st24.h

Go to the documentation of this file.

/****************************************************************************
 *
 *  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.
 *
 ****************************************************************************/

#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
};

enum ST24_DECODE_STATE {
    ST24_DECODE_STATE_UNSYNCED = 0,
    ST24_DECODE_STATE_GOT_STX1,
    ST24_DECODE_STATE_GOT_STX2,
    ST24_DECODE_STATE_GOT_LEN,
    ST24_DECODE_STATE_GOT_TYPE,
    ST24_DECODE_STATE_GOT_DATA
};

#pragma pack(push, 1)
typedef struct {
    uint8_t header1;            
    uint8_t header2;            
    uint8_t length;             
    uint8_t type;               
    uint8_t st24_data[ST24_DATA_LEN_MAX];
    uint8_t crc8;               
} ReceiverFcPacket;

typedef struct {
    uint16_t t;         
    uint8_t rssi;           
    uint8_t lost_count;     
    uint8_t channel[18];        
} ChannelData12;

typedef struct {
    uint16_t t;         
    uint8_t rssi;           
    uint8_t lost_count;     
    uint8_t channel[36];        
} ChannelData24;

typedef struct {
    uint16_t t;         
    int32_t lat;            
    int32_t lon;            
    int32_t alt;            
    int16_t vx, vy, vz;         
    uint8_t nsat;           
    uint8_t voltage;        
    uint8_t current;        
    int16_t roll, pitch, yaw;   
    uint8_t motorStatus;        
    uint8_t imuStatus;      
    uint8_t pressCompassStatus; 
} TelemetryData;

#pragma pack(pop)

uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len);

__EXPORT int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *lost_count, uint16_t *channel_count,
             uint16_t *channels, uint16_t max_chan_count);

__END_DECLS