East- Down + uint8_t nsat; ///<number of satellites + uint8_t voltage; ///< 25.4V voltage = 5 + 255*0.1 = 30.5V, min=5V + uint8_t current; ///< 0.5A resolution + int16_t roll, pitch, yaw; ///< 0.01 degree resolution + uint8_t motorStatus; ///< 1 bit per motor for status 1=good, 0= fail + uint8_t imuStatus; ///< inertial measurement unit status + uint8_t pressCompassStatus; ///< baro / compass status +} TelemetryData; + +#pragma pack(pop) + +/** + * CRC8 implementation for ST24 protocol + * + * @param prt Pointer to the data to CRC + * @param len number of bytes to accumulate in the checksum + * @return the checksum of these bytes over len + */ +uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len); + +/** + * Decoder for ST24 protocol + * + * @param byte current char to read + * @param rssi pointer to a byte where the RSSI value is written back to + * @param rx_count pointer to a byte where the receive count of packets signce last wireless frame is written back to + * @param channels pointer to a datastructure of size max_chan_count where channel values (12 bit) are written back to + * @param max_chan_count maximum channels to decode - if more channels are decoded, the last n are skipped and success (0) is returned + * @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 + */ +__EXPORT int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, + uint16_t *channels, uint16_t max_chan_count); + +__END_DECLS |