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Merge pull request #485 from paparazzi/sbus

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Sbus radio control driver
This commit is contained in:
Gautier Hattenberger
2013-07-23 12:57:20 -07:00
parent 4255275be3 72a8f1715a
commit 0195cecb91
11 changed files with 470 additions and 20 deletions
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conf/airframes/ENAC/fixed-wing/apogee.xml
+3 -3
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@@ -23,10 +23,10 @@
<define name="USE_GYRO_PITCH_RATE"/>
<target name="sim" board="pc"/>
<target name="ap" board="apogee_0.99"/>
<configure name="FLASH_MODE" value="SWD"/>
<target name="ap" board="apogee_1.0"/>
<!--configure name="FLASH_MODE" value="SWD"/-->
<subsystem name="radio_control" type="ppm"/>
<subsystem name="radio_control" type="sbus"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
conf/firmwares/subsystems/shared/radio_control_sbus.makefile
+20
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@@ -0,0 +1,20 @@
#
# Makefile for shared radio_control SBUS subsystem
#
$(TARGET).CFLAGS += -DRADIO_CONTROL
ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
# convert SBUS_PORT to upper and lower case strings:
SBUS_PORT_UPPER=$(shell echo $(SBUS_PORT) | tr a-z A-Z)
SBUS_PORT_LOWER=$(shell echo $(SBUS_PORT) | tr A-Z a-z)
$(TARGET).CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
$(TARGET).CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus.c
conf/radios/T10CG_SBUS.xml
+55
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@@ -0,0 +1,55 @@
<?xml version="1.0"?>
<!-- $Id$
--
-- (c) 2013 Gautier Hattenberger
--
-- This file is part of paparazzi.
--
-- paparazzi 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 2, or (at your option)
-- any later version.
--
-- paparazzi 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 paparazzi; see the file COPYING. If not, write to
-- the Free Software Foundation, 59 Temple Place - Suite 330,
-- Boston, MA 02111-1307, USA.
-->
<!--
-- Attributes of root (Radio) tag :
-- name: name of RC
-- data_min: min width of a pulse to be considered as a data pulse
-- data_max: max width of a pulse to be considered as a data pulse
-- sync_min: min width of a pulse to be considered as a synchro pulse
-- sync_max: max width of a pulse to be considered as a synchro pulse
-- pulse_type: POSITIVE ( Futaba and others) | NEGATIVE (JR)
-- min, max and sync are expressed in micro-seconds
-->
<!--
-- Attributes of channel tag :
-- ctl: name of the command on the transmitter - only for displaying
-- function: logical command
-- average: (boolean) channel filtered through several frames (for discrete commands)
-- min: minimum pulse length (micro-seconds)
-- max: maximum pulse length (micro-seconds)
-- neutral: neutral pulse length (micro-seconds)
-- Note: a command may be reversed by exchanging min and max values
-->
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="Futaba T10CG with SBUS" data_min="900" data_max="2100" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE">
<channel ctl="A" function="ROLL" min="363" neutral="1024" max="1683" average="0"/>
<channel ctl="B" function="PITCH" min="363" neutral="1024" max="1683" average="0"/>
<channel ctl="C" function="THROTTLE" min="1683" neutral="1683" max="363" average="0"/>
<channel ctl="D" function="YAW" min="363" neutral="1024" max="1683" average="0"/>
<channel ctl="E" function="MODE" max="137" neutral="1024" min="1908" average="1"/>
<channel ctl="F" function="GAIN1" min="137" neutral="1024" max="1908" average="0"/>
<channel ctl="G" function="GAIN2" min="137" neutral="1024" max="1908" average="0"/>
</radio>
sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
+4
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@@ -68,6 +68,10 @@ void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
uart_enable_interrupts(p);
}
void uart_periph_set_bits_stop_parity(struct uart_periph* p, uint8_t __attribute__((unused)) bits, uint8_t __attribute__((unused)) stop, uint8_t __attribute__((unused)) parity) {
// TBD
}
void uart_transmit(struct uart_periph* p, uint8_t data ) {
uint16_t temp;
unsigned cpsr;
sw/airborne/arch/stm32/mcu_periph/uart_arch.c
+107 -6
View File
@@ -41,11 +41,8 @@
void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
/* Configure USART */
/* Configure USART baudrate */
usart_set_baudrate((uint32_t)p->reg_addr, baud);
usart_set_databits((uint32_t)p->reg_addr, 8);
usart_set_stopbits((uint32_t)p->reg_addr, USART_STOPBITS_1);
usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_NONE);
/* Disable Idle Line interrupt */
USART_CR1((uint32_t)p->reg_addr) &= ~USART_CR1_IDLEIE;
@@ -61,6 +58,33 @@ void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
}
void uart_periph_set_bits_stop_parity(struct uart_periph* p, uint8_t bits, uint8_t stop, uint8_t parity) {
/* Configure USART parity and data bits */
if (parity == UPARITY_EVEN) {
usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_EVEN);
if (bits == UBITS_7)
usart_set_databits((uint32_t)p->reg_addr, 8);
else // 8 data bits by default
usart_set_databits((uint32_t)p->reg_addr, 9);
}
else if (parity == USART_PARITY_ODD) {
usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_ODD);
if (bits == UBITS_7)
usart_set_databits((uint32_t)p->reg_addr, 8);
else // 8 data bits by default
usart_set_databits((uint32_t)p->reg_addr, 9);
}
else { // 8 data bist, NO_PARITY by default
usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_NONE);
usart_set_databits((uint32_t)p->reg_addr, 8); // is 7bits without parity possible ?
