sbus_common.c File Reference

Futaba SBUS decoder. More...

#include "subsystems/radio_control.h"
#include "subsystems/radio_control/sbus_common.h"
#include "mcu_periph/sys_time.h"
#include <BOARD_CONFIG>
#include <string.h>
#include <stdbool.h>

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Macros
#define	SBUS_START_BYTE   0x0f
#define	SBUS_END_BYTE_0   0x00
#define	SBUS_END_BYTE_1   0x04
#define	SBUS_END_BYTE_2   0x14
#define	SBUS_END_BYTE_3   0x24
#define	SBUS_END_BYTE_4   0x34
#define	SBUS_END_BYTE_5   0x08
#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_RC_FAILSAFE_BIT   4
#define	SBUS_RC_LOST_BIT   5
#define	SBUS_STATUS_UNINIT   0
#define	SBUS_STATUS_GOT_START   1
#define	SBUS_TIMEOUT_MS   4
	Time before timeout when receiving a full SBUS frame. More...
#define	RC_SET_POLARITY   gpio_set
	Set polarity using RC_POLARITY_GPIO. More...

Functions
void	sbus_common_init (struct Sbus *sbus_p, struct uart_periph *dev, gpio_port_t gpio_polarity_port, uint16_t gpio_polarity_pin)
	Init function. More...
static void	decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool *is_frame_available, bool *is_rc_failsafe, bool *is_rc_lost, uint16_t *dstppm)
	Decode the raw buffer. More...
void	sbus_common_decode_event (struct Sbus *sbus_p, struct uart_periph *dev)
	Decoding event function. More...

Detailed Description

Futaba SBUS decoder.

Definition in file sbus_common.c.

Macro Definition Documentation

#define RC_SET_POLARITY   gpio_set

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.

Definition at line 67 of file sbus_common.c.

Referenced by sbus_common_init().

#define SBUS_BIT_PER_BYTE   8

Definition at line 44 of file sbus_common.c.

#define SBUS_BIT_PER_CHANNEL   11

Definition at line 43 of file sbus_common.c.

#define SBUS_END_BYTE_0   0x00

Definition at line 37 of file sbus_common.c.

Referenced by sbus_common_decode_event().

#define SBUS_END_BYTE_1   0x04

Definition at line 38 of file sbus_common.c.

Referenced by sbus_common_decode_event().

#define SBUS_END_BYTE_2   0x14

Definition at line 39 of file sbus_common.c.

Referenced by sbus_common_decode_event().

#define SBUS_END_BYTE_3   0x24

Definition at line 40 of file sbus_common.c.

Referenced by sbus_common_decode_event().

#define SBUS_END_BYTE_4   0x34

Definition at line 41 of file sbus_common.c.

Referenced by sbus_common_decode_event().

#define SBUS_END_BYTE_5   0x08

Definition at line 42 of file sbus_common.c.

Referenced by sbus_common_decode_event().

#define SBUS_FLAGS_BYTE   22

Definition at line 45 of file sbus_common.c.

Referenced by decode_sbus_buffer().

#define SBUS_FRAME_LOST_BIT   2

Definition at line 46 of file sbus_common.c.

Referenced by decode_sbus_buffer().

#define SBUS_RC_FAILSAFE_BIT   4

Definition at line 47 of file sbus_common.c.

Referenced by decode_sbus_buffer().

#define SBUS_RC_LOST_BIT   5

Definition at line 48 of file sbus_common.c.

Referenced by decode_sbus_buffer().

#define SBUS_START_BYTE   0x0f

Definition at line 36 of file sbus_common.c.

Referenced by sbus_common_decode_event().

#define SBUS_STATUS_GOT_START   1

Definition at line 51 of file sbus_common.c.

Referenced by sbus_common_decode_event().

#define SBUS_STATUS_UNINIT   0

Definition at line 50 of file sbus_common.c.

Referenced by sbus_common_decode_event(), and sbus_common_init().

#define SBUS_TIMEOUT_MS   4

Time before timeout when receiving a full SBUS frame.

Definition at line 57 of file sbus_common.c.

Referenced by sbus_common_decode_event().

Function Documentation

static void decode_sbus_buffer ( const uint8_t *  src, uint16_t *  dst, bool *  is_frame_available, bool *  is_rc_failsafe, bool *  is_rc_lost, uint16_t *  dstppm  )

static

Decode the raw buffer.

Definition at line 95 of file sbus_common.c.

References channel, SBUS_FLAGS_BYTE, SBUS_FRAME_LOST_BIT, SBUS_NB_CHANNEL, SBUS_RC_FAILSAFE_BIT, SBUS_RC_LOST_BIT, and USEC_OF_RC_PPM_TICKS.

Referenced by sbus_common_decode_event().

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void sbus_common_decode_event	(	struct Sbus *	sbus_p,
		struct uart_periph *	dev
	)

Decoding event function.

Definition at line 135 of file sbus_common.c.

References Sbus::buffer, decode_sbus_buffer(), Sbus::frame_available, get_sys_time_msec(), Sbus::idx, Sbus::ppm, Sbus::pulses, Sbus::rc_failsafe, Sbus::rc_lost, SBUS_BUF_LENGTH, SBUS_END_BYTE_0, SBUS_END_BYTE_1, SBUS_END_BYTE_2, SBUS_END_BYTE_3, SBUS_END_BYTE_4, SBUS_END_BYTE_5, SBUS_START_BYTE, SBUS_STATUS_GOT_START, SBUS_STATUS_UNINIT, SBUS_TIMEOUT_MS, Sbus::start_time, Sbus::status, uart_char_available(), and uart_getch().

Referenced by sbus_decode_event(), and sbus_dual_decode_event().

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void sbus_common_init	(	struct Sbus *	sbus_p,
		struct uart_periph *	dev,
		gpio_port_t	gpio_polarity_port,
		uint16_t	gpio_polarity_pin
	)

Init function.

Definition at line 70 of file sbus_common.c.

References B100000, Sbus::frame_available, gpio_setup_output(), Sbus::rc_failsafe, Sbus::rc_lost, RC_SET_POLARITY, SBUS_STATUS_UNINIT, Sbus::start_time, Sbus::status, uart_periph_invert_data_logic(), uart_periph_set_baudrate(), uart_periph_set_bits_stop_parity(), UBITS_8, UPARITY_EVEN, and USTOP_2.

Referenced by radio_control_impl_init().

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