sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. 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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* capacity_mah : remaining battery capacity in mAh (Issue #325, coulomb counter)
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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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* capacity unit: mAh (3-byte big-endian, max 16.7M mAh)
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*/
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void crsf_send_battery(uint32_t voltage_mv, uint32_t capacity_mah,
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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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