// Vector Open Telemetry Revision 0
// NOTES:
// 1) UART protocol is 8N1 (8 bits, no parity bit, 1 stop bit), 57600 baud, 3.3V input/outputs levels (input is NOT 5V tolerant!)
// 2) all fields BIG-ENDIAN byte order
// 3) The VECTOR_OPEN_TELEMETRY packet is sent as frequently as every 80mS, but timing will vary considerably
// 4) To enable telemetry output on the Vector's UART port, select the "Open Telm" option
//    for the "Configure the UART port for" stick menu item, under the ""EagleEyes and Telemetry" OSD menu

// Vector UART Pinout (using standard Vector "BUS" cable colors):
// Yellow: RX (Receive data TO the Vector - note that this connection is not needed)
// Orange: TX (Transmit data FROM the Vector)
// Black: Ground
// Red: 5V Out, 150mA max (from Vector PSU or backup power input - do not exceed 1A total load on Vector PSU! Don't connect this wire unless the device receiving the telemetry requires power from the Vector)
// IMPORTANT: NEVER connect the telemetry cable to any Vector port other than UART!  Doing so can damage your equipment!

/*THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION. NO WARRANTIES,
 * WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT NOT LIMITED
 * TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
 * PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE COMPANY SHALL NOT,
 * IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL OR
 * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
 */

#ifndef _TELEMETRY_PUBLIC
#define _TELEMETRY_PUBLIC

#pragma pack(push, 1) // force byte alignment

#define VECTOR_OPEN_TELEMETRY_REVISION 0
#define VECTOR_TELEMETRY_PACKET_START_CODE  0xB01EDEAD
#define VTELEM_CRC_INIT 0xFFFF

typedef enum {
	VECTOR_FLIGHT_MODE_2D,
	VECTOR_FLIGHT_MODE_2D_ALT_HOLD,
	VECTOR_FLIGHT_MODE_2D_HEADING_HOLD,
	VECTOR_FLIGHT_MODE_2D_ALT_HEADING_HOLD,
	VECTOR_FLIGHT_MODE_LOITER,
	VECTOR_FLIGHT_MODE_3D,
	VECTOR_FLIGHT_MODE_3D_HEADING_HOLD,
	VECTOR_FLIGHT_MODE_RTH,
	VECTOR_FLIGHT_MODE_LAND,
	VECTOR_FLIGHT_MODE_CARTESIAN,
	VECTOR_FLIGHT_MODE_CARTESIAN_LOITER,
	VECTOR_FLIGHT_MODE_POLAR,
	VECTOR_FLIGHT_MODE_POLAR_LOITER,
	VECTOR_FLIGHT_MODE_CENTER_STICK,
	VECTOR_FLIGHT_MODE_OFF,
	VECTOR_FLIGHT_MODE_WAYPOINT,
	VECTOR_FLIGHT_MODE_MAX
} VECTOR_FLIGHT_MODES;

typedef struct {
	int32 LatitudeX1E7; // ( degree * 10,000,000 )
	int32 LongitudeX1E7; // (degree * 10,000,000 )
	UINT32 DistanceFromHomeMX10; // horizontal GPS distance from home point, in meters X 10 (decimeters)
	UINT16 GroundspeedKPHX10; // ( km/h * 10 )
	UINT16 CourseDegrees; // GPS course over ground, in degrees
	int32 GPSAltitudecm; // ( GPS altitude, using WGS-84 ellipsoid, cm)
	UINT8 HDOPx10; // GPS HDOP * 10
	UINT8 SatsInUse; // satellites used for navigation
} VECTOR_GPS_TELEMETRY;

typedef struct {
    INT16 PitchDegrees;
    INT16 RollDegrees;
    INT16 YawDegrees;
} VECTOR_ATTITUDE;

typedef struct {
	INT16 AccelXCentiGrav;
	INT16 AccelYCentiGrav;
	INT16 AccelZCentiGrav;
} VECTOR_ACCELERATION;

typedef struct
{
	int32 BaroAltitudecm;  // zero referenced (from home position) barometric altitude in cm
	UINT16 AirspeedKPHX10; // KPH * 10, requires optional pitot sensor
	INT16 ClimbRateMSX100; // meters/second * 100
	UINT16 RPM; // requires optional RPM sensor
	VECTOR_ATTITUDE Attitude;
	VECTOR_ACCELERATION Acceleration;
	UINT16 PackVoltageX100;
	UINT16 VideoTxVoltageX100;
	UINT16 CameraVoltageX100;
	UINT16 RxVoltageX100;
	UINT16 PackCurrentX10;
	INT16 TempDegreesCX10; // degrees C * 10, from optional temperature sensor
	UINT16 mAHConsumed;
	UINT16 CompassDegrees; // either magnetic compass reading (if compass enabled) or filtered GPS course over ground if not
	UINT8 RSSIPercent;
	UINT8 LQPercent;
} VECTOR_SENSOR_TELEMETRY;

typedef struct
{
	UINT32 StartCode;
	UINT32 TimestampMS;	 // timestamp in milliseconds
	VECTOR_SENSOR_TELEMETRY SensorTelemetry;
	VECTOR_GPS_TELEMETRY GPSTelemetry;
	UINT8 PresentFlightMode; // present flight mode, as defined in VECTOR_FLIGHT_MODES
	UINT8 RFU[24];		 // reserved for future use
	UINT16 CRC;
} VECTOR_OPEN_TELEMETRY;

/*

// sample code for calculating the CRC
//
// OpenTelem.CRC == CalculateCRC((UINT8 *)&OpenTelem, offsetof(VECTOR_OPEN_TELEMETRY, CRC), VTELEM_CRC_INIT);

UINT16 CRC16Worker(UINT16 icrc, UINT8 r0)
{
	union {
		UINT16 crc16; // 16-bit CRC
		struct {
			UINT8 crcl, crch;
		} s;
	} u;

	UINT8 a1;    // scratch byte

	u.crc16 = icrc;

	r0 = r0 ^ u.s.crch;
	a1 = u.s.crcl;
	u.s.crch = r0;
	u.s.crch = (u.s.crch << 4) | (u.s.crch >> 4);
	u.s.crcl = u.s.crch ^ r0;
	u.crc16 &= 0x0ff0;
	r0 ^= u.s.crch;
	a1 ^= u.s.crcl;
	u.crc16 <<= 1;
	u.s.crcl ^= r0;
	u.s.crch ^= a1;

	return (u.crc16);
}

UINT16 CalculateCRC(UINT8 * pPacket, UINT8 Size, UINT16 InitCRC)
{
	UINT16 i;
	UINT16 CRC;

	CRC = InitCRC;

	for (i = 0; i < Size; i++) {

		CRC = CRC16Worker(CRC, pPacket[i]);
	}

	return CRC;
}

*/

#pragma pack(pop)
#endif // _TELEMETRY_PUBLIC