bce8d66ea0
May have solved the issue with the throttle not wokring when maxing some of the stick controlls. Could still not be correct but the issue seems to have been located.
140 lines
5.5 KiB
C
140 lines
5.5 KiB
C
/**********************************************************************
|
|
* NAME: sbus.h *
|
|
* AUTHOR: Philip Johansson *
|
|
* PURPOSE: Read SBUS messages from RX *
|
|
* INFORMATION: *
|
|
* The SBUS protocol writes most significant bit first. So 1 in binary *
|
|
* which is 0000001 will be sent as 10000000. *
|
|
* Parity: even *
|
|
* Stops: 2 *
|
|
* Start byte: 0x0F (follows 0x00) *
|
|
* Stop byte: 0x00 *
|
|
* Packet size: 25 bytes *
|
|
* *
|
|
* GLOBAL VARIABLES: *
|
|
* Variable Type Description *
|
|
* -------- ---- ----------- *
|
|
* *
|
|
**********************************************************************/
|
|
#include <stdint.h>
|
|
|
|
#ifndef DRIVERS_SBUS_H_
|
|
#define DRIVERS_SBUS_H_
|
|
|
|
#define SBUS_BAUDRATE 100000
|
|
#define SBUS_FRAME_SIZE 25
|
|
#define SBUS_HEADER 0x0F
|
|
#define SBUS_FOOTER 0x00
|
|
#define USART1_SBUS_DMA_SIZE SBUS_FRAME_SIZE + 1 // sbus package is 176 bits (22 bytes)
|
|
|
|
#define SBUS_MAX_CHANNEL 18 // Including two digital
|
|
#define STICK_CHANNEL_COUNT 4
|
|
#define AUX_CHANNEL_COUNT 4
|
|
#define MAX_AUX_CHANNEL_COUNT (SBUS_MAX_CHANNEL - STICK_CHANNEL_COUNT)
|
|
|
|
|
|
|
|
#define PWM_RANGE_MIN 1000
|
|
#define PWM_RANGE_MAX 2000
|
|
#define PWM_RANGE_MIDDLE (PWM_RANGE_MIN + ((PWM_RANGE_MAX - PWM_RANGE_MIN) / 2)) // Should be 1500 default
|
|
|
|
#define PWM_PULSE_MIN 750 // minimum PWM pulse considered valid input
|
|
#define PWM_PULSE_MAX 2250 // maximum PWM pulse considered valid input
|
|
|
|
|
|
/***********************************************************************
|
|
* BRIEF: Failsafe scenarios of the RX *
|
|
* INFORMATION: TODO: Implement use of these *
|
|
***********************************************************************/
|
|
typedef enum {
|
|
RX_FAILSAFE_MODE_AUTO = 0,
|
|
RX_FAILSAFE_MODE_HOLD,
|
|
RX_FAILSAFE_MODE_SET,
|
|
RX_FAILSAFE_MODE_INVALID,
|
|
} rxFailsafeChannelMode_e;
|
|
|
|
|
|
/***********************************************************************
|
|
* BRIEF: RX packet structure *
|
|
* INFORMATION: Contains a whole SBUS message besides the footer *
|
|
***********************************************************************/
|
|
typedef struct sbusFrame_s {
|
|
/* Whole package is 25 bytes */
|
|
|
|
/* SBUS Header is 0x0F (Byte 0) */
|
|
uint8_t syncByte;
|
|
|
|
/* 176 bits of data for channels (11 bits per channel * 16 channels) = 22 bytes (1-22) */
|
|
|
|
/* Channel 1..4 are "sticks" */
|
|
unsigned int chan1 : 11; // Elevator
|
|
unsigned int chan2 : 11; // Aileron
|
|
unsigned int chan3 : 11; // Throttle
|
|
unsigned int chan4 : 11; // Rudder
|
|
|
|
/* Channel 5.. are AUX channels */
|
|
unsigned int chan5 : 11;
|
|
unsigned int chan6 : 11;
|
|
unsigned int chan7 : 11;
|
|
unsigned int chan8 : 11; // ARM switch
|
|
|
|
/* Depending on define 4 or more channels are used */
|
|
unsigned int chan9 : 11;
|
|
unsigned int chan10 : 11;
|
|
unsigned int chan11 : 11;
|
|
unsigned int chan12 : 11;
|
|
unsigned int chan13 : 11;
|
|
unsigned int chan14 : 11;
|
|
unsigned int chan15 : 11;
|
|
unsigned int chan16 : 11;
|
|
|
|
/* Byte 23 contains all flags
|
|
* Bit 7: digital channel 17 (0x80)
|
|
* Bit 6: digital channel 18 (0x40)
|
|
* Bit 5: frame lost (0x20)
|
|
* Bit 4: failsafe activated (0x10)
|
|
* Bit 0-3: n/a
|
|
*/
|
|
unsigned int flag_DChannel_17 : 1;
|
|
unsigned int flag_DChannel_18 : 1;
|
|
unsigned int flag_FrameLost : 1;
|
|
unsigned int flag_Failsafe : 1;
|
|
unsigned int flag_NA : 4;
|
|
|
|
/* Byte 24 - The EndByte is 0x00 for FrSky
|
|
* Not included in this struct
|
|
*/
|
|
|
|
} __attribute__ ((__packed__)) sbusFrame_s;
|
|
|
|
/* This instance is read by the whole system and should contain actual RX data */
|
|
extern sbusFrame_s sbusChannelData;
|
|
|
|
/***********************************************************************
|
|
* BRIEF: Initializes the UART for sbus *
|
|
* INFORMATION: A DMA Buffer starts storing the bytes received from RX *
|
|
* Sbus Inverter is activated *
|
|
***********************************************************************/
|
|
void sbus_init();
|
|
|
|
/***********************************************************************
|
|
* BRIEF: Checks if new RX packet is available *
|
|
* INFORMATION: Is called by the scheduler *
|
|
***********************************************************************/
|
|
bool sbus_frame_available();
|
|
|
|
/***********************************************************************
|
|
* BRIEF: Updates "sbusChannelData" *
|
|
* INFORMATION: Is called by the scheduler *
|
|
***********************************************************************/
|
|
void sbus_read();
|
|
|
|
/***********************************************************************
|
|
* BRIEF: Give the value of a channel in "sbusChannelData" *
|
|
* INFORMATION: Given a channel id the value of that channel will be *
|
|
* returned. *
|
|
***********************************************************************/
|
|
int getChannelValue(sbusFrame_s frame, int id);
|
|
|
|
#endif /* DRIVERS_SBUS_H_ */
|