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LibrePilot/flight/pios/inc/pios_sbus_priv.h
2014-09-04 18:15:36 +02:00

107 lines
3.4 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SBus S.Bus Functions
* @brief PIOS interface to read and write from Futaba S.Bus port
* @{
*
* @file pios_sbus_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief Futaba S.Bus Private structures.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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 3 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SBUS_PRIV_H
#define PIOS_SBUS_PRIV_H
#include <pios.h>
#include <pios_stm32.h>
#include <pios_usart_priv.h>
/*
* S.Bus serial port settings:
* 100000bps inverted serial stream, 8 bits, even parity, 2 stop bits
* frame period is 7ms (HS) or 14ms (FS)
*
* Frame structure:
* 1 byte - 0x0f (start of frame byte)
* 22 bytes - channel data (11 bit/channel, 16 channels, LSB first)
* 1 byte - bit flags:
* 0x01 - discrete channel 1,
* 0x02 - discrete channel 2,
* 0x04 - lost frame flag,
* 0x08 - failsafe flag,
* 0xf0 - reserved
* 1 byte - 0x00 (end of frame byte)
*
* The R7008SB receiver has four different end of frame bytes, which rotates in order:
* 00000100
* 00010100
* 00100100
* 00110100
*/
#define SBUS_FRAME_LENGTH (1 + 22 + 1 + 1)
#define SBUS_SOF_BYTE 0x0f
#define SBUS_EOF_BYTE 0x00
#define SBUS_FLAG_DC1 0x01
#define SBUS_FLAG_DC2 0x02
#define SBUS_FLAG_FL 0x04
#define SBUS_FLAG_FS 0x08
#define SBUS_R7008SB_EOF_COUNTER_MASK 0xCB
/*
* S.Bus protocol provides 16 proportional and 2 discrete channels.
* Do not change unless driver code is updated accordingly.
*/
#if (PIOS_SBUS_NUM_INPUTS != (16 + 2))
#error "S.Bus protocol provides 16 proportional and 2 discrete channels"
#endif
/* Discrete channels represented as bits, provide values for them */
#define SBUS_VALUE_MIN 352
#define SBUS_VALUE_MAX 1696
/*
* S.Bus configuration programmable invertor
*/
struct pios_sbus_cfg {
struct stm32_gpio inv;
void (*gpio_clk_func)(uint32_t periph, FunctionalState state);
uint32_t gpio_clk_periph;
BitAction gpio_inv_enable;
BitAction gpio_inv_disable;
};
extern const struct pios_rcvr_driver pios_sbus_rcvr_driver;
extern int32_t PIOS_SBus_Init(uint32_t *sbus_id,
const struct pios_sbus_cfg *cfg,
const struct pios_com_driver *driver,
uint32_t lower_id);
#endif /* PIOS_SBUS_PRIV_H */
/**
* @}
* @}
*/