5d6f646a5e
terseCRSF vendorizzata: rimosse initialise/sbus_initialise/readCrsfFrame/ decodeRC/printPWM/prepSBUS/bytesToPWM/pwmToBytes/sendSBUS e i membri/buffer SBUS-PWM (sb_bytes, pwm_val, crsf_port, sbus_port, RC_BUILD/SBUS machinery). Usiamo solo decodeTelemetry: mantenuti i decoder + helper (bytes2*, wrap360, crc8_dvb_s2[_sbuf_accum] usata dalla patch CRC, printByte/printBytes). ~283 righe in meno, nessun riferimento pendente (verificato con grep su 01/02/03). EspNowCrsf: rimosso sendRaw() e il peer broadcast in begin() (uplink sperimentale morto, il backpack e' downlink-only). Ora RX-only pulito. main.cpp: commento "MAVLink v1" -> "v2" (la lib emette v2). DA VERIFICARE A BANCO con un build (qui non compilabile). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
93 lines
2.6 KiB
C++
93 lines
2.6 KiB
C++
#include "EspNowCrsf.h"
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#include <WiFi.h>
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#include <esp_wifi.h>
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#include <esp_now.h>
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namespace EspNowCrsf {
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// ---- Ring buffer dei frame CRSF ----------------------------
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static const uint8_t RING_SLOTS = 8;
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static const uint16_t SLOT_SIZE = 64;
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struct Slot { uint8_t data[SLOT_SIZE]; uint16_t len; };
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static Slot ring[RING_SLOTS];
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static volatile uint8_t head = 0; // scritto dalla callback
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static volatile uint8_t tail = 0; // letto dal loop
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static portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
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static volatile uint32_t s_received = 0;
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static volatile uint32_t s_dropped = 0;
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static uint8_t s_uid[6];
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// ---- Callback ricezione (firma arduino-esp32 core 2.x) -----
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static void onRecv(const uint8_t* mac, const uint8_t* in, int len) {
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if (len <= 8 || in == nullptr) return;
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// keep-alive: type/payload a zero subito dopo l'header di 8 byte
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// (len > 9 prima degli accessi: con len==9 leggere in[9] sarebbe OOB)
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if (len > 9 && in[8] == 0 && in[9] == 0) return;
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uint16_t crsfLen = len - 8;
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if (crsfLen > SLOT_SIZE) crsfLen = SLOT_SIZE;
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portENTER_CRITICAL_ISR(&mux);
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uint8_t next = (head + 1) % RING_SLOTS;
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if (next == tail) { // pieno -> scarta il piu' vecchio
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tail = (tail + 1) % RING_SLOTS;
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s_dropped++;
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}
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memcpy(ring[head].data, in + 8, crsfLen);
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ring[head].len = crsfLen;
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head = next;
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s_received++;
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portEXIT_CRITICAL_ISR(&mux);
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}
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void begin(const uint8_t uid[6]) {
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memcpy(s_uid, uid, 6);
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s_uid[0] &= ~0x01; // MAC unicast
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WiFi.mode(WIFI_STA);
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WiFi.disconnect();
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esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B);
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esp_wifi_set_mac(WIFI_IF_STA, s_uid);
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esp_wifi_start();
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esp_wifi_set_channel(1, WIFI_SECOND_CHAN_NONE);
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if (esp_now_init() != ESP_OK) return;
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esp_now_register_recv_cb(onRecv);
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}
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bool poll(uint8_t* out, uint16_t* outLen, uint16_t maxLen) {
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bool got = false;
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portENTER_CRITICAL(&mux);
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if (tail != head) {
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uint16_t n = ring[tail].len;
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if (n > maxLen) n = maxLen;
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memcpy(out, ring[tail].data, n);
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*outLen = n;
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tail = (tail + 1) % RING_SLOTS;
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got = true;
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}
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portEXIT_CRITICAL(&mux);
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return got;
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}
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uint32_t framesReceived() { return s_received; }
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uint32_t framesDropped() { return s_dropped; }
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#ifdef UNIT_TEST
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void test_injectRaw(const uint8_t* data, uint16_t len) { onRecv(nullptr, data, len); }
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void test_reset() {
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portENTER_CRITICAL(&mux);
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head = 0;
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tail = 0;
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s_received = 0;
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s_dropped = 0;
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portEXIT_CRITICAL(&mux);
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}
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#endif
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} // namespace EspNowCrsf
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