}
/* Configure USART stop bits */
if (stop == USTOP_2)
usart_set_stopbits((uint32_t)p->reg_addr, USART_STOPBITS_2);
else // 1 stop bit by default
usart_set_stopbits((uint32_t)p->reg_addr, USART_STOPBITS_1);
}
void uart_periph_set_mode(struct uart_periph* p, bool_t tx_enabled, bool_t rx_enabled, bool_t hw_flow_control) {
uint32_t mode = 0;
if (tx_enabled)
@@ -173,6 +197,18 @@ static inline void usart_enable_irq(uint8_t IRQn) {
#define UART1_HW_FLOW_CONTROL FALSE
#endif
#ifndef UART1_BITS
#define UART1_BITS UBITS_8
#endif
#ifndef UART1_STOP
#define UART1_STOP USTOP_1
#endif
#ifndef UART1_PARITY
#define UART1_PARITY UPARITY_NO
#endif
void uart1_init( void ) {
uart_periph_init(&uart1);
@@ -201,7 +237,8 @@ void uart1_init( void ) {
/* Configure USART1, enable hardware flow control*/
uart_periph_set_mode(&uart1, USE_UART1_TX, USE_UART1_RX, UART1_HW_FLOW_CONTROL);
/* Set USART1 baudrate and enable interrupt */
/* Set USART1 parameters and enable interrupt */
uart_periph_set_bits_stop_parity(&uart1, UART1_BITS, UART1_STOP, UART1_PARITY);
uart_periph_set_baudrate(&uart1, UART1_BAUD);
}
@@ -224,6 +261,18 @@ void usart1_isr(void) { usart_isr(&uart1); }
#define UART2_HW_FLOW_CONTROL FALSE
#endif
#ifndef UART2_BITS
#define UART2_BITS UBITS_8
#endif
#ifndef UART2_STOP
#define UART2_STOP USTOP_1
#endif
#ifndef UART2_PARITY
#define UART2_PARITY UPARITY_NO
#endif
void uart2_init( void ) {
uart_periph_init(&uart2);
@@ -253,6 +302,7 @@ void uart2_init( void ) {
uart_periph_set_mode(&uart2, USE_UART2_TX, USE_UART2_RX, UART2_HW_FLOW_CONTROL);
/* Configure USART */
uart_periph_set_bits_stop_parity(&uart2, UART2_BITS, UART2_STOP, UART2_PARITY);
uart_periph_set_baudrate(&uart2, UART2_BAUD);
}
@@ -275,6 +325,18 @@ void usart2_isr(void) { usart_isr(&uart2); }
#define UART3_HW_FLOW_CONTROL FALSE
#endif
#ifndef UART3_BITS
#define UART3_BITS UBITS_8
#endif
#ifndef UART3_STOP
#define UART3_STOP USTOP_1
#endif
#ifndef UART3_PARITY
#define UART3_PARITY UPARITY_NO
#endif
void uart3_init( void ) {
uart_periph_init(&uart3);
@@ -304,6 +366,7 @@ void uart3_init( void ) {
uart_periph_set_mode(&uart3, USE_UART3_TX, USE_UART3_RX, UART3_HW_FLOW_CONTROL);
/* Configure USART */
uart_periph_set_bits_stop_parity(&uart3, UART3_BITS, UART3_STOP, UART3_PARITY);
uart_periph_set_baudrate(&uart3, UART3_BAUD);
}
@@ -322,6 +385,18 @@ void usart3_isr(void) { usart_isr(&uart3); }
#define USE_UART4_RX TRUE
#endif
#ifndef UART4_BITS
#define UART4_BITS UBITS_8
#endif
#ifndef UART4_STOP
#define UART4_STOP USTOP_1
#endif
#ifndef UART4_PARITY
#define UART4_PARITY UPARITY_NO
#endif
void uart4_init( void ) {
uart_periph_init(&uart4);
@@ -342,6 +417,7 @@ void uart4_init( void ) {
/* Configure USART */
uart_periph_set_mode(&uart4, USE_UART4_TX, USE_UART4_RX, FALSE);
uart_periph_set_bits_stop_parity(&uart4, UART4_BITS, UART4_STOP, UART4_PARITY);
uart_periph_set_baudrate(&uart4, UART4_BAUD);
}
@@ -360,6 +436,18 @@ void uart4_isr(void) { usart_isr(&uart4); }
#define USE_UART5_RX TRUE
#endif
#ifndef UART5_BITS
#define UART5_BITS UBITS_8
#endif
#ifndef UART5_STOP
#define UART5_STOP USTOP_1
#endif
#ifndef UART5_PARITY
#define UART5_PARITY UPARITY_NO
#endif
void uart5_init( void ) {
