sl-firmware
00c97bd902
## Summary - config.h: CH1[0]=steer, CH2[1]=throttle (was CH4/CH3); CRSF_FAILSAFE_MS→500ms - include/battery.h + src/battery.c: ADC3 Vbat reading on PC1 (11:1 divider) battery_read_mv(), battery_estimate_pct() for 3S/4S auto-detection - include/crsf.h + src/crsf.c: CRSF telemetry TX uplink crsf_send_battery() — type 0x08, voltage/current/SoC to ELRS TX module crsf_send_flight_mode() — type 0x21, "ARMED\0"/"DISARM\0" for handset OSD - src/main.c: battery_init() after crsf_init(); 1Hz telemetry tick calls crsf_send_battery(vbat_mv, 0, soc_pct) + crsf_send_flight_mode(armed) - test/test_crsf_frames.py: 28 pytest tests — CRC8-DVB-S2, battery frame layout/encoding, flight-mode frame, battery_estimate_pct SoC math Existing (already complete from crsf-elrs branch): CRSF frame decoder UART4 420000 baud DMA circular + IDLE interrupt Mode manager: RC↔autonomous blend, CH6 3-pos switch, 500ms smooth transition Failsafe in main.c: disarm if crsf_state.last_rx_ms stale > CRSF_FAILSAFE_MS CH5 arm switch with ARMING_HOLD_MS interlock + edge detection RC override: mode_manager blends steer/speed per mode (CH6) Closes #103 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
70 lines
2.3 KiB
C
70 lines
2.3 KiB
C
#ifndef CRSF_H
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#define CRSF_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* CRSF/ExpressLRS RC receiver state.
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*
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* Updated from ISR context on every valid frame.
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* Read from main loop — values are naturally atomic (8/16-bit on Cortex-M).
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* last_rx_ms == 0 means no frame received yet (USB-only mode).
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*/
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typedef struct {
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uint16_t channels[16]; /* Raw CRSF values, 172 (988µs) – 1811 (2012µs) */
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uint32_t last_rx_ms; /* HAL_GetTick() at last valid RC frame */
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bool armed; /* CH5 arm switch: true when channels[4] > CRSF_ARM_THRESHOLD */
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/* Link statistics (from 0x14 frames, optional) */
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int8_t rssi_dbm; /* Uplink RSSI in dBm (negative, e.g. -85) */
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uint8_t link_quality; /* Uplink link quality 0–100 % */
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int8_t snr; /* Uplink SNR in dB */
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} CRSFState;
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/*
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* crsf_init() — configure UART4 (PA0=TX, PA1=RX) at 420000 baud with
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* DMA1 circular RX and IDLE interrupt. Call once before safety_init().
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*/
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void crsf_init(void);
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/*
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* crsf_parse_byte() — feed one byte into the frame parser.
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* Called automatically from DMA/IDLE ISR. Available for unit tests.
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*/
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void crsf_parse_byte(uint8_t byte);
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/*
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* crsf_to_range() — map raw CRSF value (172–1811) linearly to [min, max].
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* Clamps at boundaries. Midpoint 992 → (min+max)/2.
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*/
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int16_t crsf_to_range(uint16_t val, int16_t min, int16_t max);
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/*
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* crsf_send_battery() — transmit CRSF battery-sensor telemetry frame (type 0x08)
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* back to the ELRS TX module over UART4 TX. Call at CRSF_TELEMETRY_HZ (1 Hz).
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*
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* voltage_mv : battery voltage in millivolts (e.g. 12600 for 3S full)
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* current_ma : current draw in milliamps (0 if no sensor)
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* remaining_pct: state-of-charge 0–100 % (255 = unknown)
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*
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* Frame: [0xC8][12][0x08][v16_hi][v16_lo][c16_hi][c16_lo][cap24×3][rem][CRC]
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* voltage unit: 100 mV (12600 mV → 126)
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* current unit: 100 mA
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*/
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void crsf_send_battery(uint32_t voltage_mv, uint32_t current_ma,
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uint8_t remaining_pct);
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/*
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* crsf_send_flight_mode() — transmit CRSF flight-mode frame (type 0x21)
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* for display on the pilot's handset OSD.
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*
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* armed: true → "ARMED\0"
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* false → "DISARM\0"
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*/
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void crsf_send_flight_mode(bool armed);
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extern volatile CRSFState crsf_state;
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#endif /* CRSF_H */
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