sl-firmware
0207c29d8c
COMPILE FIXES: 1. battery.c: Added #include <stdbool.h> for bool type 2. main.c: Updated buzzer_play() to buzzer_play_melody(MELODY_STARTUP) 3. main.c: Replaced bno055_active with bno055_is_ready() calls 4. servo.c: Removed duplicate ServoState typedef from .c file 5. ultrasonic.c: Added forward declaration for HAL_TIM_IC_Init_Compat 6. fan.c: Fixed HAL_TIM_PWM_Start to use handle &htim1 instead of register 7. watchdog.c: Created static IWDG_HandleTypeDef and updated refresh call LINKER FIXES: 1. i2c1.h/c: Added i2c1_write() and i2c1_read() function implementations 2. servo.c: servo_tick() already exists (verified) 3. bno055.h/c: Added bno055_calibrated() function 4. main.c: Added imu_calibrated() wrapper for bno055_calibrated() 5. crsf.h/c: Added crsf_is_active() function All 11 errors fixed. Build should now succeed. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
76 lines
2.4 KiB
C
76 lines
2.4 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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/*
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* crsf_is_active(now_ms) — check if CRSF link is active.
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* Returns true if a valid frame was received within the last 100ms.
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*/
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bool crsf_is_active(uint32_t now_ms);
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