uart_periph_init(&uart5);
@@ -380,6 +468,7 @@ void uart5_init( void ) {
/* Configure USART */
uart_periph_set_mode(&uart5, USE_UART5_TX, USE_UART5_RX, FALSE);
uart_periph_set_bits_stop_parity(&uart5, UART5_BITS, UART5_STOP, UART5_PARITY);
uart_periph_set_baudrate(&uart5, UART5_BAUD);
}
@@ -402,6 +491,18 @@ void uart5_isr(void) { usart_isr(&uart5); }
#define UART6_HW_FLOW_CONTROL FALSE
#endif
#ifndef UART6_BITS
#define UART6_BITS UBITS_8
#endif
#ifndef UART6_STOP
#define UART6_STOP USTOP_1
#endif
#ifndef UART6_PARITY
#define UART6_PARITY UPARITY_NO
#endif
void uart6_init( void ) {
uart_periph_init(&uart6);
@@ -430,7 +531,7 @@ void uart6_init( void ) {
/* Configure USART Tx,Rx and hardware flow control*/
uart_periph_set_mode(&uart6, USE_UART6_TX, USE_UART6_RX, UART6_HW_FLOW_CONTROL);
uart_periph_set_bits_stop_parity(&uart6, UART6_BITS, UART6_STOP, UART6_PARITY);
uart_periph_set_baudrate(&uart6, UART6_BAUD);
}
sw/airborne/boards/apogee_1.0.h
+4 -11
View File
@@ -112,18 +112,11 @@
#define POWER_SWITCH_LED 9
/* Uart2 RX polarity, on PB13, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_10
#define USE_LED_10 1
#endif
#define LED_10_GPIO GPIOB
#define LED_10_GPIO_CLK RCC_AHB1ENR_IOPBEN
#define LED_10_GPIO_PIN GPIO13
#define LED_10_GPIO_ON gpio_set
#define LED_10_GPIO_OFF gpio_clear
#define LED_10_AFIO_REMAP ((void)0)
#define RC_POLARITY_LED 10
/* Pint to set Uart2 RX polarity, on PB13, output high inverts, low doesn't */
#define RC_POLARITY_GPIO_PORT GPIOB
#define RC_POLARITY_GPIO_PIN GPIO13
/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
sw/airborne/firmwares/fixedwing/fbw_downlink.h
+8
View File
@@ -66,6 +66,14 @@
PPM_NB_CHANNEL, \
ppm_pulses_usec); \
}
#elif defined RADIO_CONTROL_TYPE_SBUS
#include "subsystems/radio_control/sbus.h"
#define PERIODIC_SEND_PPM(_trans, _dev) { \
DOWNLINK_SEND_PPM(_trans, _dev, \
&radio_control.frame_rate, \
SBUS_NB_CHANNEL, \
sbus.pulses); \
}
#else
#define PERIODIC_SEND_PPM(_trans, _dev) {}
#endif
sw/airborne/led.h
+10
View File
@@ -74,6 +74,16 @@ static inline void led_init ( void ) {
LED_OFF(8);
#endif /* LED_8 */
#if USE_LED_9
LED_INIT(9);
LED_OFF(9);
#endif /* LED_9 */
#if USE_LED_10
LED_INIT(10);
LED_OFF(10);
#endif /* LED_10 */
#ifdef USE_LED_BODY
LED_INIT(BODY);
LED_OFF(BODY);
sw/airborne/mcu_periph/uart.h
+19
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@@ -46,10 +46,21 @@
#define B19200 19200
#define B38400 38400
#define B57600 57600
#define B100000 100000
#define B115200 115200
#define B230400 230400
#define B921600 921600
#define UBITS_7 7
#define UBITS_8 8
#define USTOP_1 1
#define USTOP_2 2
#define UPARITY_NO 0
#define UPARITY_ODD 1
#define UPARITY_EVEN 2
/**
* UART peripheral
*/
@@ -75,6 +86,7 @@ struct uart_periph {
extern void uart_periph_init(struct uart_periph* p);
extern void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud);
extern void uart_periph_set_bits_stop_parity(struct uart_periph* p, uint8_t bits, uint8_t stop, uint8_t parity);
extern void uart_periph_set_mode(struct uart_periph* p, bool_t tx_enabled, bool_t rx_enabled, bool_t hw_flow_control);
extern void uart_transmit(struct uart_periph* p, uint8_t data);
