crsf.h

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#pragma once

#include <stdint.h>
#include <px4_defines.h>

__BEGIN_DECLS

#define CRSF_FRAME_SIZE_MAX 30 // the actual maximum length is 64, but we're only interested in RC channels and want to minimize buffer size
#define CRSF_PAYLOAD_SIZE_MAX (CRSF_FRAME_SIZE_MAX-4)


struct crsf_frame_header_t {
    uint8_t device_address;             
    uint8_t length;                     
};

struct crsf_frame_t {
    crsf_frame_header_t header;
    uint8_t type;                       
    uint8_t payload[CRSF_PAYLOAD_SIZE_MAX + 1]; 
};

__EXPORT int    crsf_config(int uart_fd);


__EXPORT bool   crsf_parse(const uint64_t now, const uint8_t *frame, unsigned len, uint16_t *values,
               uint16_t *num_values, uint16_t max_channels);


__EXPORT bool crsf_send_telemetry_battery(int uart_fd, uint16_t voltage, uint16_t current, int fuel, uint8_t remaining);

__EXPORT bool crsf_send_telemetry_gps(int uart_fd, int32_t latitude, int32_t longitude, uint16_t groundspeed,
                      uint16_t gps_heading, uint16_t altitude, uint8_t num_satellites);


__EXPORT bool crsf_send_telemetry_attitude(int uart_fd, int16_t pitch, int16_t roll, int16_t yaw);

__EXPORT bool crsf_send_telemetry_flight_mode(int uart_fd, const char *flight_mode);

__END_DECLS