mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 04:13:39 +08:00
[radio_control][sbus_dual] Remove double code
This commit is contained in:
dewagter
Felix Ruess
@@ -20,4 +20,5 @@ $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
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$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
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@@ -31,4 +31,5 @@ $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.
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$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
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@@ -21,39 +21,12 @@
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/** @file subsystems/radio_control/sbus.c
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*
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* Futaba SBUS decoder
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* Single SBUS radio_control
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*/
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#include "subsystems/radio_control.h"
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#include "subsystems/radio_control/sbus.h"
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#include BOARD_CONFIG
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#include "mcu_periph/uart.h"
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#include "mcu_periph/gpio.h"
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#include <string.h>
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/*
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* SBUS protocol and state machine status
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*/
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#define SBUS_START_BYTE 0x0f
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#define SBUS_END_BYTE 0x00
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#define SBUS_BIT_PER_CHANNEL 11
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#define SBUS_BIT_PER_BYTE 8
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#define SBUS_FLAGS_BYTE 22
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#define SBUS_FRAME_LOST_BIT 2
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#define SBUS_STATUS_UNINIT 0
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#define SBUS_STATUS_GOT_START 1
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/** Set polarity using RC_POLARITY_GPIO.
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* SBUS signal has a reversed polarity compared to normal UART
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* this allows to using hardware UART peripheral by changing
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* the input signal polarity.
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* Setting this gpio ouput high inverts the signal,
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* output low sets it to normal polarity.
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*/
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#ifndef RC_SET_POLARITY
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#define RC_SET_POLARITY gpio_set
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#endif
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/** SBUS struct */
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@@ -78,18 +51,7 @@ static void send_sbus(void) {
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// Init function
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void radio_control_impl_init(void) {
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sbus.frame_available = FALSE;
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sbus.status = SBUS_STATUS_UNINIT;
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// Set UART parameters (100K, 8 bits, 2 stops, even parity)
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uart_periph_set_bits_stop_parity(&SBUS_UART_DEV, UBITS_8, USTOP_2, UPARITY_EVEN);
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uart_periph_set_baudrate(&SBUS_UART_DEV, B100000);
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// Set polarity
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#ifdef RC_POLARITY_GPIO_PORT
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gpio_setup_output(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
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RC_SET_POLARITY(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
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#endif
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sbus_common_init(&sbus, &SBUS_UART_DEV);
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// Register telemetry message
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#if PERIODIC_TELEMETRY
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@@ -98,73 +60,10 @@ void radio_control_impl_init(void) {
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}
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/** Decode the raw buffer */
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static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available, uint16_t *dstppm)
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{
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// reset counters
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uint8_t byteInRawBuf = 0;
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uint8_t bitInRawBuf = 0;
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uint8_t channel = 0;
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uint8_t bitInChannel = 0;
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// clear bits
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memset (dst, 0, SBUS_NB_CHANNEL*sizeof(uint16_t));
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// decode sbus data
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for (uint8_t i=0; i< (SBUS_NB_CHANNEL*SBUS_BIT_PER_CHANNEL); i++) {
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if (src[byteInRawBuf] & (1<<bitInRawBuf))
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dst[channel] |= (1<<bitInChannel);
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bitInRawBuf++;
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bitInChannel++;
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if (bitInRawBuf == SBUS_BIT_PER_BYTE) {
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bitInRawBuf = 0;
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byteInRawBuf++;
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}
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if (bitInChannel == SBUS_BIT_PER_CHANNEL) {
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bitInChannel = 0;
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#if PERIODIC_TELEMETRY
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dstppm[channel] = USEC_OF_RC_PPM_TICKS(dst[channel]);
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#endif
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channel++;
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}
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}
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// test frame lost flag
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*available = !bit_is_set(src[SBUS_FLAGS_BYTE], SBUS_FRAME_LOST_BIT);
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}
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// Decoding event function
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// Reading from UART
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void sbus_decode_event(void) {
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uint8_t rbyte;
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if (uart_char_available(&SBUS_UART_DEV)) {
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do {
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rbyte = uart_getch(&SBUS_UART_DEV);
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switch (sbus.status) {
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case SBUS_STATUS_UNINIT:
