sbus_common.h File Reference

Common sbus structs and defines. More...

#include "std.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/gpio.h"
#include "generated/airframe.h"
#include "generated/radio.h"

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Data Structures
struct	Sbus
	SBUS structure. More...

Macros
#define	RC_PPM_TICKS_OF_USEC(_v)   ((((_v) - 880) * 8) / 5)
	Macro to use radio.h file. More...
#define	RC_PPM_SIGNED_TICKS_OF_USEC(_v)   (((_v) * 8) / 5)
#define	USEC_OF_RC_PPM_TICKS(_v)   ((((_v) * 5) / 8) + 880)
#define	SBUS_BUF_LENGTH   24
	Generated code holding the description of a given transmitter. More...
#define	SBUS_NB_CHANNEL   16
#define	RADIO_CONTROL_NB_CHANNEL   SBUS_NB_CHANNEL
	Default number of channels to actually use. More...
#define	RadioControlEvent(_received_frame_handler)   radio_control_impl_event(_received_frame_handler)
	Event macro with handler callback. More...

Functions
void	sbus_common_init (struct Sbus *sbus, struct uart_periph *dev, gpio_port_t gpio_polarity_port, uint16_t gpio_polarity_pin)
	Init function. More...
void	sbus_common_decode_event (struct Sbus *sbus, struct uart_periph *dev)
	Decoding event function. More...
void	radio_control_impl_event (void(*_received_frame_handler)(void))
	RC event function with handler callback. More...

Detailed Description

Common sbus structs and defines.

Definition in file sbus_common.h.

---

Data Structure Documentation

struct Sbus

SBUS structure.

Definition at line 79 of file sbus_common.h.

Data Fields
uint8_t	buffer[SBUS_BUF_LENGTH]	Input buffer.
bool	frame_available	A data frame is available.
uint8_t	idx	Input index.
uint16_t	ppm[SBUS_NB_CHANNEL]	Decoded and converted to ppm values.
uint16_t	pulses[SBUS_NB_CHANNEL]	Decoded values.
bool	rc_failsafe	Receiver set to in failsafe mode.
bool	rc_lost	RC reception is lost.
uint32_t	start_time	Decoder start time.
uint8_t	status	Decoder state-machine status.

Macro Definition Documentation

#define RADIO_CONTROL_NB_CHANNEL   SBUS_NB_CHANNEL

Default number of channels to actually use.

Definition at line 69 of file sbus_common.h.

#define RadioControlEvent

(

_received_frame_handler

)

radio_control_impl_event(_received_frame_handler)

Event macro with handler callback.

Definition at line 111 of file sbus_common.h.

#define RC_PPM_SIGNED_TICKS_OF_USEC

(

_v

)

(((_v) * 8) / 5)

Definition at line 44 of file sbus_common.h.

#define RC_PPM_TICKS_OF_USEC

(

_v

)

((((_v) - 880) * 8) / 5)

Macro to use radio.h file.

SBUS: 0..1024..2047 (sweep 2048) PPM: 880..1520..2160 (sweep 1280)

Definition at line 43 of file sbus_common.h.

#define SBUS_BUF_LENGTH   24

Generated code holding the description of a given transmitter.

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.

Definition at line 62 of file sbus_common.h.

Referenced by sbus_common_decode_event().

#define SBUS_NB_CHANNEL   16

Definition at line 63 of file sbus_common.h.

Referenced by decode_sbus_buffer(), and send_sbus().

#define USEC_OF_RC_PPM_TICKS

(

_v

)

((((_v) * 5) / 8) + 880)

Definition at line 45 of file sbus_common.h.

Function Documentation

void radio_control_impl_event

(

void(*)(void)

_received_frame_handler

)

RC event function with handler callback.

PPM frames are normalized using the IIR filter.

Definition at line 66 of file hott.c.

void sbus_common_decode_event	(	struct Sbus *	sbus,
		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,
		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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