ea48b3560b
# Conflicts: # UAV-ControlSystem/src/config/cli.c # UAV-ControlSystem/src/config/eeprom.c # UAV-ControlSystem/src/drivers/sbus.c
155 lines
5.7 KiB
C
155 lines
5.7 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
|
|
|
|
extern float rc_rate;
|
|
|
|
/***********************************************************************
|
|
* 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;
|
|
|
|
/* these are scaled RC Inputs centered around 0 */
|
|
typedef struct rc_input_t {
|
|
int16_t Roll;
|
|
int16_t Pitch;
|
|
int16_t Yaw;
|
|
int16_t Throttle;
|
|
} rc_input_t;
|
|
|
|
|
|
|
|
/* This instance is read by the whole system and should contain actual RX data */
|
|
extern sbusFrame_s sbusChannelData;
|
|
|
|
/* these are scaled RC Inputs centered around 0 */
|
|
extern rc_input_t rc_input;
|
|
|
|
/***********************************************************************
|
|
* 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_ */
|