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// Wait for the start byte
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if (rbyte == SBUS_START_BYTE) {
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sbus.status++;
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sbus.idx = 0;
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}
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break;
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case SBUS_STATUS_GOT_START:
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// Store buffer
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sbus.buffer[sbus.idx] = rbyte;
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sbus.idx++;
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if (sbus.idx == SBUS_BUF_LENGTH) {
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// Decode if last byte is the correct end byte
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if (rbyte == SBUS_END_BYTE) {
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decode_sbus_buffer(sbus.buffer, sbus.pulses, &sbus.frame_available, sbus.ppm);
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}
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sbus.status = SBUS_STATUS_UNINIT;
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}
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break;
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default:
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break;
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}
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} while (uart_char_available(&SBUS_UART_DEV));
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}
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sbus_common_decode_event(&sbus, &SBUS_UART_DEV);
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}
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@@ -24,51 +24,11 @@
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/** @file subsystems/radio_control/sbus.h
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*
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* Futaba SBUS decoder
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* Single SBUS radio_control
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*/
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#include "std.h"
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#include "subsystems/radio_control/sbus_common.h"
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/**
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* Macro to use radio.h file
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*
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* SBUS: 0..1024..2047 (sweep 2048)
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* PPM: 880..1520..2160 (sweep 1280)
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*/
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#define RC_PPM_TICKS_OF_USEC(_v) ((((_v) - 880) * 8) / 5)
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#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (((_v) * 8) / 5)
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#define USEC_OF_RC_PPM_TICKS(_v) ((((_v) * 5) / 8) + 880)
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/**
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* Generated code holding the description of a given
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* transmitter
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*/
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#include "generated/radio.h"
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/**
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* Define number of channels.
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*
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* SBUS frame always have 16 channels
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* but only the X first one will be available
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* depending of the RC transmitter.
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* The radio XML file is used to assign the
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* input values to RC channels.
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*/
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#define SBUS_BUF_LENGTH 24
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#define SBUS_NB_CHANNEL 16
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#define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
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/**
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* SBUS structure
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*/
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struct _sbus {
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uint16_t pulses[SBUS_NB_CHANNEL]; ///< decoded values
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uint16_t ppm[SBUS_NB_CHANNEL]; ///< decoded and converted values
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bool_t frame_available; ///< new frame available
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uint8_t buffer[SBUS_BUF_LENGTH]; ///< input buffer
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uint8_t idx; ///< input index
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uint8_t status; ///< decoder state machine status
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};
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extern struct _sbus sbus;
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@@ -0,0 +1,144 @@
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/*
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* Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* 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 with paparazzi; see the file COPYING. If not, write to
|
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/** @file subsystems/radio_control/sbus_common.c
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*
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* Futaba SBUS decoder
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*/
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#include "subsystems/radio_control.h"
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#include "subsystems/radio_control/sbus_common.h"
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#include BOARD_CONFIG
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#include "mcu_periph/gpio.h"
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#include <string.h>
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/*
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* SBUS protocol and state machine status
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*/
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#define SBUS_START_BYTE 0x0f
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#define SBUS_END_BYTE 0x00
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#define SBUS_BIT_PER_CHANNEL 11
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#define SBUS_BIT_PER_BYTE 8
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#define SBUS_FLAGS_BYTE 22
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#define SBUS_FRAME_LOST_BIT 2
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#define SBUS_STATUS_UNINIT 0
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#define SBUS_STATUS_GOT_START 1
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/** Set polarity using RC_POLARITY_GPIO.
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* SBUS signal has a reversed polarity compared to normal UART
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* this allows to using hardware UART peripheral by changing
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* the input signal polarity.
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* Setting this gpio ouput high inverts the signal,
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* output low sets it to normal polarity.
