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ltm.h
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ltm.h
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/*
* ltm.h
*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
typedef enum {
LTM_FRAME_START = 0,
LTM_AFRAME = LTM_FRAME_START, // Attitude Frame
LTM_SFRAME, // Status Frame
#if defined(GPS)
LTM_GFRAME, // GPS Frame
LTM_OFRAME, // Origin Frame
LTM_XFRAME, // Extended information data frame
#endif
#if defined(NAV)
LTM_NFRAME, // Navigation Frame (inav extension)
#endif
LTM_FRAME_COUNT
} ltm_frame_e;
// payload size does not include the '$T' header, the frame type byte or the checksum byte
#define LTM_GFRAME_PAYLOAD_SIZE 14
#define LTM_AFRAME_PAYLOAD_SIZE 6
#define LTM_SFRAME_PAYLOAD_SIZE 7
#define LTM_OFRAME_PAYLOAD_SIZE 14
#define LTM_NFRAME_PAYLOAD_SIZE 6
#define LTM_XFRAME_PAYLOAD_SIZE 6
#define LTM_MAX_PAYLOAD_SIZE 14
#define LTM_MAX_MESSAGE_SIZE (LTM_MAX_PAYLOAD_SIZE+4)
void initLtmTelemetry(void);
void handleLtmTelemetry(void);
void checkLtmTelemetryState(void);
void freeLtmTelemetryPort(void);
void configureLtmTelemetryPort(void);
int getLtmFrame(uint8_t *frame, ltm_frame_e ltmFrameType);