portersky
df3d399610
Switch CRC from CCITT (0x07) to DVB-S2 (0xD5) to match ELRS. Adopt ELRS USB frame format: [addr][length][type][payload][crc]. Update frame type constants to match current ELRS protocol values. New skeleton modules (stub implementations with TODO comments): - crsf_telemetry.h/.c: telemetry decoders (GPS, battery, link..) - crsf_stream.h/.c: incremental streaming frame reader - crsf_param.h/.c: parameter protocol (read/write/set_power) Retained old frame format as *_legacy functions for backward compatibility with existing telemetry tool and tests. Add cel_serial_find_elrs_port() and cel_serial_open_probe() stubs to serial module for port auto-detection and baud probing.
146 lines
3.3 KiB
C
146 lines
3.3 KiB
C
#pragma once
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#include <stdint.h>
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#include "celrs/crsf.h"
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/* Telemetry frame types */
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typedef enum {
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CEL_TELEM_GPS = 0,
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CEL_TELEM_VARIO = 1,
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CEL_TELEM_BATTERY = 2,
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CEL_TELEM_BARO = 3,
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CEL_TELEM_AIRSPEED = 4,
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CEL_TELEM_HEARTBEAT = 5,
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CEL_TELEM_RPM = 6,
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CEL_TELEM_TEMP = 7,
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CEL_TELEM_VOLTAGES = 8,
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CEL_TELEM_ESC = 9,
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CEL_TELEM_LINK = 10,
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CEL_TELEM_ATTITUDE = 11,
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CEL_TELEM_FLIGHT_MODE = 12,
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CEL_TELEM_PARAM = 13,
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CEL_TELEM_UNKNOWN = 14,
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} cel_telem_type;
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/* GPS telemetry */
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typedef struct {
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float latitude_deg;
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float longitude_deg;
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float groundspeed_kmh;
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float heading_deg;
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float altitude_m;
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uint8_t satellites;
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} cel_telem_gps;
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/* Vario (vertical speed) */
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typedef struct {
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int16_t vertical_speed_cms;
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} cel_telem_vario;
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/* Battery sensor */
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typedef struct {
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float voltage_v;
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float current_a;
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uint32_t capacity_mah;
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uint8_t remaining_pct;
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} cel_telem_battery;
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/* Barometric altitude */
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typedef struct {
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float altitude_m;
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int16_t vertical_speed_cms;
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} cel_telem_baro;
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/* Airspeed */
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typedef struct {
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float speed_kmh;
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} cel_telem_airspeed;
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/* Heartbeat */
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typedef struct {
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uint16_t origin_addr;
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} cel_telem_heartbeat;
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/* RPM sensor (up to 8 values) */
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typedef struct {
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uint8_t source;
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int32_t values[8];
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uint8_t count;
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} cel_telem_rpm;
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/* Temperature sensor (up to 8 values, deg C) */
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typedef struct {
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uint8_t source;
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float values[8];
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uint8_t count;
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} cel_telem_temp;
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/* Voltage cells (up to 8 values, volts) */
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typedef struct {
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uint8_t source;
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float values[8];
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uint8_t count;
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} cel_telem_voltages;
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/* ESC telemetry (BLHeli/KISS passthrough) */
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typedef struct {
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float voltage_v;
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float current_a;
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uint16_t consumed_mah;
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uint32_t rpm;
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uint8_t temp_c;
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} cel_telem_esc;
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/* Link statistics */
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typedef struct {
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uint8_t uplink_rssi1;
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uint8_t uplink_rssi2;
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uint8_t uplink_quality;
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int8_t uplink_snr;
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uint8_t active_antenna;
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uint8_t rf_mode;
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uint8_t uplink_power;
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uint8_t downlink_rssi;
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uint8_t downlink_qual;
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int8_t downlink_snr;
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} cel_telem_link;
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/* Attitude (pitch/roll/yaw in radians) */
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typedef struct {
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float pitch_rad;
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float roll_rad;
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float yaw_rad;
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} cel_telem_attitude;
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/* Flight mode string */
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typedef struct {
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char name[32];
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} cel_telem_flight_mode;
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/* Union of all telemetry data types */
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typedef union {
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cel_telem_gps gps;
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cel_telem_vario vario;
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cel_telem_battery battery;
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cel_telem_baro baro;
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cel_telem_airspeed airspeed;
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cel_telem_heartbeat heartbeat;
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cel_telem_rpm rpm;
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cel_telem_temp temp;
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cel_telem_voltages voltages;
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cel_telem_esc esc;
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cel_telem_link link;
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cel_telem_attitude attitude;
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cel_telem_flight_mode flight_mode;
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} cel_telem_data;
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/* Parsed telemetry frame */
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typedef struct {
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cel_telem_type type;
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cel_telem_data data;
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} cel_telemetry;
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/* Parse a CRSF frame's payload into a telemetry struct.
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Returns 0 on success, -1 on unsupported type or bad payload length. */
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int cel_crsf_telemetry_parse(cel_crsf_frame const* frame,
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cel_telemetry* out);
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