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*/
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#ifndef RC_SET_POLARITY
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#define RC_SET_POLARITY gpio_set
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#endif
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void sbus_common_init(struct _sbus* sbus_p, struct uart_periph* dev) {
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sbus_p->frame_available = FALSE;
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sbus_p->status = SBUS_STATUS_UNINIT;
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// Set UART parameters (100K, 8 bits, 2 stops, even parity)
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uart_periph_set_bits_stop_parity(dev, UBITS_8, USTOP_2, UPARITY_EVEN);
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uart_periph_set_baudrate(dev, B100000);
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// Set polarity
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#ifdef RC_POLARITY_GPIO_PORT
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gpio_setup_output(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
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RC_SET_POLARITY(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
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#endif
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}
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/** Decode the raw buffer */
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static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available, uint16_t *dstppm)
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{
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// reset counters
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uint8_t byteInRawBuf = 0;
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uint8_t bitInRawBuf = 0;
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uint8_t channel = 0;
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uint8_t bitInChannel = 0;
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// clear bits
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memset (dst, 0, SBUS_NB_CHANNEL*sizeof(uint16_t));
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// decode sbus data
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for (uint8_t i=0; i< (SBUS_NB_CHANNEL*SBUS_BIT_PER_CHANNEL); i++) {
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if (src[byteInRawBuf] & (1<<bitInRawBuf))
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dst[channel] |= (1<<bitInChannel);
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bitInRawBuf++;
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bitInChannel++;
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if (bitInRawBuf == SBUS_BIT_PER_BYTE) {
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bitInRawBuf = 0;
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byteInRawBuf++;
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}
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if (bitInChannel == SBUS_BIT_PER_CHANNEL) {
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bitInChannel = 0;
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#if PERIODIC_TELEMETRY
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dstppm[channel] = USEC_OF_RC_PPM_TICKS(dst[channel]);
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#endif
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channel++;
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}
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}
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// test frame lost flag
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*available = !bit_is_set(src[SBUS_FLAGS_BYTE], SBUS_FRAME_LOST_BIT);
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}
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// Decoding event function
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// Reading from UART
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void sbus_common_decode_event(struct _sbus* sbus_p, struct uart_periph* dev) {
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uint8_t rbyte;
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if (uart_char_available(dev)) {
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do {
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rbyte = uart_getch(dev);
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switch (sbus_p->status) {
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case SBUS_STATUS_UNINIT:
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// Wait for the start byte
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if (rbyte == SBUS_START_BYTE) {
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sbus_p->status++;
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sbus_p->idx = 0;
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}
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break;
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case SBUS_STATUS_GOT_START:
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// Store buffer
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sbus_p->buffer[sbus_p->idx] = rbyte;
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sbus_p->idx++;
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if (sbus_p->idx == SBUS_BUF_LENGTH) {
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// Decode if last byte is the correct end byte
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if (rbyte == SBUS_END_BYTE) {
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decode_sbus_buffer(sbus_p->buffer, sbus_p->pulses, &sbus_p->frame_available, sbus_p->ppm);
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}
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sbus_p->status = SBUS_STATUS_UNINIT;
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}
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break;
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default:
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break;
