mirror of
https://github.com/ArduPilot/ardupilot.git
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8ee5638839
Add AP_CRSF_Protocol class with shared enums and structures that will be used by both AP_RCProtocol_CRSF and AP_CRSF_Telem. Includes: - FrameType, CommandID, DeviceAddress, CommandGeneral, CommandVTX, CommandRX, CustomTelemSubTypeID, ProtocolType enums - Frame, SubsetChannelsFrame, LinkStatisticsTXFrame structs - HeartbeatFrame, CommandFrame, ParameterPingFrame, ParameterDeviceInfoFrame structs - CRSF_MAX_CHANNELS, CRSF_FRAMELEN_MAX, CRSF_HEADER_LEN, CRSF_FRAME_PAYLOAD_MAX defines - get_frame_type() debug helper method
78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_CRSF_Protocol.h"
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#if AP_CRSF_ENABLED
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// get printable name for frame type (for debug)
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const char* AP_CRSF_Protocol::get_frame_type(uint8_t byte, uint8_t subtype)
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{
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switch (byte) {
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case CRSF_FRAMETYPE_GPS:
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return "GPS";
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case CRSF_FRAMETYPE_BATTERY_SENSOR:
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return "BATTERY";
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case CRSF_FRAMETYPE_HEARTBEAT:
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return "HEARTBEAT";
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case CRSF_FRAMETYPE_VTX:
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return "VTX";
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case CRSF_FRAMETYPE_VTX_TELEM:
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return "VTX_TELEM";
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case CRSF_FRAMETYPE_PARAM_DEVICE_PING:
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return "PING";
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case CRSF_FRAMETYPE_COMMAND:
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return "COMMAND";
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case CRSF_FRAMETYPE_ATTITUDE:
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return "ATTITUDE";
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case CRSF_FRAMETYPE_FLIGHT_MODE:
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return "FLIGHT_MODE";
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case CRSF_FRAMETYPE_PARAM_DEVICE_INFO:
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return "DEVICE_INFO";
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case CRSF_FRAMETYPE_PARAMETER_READ:
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return "PARAM_READ";
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case CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY:
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return "SETTINGS_ENTRY";
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case CRSF_FRAMETYPE_LINK_STATISTICS:
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return "LINK_STATS";
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case CRSF_FRAMETYPE_RC_CHANNELS_PACKED:
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return "RC";
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case CRSF_FRAMETYPE_SUBSET_RC_CHANNELS_PACKED:
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return "RCv3";
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case CRSF_FRAMETYPE_RC_CHANNELS_PACKED_11BIT:
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return "RCv3_11BIT";
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case CRSF_FRAMETYPE_LINK_STATISTICS_RX:
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return "LINK_STATSv3_RX";
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case CRSF_FRAMETYPE_LINK_STATISTICS_TX:
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return "LINK_STATSv3_TX";
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case CRSF_FRAMETYPE_PARAMETER_WRITE:
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return "PARAM_WRITE";
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case CRSF_FRAMETYPE_AP_CUSTOM_TELEM_LEGACY:
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case CRSF_FRAMETYPE_AP_CUSTOM_TELEM:
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switch (subtype) {
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case CRSF_AP_CUSTOM_TELEM_SINGLE_PACKET_PASSTHROUGH:
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return "AP_CUSTOM_SINGLE";
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case CRSF_AP_CUSTOM_TELEM_STATUS_TEXT:
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return "AP_CUSTOM_TEXT";
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case CRSF_AP_CUSTOM_TELEM_MULTI_PACKET_PASSTHROUGH:
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return "AP_CUSTOM_MULTI";
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}
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return "AP_CUSTOM";
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}
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return "UNKNOWN";
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}
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#endif // AP_CRSF_ENABLED
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