mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
108 lines
3.4 KiB
C
108 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 0xCF
|
|
#define SBUS_R7008SB_EOF_BYTE 0x04
|
|
|
|
/*
|
|
* 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 */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|