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}
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} while (uart_char_available(dev));
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}
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}
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@@ -0,0 +1,85 @@
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/*
|
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* 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.
|
||||
*/
|
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|
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#ifndef RC_SBUS_COMMON_H
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#define RC_SBUS_COMMON_H
|
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|
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/** @file subsystems/radio_control/sbus_common.h
|
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*
|
||||
* Futaba SBUS decoder
|
||||
*/
|
||||
|
||||
#include "std.h"
|
||||
#include "mcu_periph/uart.h"
|
||||
|
||||
/**
|
||||
* Macro to use radio.h file
|
||||
*
|
||||
* SBUS: 0..1024..2047 (sweep 2048)
|
||||
* PPM: 880..1520..2160 (sweep 1280)
|
||||
*/
|
||||
#define RC_PPM_TICKS_OF_USEC(_v) ((((_v) - 880) * 8) / 5)
|
||||
#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (((_v) * 8) / 5)
|
||||
#define USEC_OF_RC_PPM_TICKS(_v) ((((_v) * 5) / 8) + 880)
|
||||
|
||||
/**
|
||||
* 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
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||||
#define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
|
||||
|
||||
/**
|
||||
* SBUS structure
|
||||
*/
|
||||
struct _sbus {
|
||||
uint16_t pulses[SBUS_NB_CHANNEL]; ///< decoded values
|
||||
uint16_t ppm[SBUS_NB_CHANNEL]; ///< decoded and converted 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
|
||||
};
|
||||
|
||||
/**
|
||||
* Init function
|
||||
*/
|
||||
void sbus_common_init(struct _sbus* sbus, struct uart_periph* dev);
|
||||
|
||||
/**
|
||||
* Decoding event function
|
||||
*/
|
||||
void sbus_common_decode_event(struct _sbus* sbus, struct uart_periph* dev);
|
||||
|
||||
|
||||
#endif /* RC_SBUS_H */
|
||||
@@ -1,5 +1,5 @@
|
||||
/*
|
||||
* Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
|
||||
* Copyright (C) 2014 Christophe De Wagter
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
@@ -19,9 +19,9 @@
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/** @file subsystems/radio_control/sbus.c
|
||||
/** @file subsystems/radio_control/sbus_dual.c
|
||||
*
|
||||
* Futaba SBUS decoder
|
||||
* Dual SBUS radio_control
|
||||
*/
|
||||
|
||||
#include "subsystems/radio_control.h"
|
||||
@@ -31,29 +31,6 @@
|
||||
#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_set
|
||||
#endif
|
||||
|
||||
|
||||
/** SBUS struct */
|
||||
@@ -78,22 +55,8 @@ static void send_sbus(void) {
|
||||
|
||||
// Init function
|
||||
void radio_control_impl_init(void) {
|
||||
sbus1.frame_available = FALSE;
|
||||
sbus1.status = SBUS_STATUS_UNINIT;
|
||||
sbus2.frame_available = FALSE;
|
||||
sbus2.status = SBUS_STATUS_UNINIT;
|
||||
|
||||
// Set UART parameters (100K, 8 bits, 2 stops, even parity)
|
||||
uart_periph_set_bits_stop_parity(&SBUS1_UART_DEV, UBITS_8, USTOP_2, UPARITY_EVEN);
|
||||
uart_periph_set_baudrate(&SBUS1_UART_DEV, B100000);
|
||||
uart_periph_set_bits_stop_parity(&SBUS2_UART_DEV, UBITS_8, USTOP_2, UPARITY_EVEN);
|
||||
uart_periph_set_baudrate(&SBUS2_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
|
||||
sbus_common_init(&sbus1, &SBUS1_UART_DEV);
|
||||
sbus_common_init(&sbus2, &SBUS2_UART_DEV);
|
||||
|
||||
// Register telemetry message
|
||||
#if PERIODIC_TELEMETRY
|
||||
@@ -101,79 +64,7 @@ void radio_control_impl_init(void) {
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/** Decode the raw buffer */
|
||||
static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available, uint16_t *dstppm)
|
||||
{
|
||||
// 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;
|
||||
#if PERIODIC_TELEMETRY
|
||||
dstppm[channel] = USEC_OF_RC_PPM_TICKS(dst[channel]);
|
||||
#endif
|
||||
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(struct _sbus* sbus, struct uart_periph* dev);
|
||||
void sbus_decode_event(struct _sbus* sbus, struct uart_periph* dev) {
|
||||
uint8_t rbyte;
|
||||
if (uart_char_available(dev)) {
|
||||
do {
|
||||
rbyte = uart_getch(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->ppm);
|
||||
}
|
||||
sbus->status = SBUS_STATUS_UNINIT;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
} while (uart_char_available(dev));
|
||||
}
|
||||
}
|
||||
|
||||
void sbus_dual_decode_event(void) {
|
||||
sbus_decode_event(&sbus1, &SBUS1_UART_DEV);
|
||||
sbus_decode_event(&sbus2, &SBUS2_UART_DEV);
|
||||
sbus_common_decode_event(&sbus1, &SBUS1_UART_DEV);
|
||||
sbus_common_decode_event(&sbus2, &SBUS2_UART_DEV);
|
||||
}
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
/*
|
||||
* Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
|
||||
* Copyright (C) 2014 Christophe De Wagter
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
@@ -19,56 +19,16 @@
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
#ifndef RC_SBUS_H
|
||||
#define RC_SBUS_H
|
||||
#ifndef RC_SBUS_DUAL_H
|
||||
#define RC_SBUS_DUAL_H
|
||||
|
||||
/** @file subsystems/radio_control/sbus.h
|
||||
/** @file subsystems/radio_control/sbus_dual.h
|
||||
*
|
||||
* Futaba SBUS decoder
|
||||
* Dual SBUS radio_control
|
||||
*/
|
||||
|
||||
#include "std.h"
|
||||
#include "subsystems/radio_control/sbus_common.h"
|
||||
|
||||
/**
|
||||
* Macro to use radio.h file
|
||||
*
|
||||
* SBUS: 0..1024..2047 (sweep 2048)
|
||||
* PPM: 880..1520..2160 (sweep 1280)
|
||||
*/
|
||||
#define RC_PPM_TICKS_OF_USEC(_v) ((((_v) - 880) * 8) / 5)
|
||||
#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (((_v) * 8) / 5)
|
||||
#define USEC_OF_RC_PPM_TICKS(_v) ((((_v) * 5) / 8) + 880)
|
||||
|
||||
/**
|
||||
* 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
|
||||
uint16_t ppm[SBUS_NB_CHANNEL]; ///< decoded and converted 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 sbus1, sbus2;
|
||||
|
||||
|
||||
Reference in New Issue
Block a user