sbus_common.h

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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, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef RC_SBUS_COMMON_H
#define RC_SBUS_COMMON_H
 
#include "std.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/gpio.h"
 
/* in case you want to override RADIO_CONTROL_NB_CHANNEL */
#include "generated/airframe.h"
 
#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)
 
#include "generated/radio.h"
 
#define SBUS_BUF_LENGTH 24
#define SBUS_NB_CHANNEL 16
 
#ifndef RADIO_CONTROL_NB_CHANNEL
#define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
#endif
 
#if RADIO_CONTROL_NB_CHANNEL > SBUS_NB_CHANNEL
#error "RADIO_CONTROL_NB_CHANNEL mustn't be higher than 16."
#endif
 
struct Sbus {
  uint16_t pulses[SBUS_NB_CHANNEL]; 
  uint16_t ppm[SBUS_NB_CHANNEL];    
  bool frame_available;             
  bool rc_failsafe;                 
  bool rc_lost;                     
  uint8_t buffer[SBUS_BUF_LENGTH];  
  uint8_t idx;                      
  uint8_t status;                   
  uint32_t start_time;              
};
 
void sbus_common_init(struct Sbus *sbus, struct uart_periph *dev,
                      gpio_port_t gpio_polarity_port, uint16_t gpio_polarity_pin);
 
void sbus_common_decode_event(struct Sbus *sbus, struct uart_periph *dev);
 
 
extern void radio_control_impl_event(void (* _received_frame_handler)(void));
 
#define RadioControlEvent(_received_frame_handler) radio_control_impl_event(_received_frame_handler)
 
 
#endif /* RC_SBUS_H */