src/main/rx/sbus_channels.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include <stdint.h>
  21
  22 #define SBUS_MAX_CHANNEL 18
  23
  24 #define SBUS_FLAG_SIGNAL_LOSS       (1 << 2)
  25 #define SBUS_FLAG_FAILSAFE_ACTIVE   (1 << 3)
  26
  27 typedef struct sbusChannels_s {
  28     // 176 bits of data (11 bits per channel * 16 channels) = 22 bytes.
  29     unsigned int chan0 : 11;
  30     unsigned int chan1 : 11;
  31     unsigned int chan2 : 11;
  32     unsigned int chan3 : 11;
  33     unsigned int chan4 : 11;
  34     unsigned int chan5 : 11;
  35     unsigned int chan6 : 11;
  36     unsigned int chan7 : 11;
  37     unsigned int chan8 : 11;
  38     unsigned int chan9 : 11;
  39     unsigned int chan10 : 11;
  40     unsigned int chan11 : 11;
  41     unsigned int chan12 : 11;
  42     unsigned int chan13 : 11;
  43     unsigned int chan14 : 11;
  44     unsigned int chan15 : 11;
  45     uint8_t flags;
  46 } __attribute__((__packed__)) sbusChannels_t;
  47
  48 #define SBUS_CHANNEL_DATA_LENGTH sizeof(sbusChannels_t)
  49
  50 uint8_t sbusChannelsDecode(rxRuntimeConfig_t *rxRuntimeConfig, const sbusChannels_t *channels);
  51
  52 void sbusChannelsInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
  53