extern bool_t uart_check_free_space(struct uart_periph* p, uint8_t len);
@@ -97,6 +109,7 @@ extern void uart0_init(void);
#define UART0Getch() uart_getch(&uart0)
#define UART0TxRunning uart0.tx_running
#define UART0SetBaudrate(_b) uart_periph_set_baudrate(&uart0, _b)
#define UART0SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart0, _b, _s, _p)
#endif // USE_UART0
@@ -112,6 +125,7 @@ extern void uart1_init(void);
#define UART1Getch() uart_getch(&uart1)
#define UART1TxRunning uart1.tx_running
#define UART1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b)
#define UART1SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart1, _b, _s, _p)
#endif // USE_UART1
@@ -127,6 +141,7 @@ extern void uart2_init(void);
#define UART2Getch() uart_getch(&uart2)
#define UART2TxRunning uart2.tx_running
#define UART2SetBaudrate(_b) uart_periph_set_baudrate(&uart2, _b)
#define UART2SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart2, _b, _s, _p)
#endif // USE_UART2
@@ -142,6 +157,7 @@ extern void uart3_init(void);
#define UART3Getch() uart_getch(&uart3)
#define UART3TxRunning uart3.tx_running
#define UART3SetBaudrate(_b) uart_periph_set_baudrate(&uart3, _b)
#define UART3SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart3, _b, _s, _p)
#endif // USE_UART3
@@ -157,6 +173,7 @@ extern void uart4_init(void);
#define UART4Getch() uart_getch(&uart4)
#define UART4TxRunning uart4.tx_running
#define UART4SetBaudrate(_b) uart_periph_set_baudrate(&uart4, _b)
#define UART4SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart4, _b, _s, _p)
#endif // USE_UART4
@@ -172,6 +189,7 @@ extern void uart5_init(void);
#define UART5Getch() uart_getch(&uart5)
#define UART5TxRunning uart5.tx_running
#define UART5SetBaudrate(_b) uart_periph_set_baudrate(&uart5, _b)
#define UART5SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart5, _b, _s, _p)
#endif // USE_UART5
@@ -187,6 +205,7 @@ extern void uart6_init(void);
#define UART6Getch() uart_getch(&uart6)
#define UART6TxRunning uart6.tx_running
#define UART6SetBaudrate(_b) uart_periph_set_baudrate(&uart6, _b)
#define UART6SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart6, _b, _s, _p)
#endif // USE_UART6
sw/airborne/subsystems/radio_control/sbus.c
+145
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@@ -0,0 +1,145 @@
/*
* Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/** @file subsystems/radio_control/sbus.c
*
* Futaba SBUS decoder
*/
#include "subsystems/radio_control.h"
#include "subsystems/radio_control/sbus.h"
#include BOARD_CONFIG
#include "mcu_periph/uart.h"
#include "mcu_periph/gpio.h"
#include <string.h>
/*
* SBUS protocol and state machine status
*/
#define SBUS_START_BYTE 0x0f
#define SBUS_END_BYTE 0x00
#define SBUS_BIT_PER_CHANNEL 11
#define SBUS_BIT_PER_BYTE 8
#define SBUS_FLAGS_BYTE 22
#define SBUS_FRAME_LOST_BIT 2
#define SBUS_STATUS_UNINIT 0
#define SBUS_STATUS_GOT_START 1
/** Set polarity using RC_POLARITY_GPIO.
* SBUS signal has a reversed polarity compared to normal UART
* this allows to using hardware UART peripheral by changing
* the input signal polarity.
* Setting this gpio ouput high inverts the signal,
* output low sets it to normal polarity.
