dsm.h
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/****************************************************************************
*
* Copyright (c) 2012-2021 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 dsm.h
*
* RC protocol definition for Spektrum RC
*
* @author Lorenz Meier <lorenz@px4.io>
*/
#pragma once
#include <stdint.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
__BEGIN_DECLS
#define DSM_FRAME_SIZE 16 /**< DSM frame size in bytes */
#define DSM_FRAME_CHANNELS 7 /**< Max supported DSM channels per frame */
#define DSM_MAX_CHANNEL_COUNT 18 /**< Max channel count of any DSM RC */
#define DSM_BUFFER_SIZE (DSM_FRAME_SIZE + DSM_FRAME_SIZE / 2)
#pragma pack(push, 1)
typedef uint8_t dsm_frame_t[DSM_BUFFER_SIZE]; /**< DSM dsm frame receive buffer */
typedef uint8_t dsm_buf_t[DSM_FRAME_SIZE * 2]; // Define working buffer
typedef struct dsm_decode_t {
dsm_frame_t frame;
dsm_buf_t buf;
} dsm_decode_t;
#pragma pack(pop)
__EXPORT int dsm_init(const char *device);
__EXPORT void dsm_deinit(void);
__EXPORT void dsm_proto_init(void);
__EXPORT int dsm_config(int dsm_fd);
__EXPORT bool dsm_input(int dsm_fd, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, uint8_t *n_bytes,
uint8_t **bytes, int8_t *rssi, unsigned *frame_drops, unsigned max_values);
__EXPORT bool dsm_parse(const uint64_t now, const uint8_t *frame, const unsigned len, uint16_t *values,
uint16_t *num_values, bool *dsm_11_bit, unsigned *frame_drops, int8_t *rssi_percent, uint16_t max_channels);
#ifdef SPEKTRUM_POWER
__EXPORT void dsm_bind(uint16_t cmd, int pulses);
#endif
enum DSM_CMD { /* DSM bind states */
DSM_CMD_BIND_POWER_DOWN = 0,
DSM_CMD_BIND_POWER_UP,
DSM_CMD_BIND_SET_RX_OUT,
DSM_CMD_BIND_SEND_PULSES,
DSM_CMD_BIND_REINIT_UART
};
#define DSM2_BIND_PULSES 3 /* DSM_BIND_START parameter, pulses required to start pairing DSM2 22ms */
#define DSMX_BIND_PULSES 7 /* DSM_BIND_START parameter, pulses required to start pairing DSMx 22ms */
#define DSMX8_BIND_PULSES 9 /* DSM_BIND_START parameter, pulses required to start pairing DSMx 11ms */
__END_DECLS