Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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sbus_common.h
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1 /*
2  * Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
27 #ifndef RC_SBUS_COMMON_H
28 #define RC_SBUS_COMMON_H
29 
30 #include "std.h"
31 #include "mcu_periph/uart.h"
32 #include "mcu_periph/gpio.h"
33 
34 /* in case you want to override RADIO_CONTROL_NB_CHANNEL */
35 #include "generated/airframe.h"
36 
43 #define RC_PPM_TICKS_OF_USEC(_v) ((((_v) - 880) * 8) / 5)
44 #define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (((_v) * 8) / 5)
45 #define USEC_OF_RC_PPM_TICKS(_v) ((((_v) * 5) / 8) + 880)
46 
51 #include "generated/radio.h"
52 
62 #define SBUS_BUF_LENGTH 24
63 #define SBUS_NB_CHANNEL 16
64 
68 #ifndef RADIO_CONTROL_NB_CHANNEL
69 #define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
70 #endif
71 
72 #if RADIO_CONTROL_NB_CHANNEL > SBUS_NB_CHANNEL
73 #error "RADIO_CONTROL_NB_CHANNEL mustn't be higher than 16."
74 #endif
75 
79 struct Sbus {
83  bool rc_failsafe;
84  bool rc_lost;
89 };
90 
94 void sbus_common_init(struct Sbus *sbus, struct uart_periph *dev,
95  gpio_port_t gpio_polarity_port, uint16_t gpio_polarity_pin);
96 
100 void sbus_common_decode_event(struct Sbus *sbus, struct uart_periph *dev);
101 
102 
106 extern void radio_control_impl_event(void (* _received_frame_handler)(void));
107 
111 #define RadioControlEvent(_received_frame_handler) radio_control_impl_event(_received_frame_handler)
112 
113 
114 #endif /* RC_SBUS_H */
unsigned short uint16_t
Definition: types.h:16
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
void sbus_common_init(struct Sbus *sbus, struct uart_periph *dev, gpio_port_t gpio_polarity_port, uint16_t gpio_polarity_pin)
Init function.
Definition: sbus_common.c:70
uint32_t start_time
Decoder start time.
Definition: sbus_common.h:88
uint16_t pulses[SBUS_NB_CHANNEL]
Decoded values.
Definition: sbus_common.h:80
Some architecture independent helper functions for GPIOs.
ioportid_t gpio_port_t
Abstract gpio port type for hardware independent part.
Definition: gpio_arch.h:39
bool rc_lost
RC reception is lost.
Definition: sbus_common.h:84
uint8_t status
Decoder state-machine status.
Definition: sbus_common.h:87
uint8_t idx
Input index.
Definition: sbus_common.h:86
struct Sbus sbus
SBUS struct.
Definition: sbus.c:39
UART peripheral.
Definition: uart.h:70
#define SBUS_BUF_LENGTH
Generated code holding the description of a given transmitter.
Definition: sbus_common.h:62
unsigned long uint32_t
Definition: types.h:18
void radio_control_impl_event(void(*_received_frame_handler)(void))
RC event function with handler callback.
Definition: hott.c:66
uint16_t ppm[SBUS_NB_CHANNEL]
Decoded and converted to ppm values.
Definition: sbus_common.h:81
static const struct usb_device_descriptor dev
Definition: usb_ser_hw.c:73
unsigned char uint8_t
Definition: types.h:14
uint8_t buffer[SBUS_BUF_LENGTH]
Input buffer.
Definition: sbus_common.h:85
bool rc_failsafe
Receiver set to in failsafe mode.
Definition: sbus_common.h:83
void sbus_common_decode_event(struct Sbus *sbus, struct uart_periph *dev)
Decoding event function.
Definition: sbus_common.c:135
bool frame_available
A data frame is available.
Definition: sbus_common.h:82
#define SBUS_NB_CHANNEL
Definition: sbus_common.h:63
SBUS structure.
Definition: sbus_common.h:79