ghst.hpp
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/****************************************************************************
*
* Copyright (c) 2021 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 ghst.h
*
* RC protocol definition for IRC Ghost (Immersion RC Ghost).
*
* @author Igor Misic <igy1000mb@gmail.com>
* @author Juraj Ciberlin <jciberlin1@gmail.com>
*/
#pragma once
#include <stdint.h>
#include <px4_platform_common/defines.h>
__BEGIN_DECLS
#define GHST_BAUDRATE (420000u)
#define GHST_PAYLOAD_MAX_SIZE (14u)
enum class ghstAddress {
rxAddress = 0x89 // Rx address
};
enum class ghstFrameType {
frameTypeFirst = 0x10, // first frame type
frameType5to8 = 0x10, // channel 5-8
frameType9to12 = 0x11, // channel 9-12
frameType13to16 = 0x12, // channel 13-16
frameTypeRssi = 0x13, // RSSI frame type, contains LQ, RSSI, RF mode, Tx power
frameTypeLast = 0x1f // last frame type
};
enum class ghstTelemetryType {
batteryPack = 0x23 // battery pack status frame type
};
struct ghst_frame_header_t {
uint8_t device_address; // device address
uint8_t length; // length
};
struct ghst_frame_t {
ghst_frame_header_t header; // header
uint8_t type; // frame type
uint8_t payload[GHST_PAYLOAD_MAX_SIZE + 1U]; // payload data including 1 byte CRC at the end
};
// Channel data (1-4)
typedef struct {
unsigned int chan1: 12;
unsigned int chan2: 12;
unsigned int chan3: 12;
unsigned int chan4: 12;
} __attribute__((__packed__)) ghstChannelData_t;
// Payload data
typedef struct {
ghstChannelData_t chan1to4;
unsigned int chanA: 8;
unsigned int chanB: 8;
unsigned int chanC: 8;
unsigned int chanD: 8;
} __attribute__((__packed__)) ghstPayloadData_t;
// Payload data - RSSI frame type
typedef struct {
ghstChannelData_t chan1to4;
unsigned int lq: 8; // link quality
unsigned int rssidBm: 8; // RSSI [dBm]
unsigned int rfMode: 8; // RF mode
int txPowerdBm: 8; // Tx power [dBm]
} __attribute__((__packed__)) ghstPayloadRssi_t;
/**
* Configure an UART port to be used for GHST
* @param uart_fd UART file descriptor
* @return 0 on success, -errno otherwise
*/
__EXPORT int ghst_config(int uart_fd);
/**
* Parse the GHST protocol and extract RC channel data.
*
* @param now current time
* @param frame data to parse
* @param len length of frame
* @param values output channel values
* @param rssi received signal strength indicator
* @param num_values set to the number of parsed channels in values
* @param max_channels maximum length of values
* @return true if channels successfully decoded
*/
__EXPORT bool ghst_parse(const uint64_t now, const uint8_t *frame, unsigned len, uint16_t *values,
int8_t *rssi, uint16_t *num_values, uint16_t max_channels);
/**
* Send telemetry battery information
* @param uart_fd UART file descriptor
* @param voltage_in_10mV Voltage [10 mV]
* @param current_in_10mA Current [10 mA]
* @param fuel_in_10mAh Fuel [10 mAh]
* @return true on success
*/
__EXPORT bool ghst_send_telemetry_battery_status(int uart_fd, uint16_t voltage_in_10mV,
uint16_t current_in_10mA, uint16_t fuel_in_10mAh);
__END_DECLS