*/
#ifndef RC_SET_POLARITY
#define RC_SET_POLARITY gpio_output_high
#endif
/** SBUS struct */
struct _sbus sbus;
// Init function
void radio_control_impl_init(void) {
sbus.frame_available = FALSE;
sbus.status = SBUS_STATUS_UNINIT;
// Set UART parameters (100K, 8 bits, 2 stops, even parity)
uart_periph_set_bits_stop_parity(&SBUS_UART_DEV, UBITS_8, USTOP_2, UPARITY_EVEN);
uart_periph_set_baudrate(&SBUS_UART_DEV, B100000);
// Set polarity
#ifdef RC_POLARITY_GPIO_PORT
gpio_setup_output(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
RC_SET_POLARITY(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
#endif
}
/** Decode the raw buffer */
static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available)
{
// reset counters
uint8_t byteInRawBuf = 0;
uint8_t bitInRawBuf = 0;
uint8_t channel = 0;
uint8_t bitInChannel = 0;
// clear bits
memset (dst, 0, SBUS_NB_CHANNEL*sizeof(uint16_t));
// decode sbus data
for (uint8_t i=0; i< (SBUS_NB_CHANNEL*SBUS_BIT_PER_CHANNEL); i++) {
if (src[byteInRawBuf] & (1<<bitInRawBuf))
dst[channel] |= (1<<bitInChannel);
bitInRawBuf++;
bitInChannel++;
if (bitInRawBuf == SBUS_BIT_PER_BYTE) {
bitInRawBuf = 0;
byteInRawBuf++;
}
if (bitInChannel == SBUS_BIT_PER_CHANNEL) {
bitInChannel = 0;
channel++;
}
}
// test frame lost flag
*available = !bit_is_set(src[SBUS_FLAGS_BYTE], SBUS_FRAME_LOST_BIT);
}
// Decoding event function
// Reading from UART
void sbus_decode_event(void) {
uint8_t rbyte;
if (uart_char_available(&SBUS_UART_DEV)) {
do {
rbyte = uart_getch(&SBUS_UART_DEV);
switch (sbus.status) {
case SBUS_STATUS_UNINIT:
// Wait for the start byte
if (rbyte == SBUS_START_BYTE) {
sbus.status++;
sbus.idx = 0;
}
break;
case SBUS_STATUS_GOT_START:
// Store buffer
sbus.buffer[sbus.idx] = rbyte;
sbus.idx++;
if (sbus.idx == SBUS_BUF_LENGTH) {
// Decode if last byte is the correct end byte
if (rbyte == SBUS_END_BYTE) {
decode_sbus_buffer(sbus.buffer, sbus.pulses, &sbus.frame_available);
}
sbus.status = SBUS_STATUS_UNINIT;
}
break;
default:
break;
}
} while (uart_char_available(&SBUS_UART_DEV));
}
}
sw/airborne/subsystems/radio_control/sbus.h
+95
View File
@@ -0,0 +1,95 @@
/*
* Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef RC_SBUS_H
#define RC_SBUS_H
/** @file subsystems/radio_control/sbus.h
*
* Futaba SBUS decoder
*/
#include "std.h"
/**
* Dummy macro to use radio.h file
*/
#define RC_PPM_TICKS_OF_USEC(_v) (_v)
#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (_v)
#define USEC_OF_RC_PPM_TICKS(_v) (_v)
/**
* Generated code holding the description of a given
* transmitter
*/
#include "generated/radio.h"
/**
* Define number of channels.
*
* SBUS frame always have 16 channels
* but only the X first one will be available
* depending of the RC transmitter.
* The radio XML file is used to assign the
* input values to RC channels.
*/
#define SBUS_BUF_LENGTH 24
#define SBUS_NB_CHANNEL 16
#define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
/**
* SBUS structure
*/
struct _sbus {
uint16_t pulses[SBUS_NB_CHANNEL]; ///< decoded values
bool_t frame_available; ///< new frame available
uint8_t buffer[SBUS_BUF_LENGTH]; ///< input buffer
uint8_t idx; ///< input index
uint8_t status; ///< decoder state machine status
};
extern struct _sbus sbus;
/**
* Decoding event function
*/
extern void sbus_decode_event(void);
/**
* Event macro with handler callback
*/
#define RadioControlEvent(_received_frame_handler) { \
sbus_decode_event(); \
if (sbus.frame_available) { \
radio_control.frame_cpt++; \
radio_control.time_since_last_frame = 0; \
if (radio_control.radio_ok_cpt > 0) { \
radio_control.radio_ok_cpt--; \
} else { \
radio_control.status = RC_OK; \
NormalizePpmIIR(sbus.pulses,radio_control); \
_received_frame_handler(); \
} \
sbus.frame_available = FALSE; \
} \
}
#endif /* RC_SBUS_H */