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107 lines
3.4 KiB
C
107 lines
3.4 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_SBus S.Bus Functions
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* @brief PIOS interface to read and write from Futaba S.Bus port
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* @{
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*
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* @file pios_sbus_priv.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief Futaba S.Bus Private structures.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_SBUS_PRIV_H
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#define PIOS_SBUS_PRIV_H
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#include <pios.h>
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#include <pios_stm32.h>
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#include <pios_usart_priv.h>
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/*
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* S.Bus serial port settings:
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* 100000bps inverted serial stream, 8 bits, even parity, 2 stop bits
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* frame period is 7ms (HS) or 14ms (FS)
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*
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* Frame structure:
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* 1 byte - 0x0f (start of frame byte)
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* 22 bytes - channel data (11 bit/channel, 16 channels, LSB first)
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* 1 byte - bit flags:
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* 0x01 - discrete channel 1,
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* 0x02 - discrete channel 2,
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* 0x04 - lost frame flag,
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* 0x08 - failsafe flag,
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* 0xf0 - reserved
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* 1 byte - 0x00 (end of frame byte)
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*
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* The R7008SB receiver has four different end of frame bytes, which rotates in order:
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* 00000100
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* 00010100
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* 00100100
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* 00110100
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*/
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#define SBUS_FRAME_LENGTH (1 + 22 + 1 + 1)
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#define SBUS_SOF_BYTE 0x0f
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#define SBUS_EOF_BYTE 0x00
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#define SBUS_FLAG_DC1 0x01
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#define SBUS_FLAG_DC2 0x02
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#define SBUS_FLAG_FL 0x04
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#define SBUS_FLAG_FS 0x08
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#define SBUS_R7008SB_EOF_COUNTER_MASK 0xCB
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/*
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* S.Bus protocol provides 16 proportional and 2 discrete channels.
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* Do not change unless driver code is updated accordingly.
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*/
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#if (PIOS_SBUS_NUM_INPUTS != (16 + 2))
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#error "S.Bus protocol provides 16 proportional and 2 discrete channels"
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#endif
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/* Discrete channels represented as bits, provide values for them */
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#define SBUS_VALUE_MIN 352
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#define SBUS_VALUE_MAX 1696
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/*
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* S.Bus configuration programmable invertor
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*/
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struct pios_sbus_cfg {
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struct stm32_gpio inv;
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void (*gpio_clk_func)(uint32_t periph, FunctionalState state);
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uint32_t gpio_clk_periph;
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BitAction gpio_inv_enable;
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BitAction gpio_inv_disable;
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};
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extern const struct pios_rcvr_driver pios_sbus_rcvr_driver;
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extern int32_t PIOS_SBus_Init(uint32_t *sbus_id,
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const struct pios_sbus_cfg *cfg,
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const struct pios_com_driver *driver,
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uint32_t lower_id);
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#endif /* PIOS_SBUS_PRIV_H */
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/**
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* @}
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* @}
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*/
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