src/main/rx/sbus_channels.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdint.h>
  24
  25 #define SBUS_MAX_CHANNEL 18
  26
  27 #define SBUS_FLAG_SIGNAL_LOSS       (1 << 2)
  28 #define SBUS_FLAG_FAILSAFE_ACTIVE   (1 << 3)
  29
  30 typedef struct sbusChannels_s {
  31     // 176 bits of data (11 bits per channel * 16 channels) = 22 bytes.
  32     unsigned int chan0 : 11;
  33     unsigned int chan1 : 11;
  34     unsigned int chan2 : 11;
  35     unsigned int chan3 : 11;
  36     unsigned int chan4 : 11;
  37     unsigned int chan5 : 11;
  38     unsigned int chan6 : 11;
  39     unsigned int chan7 : 11;
  40     unsigned int chan8 : 11;
  41     unsigned int chan9 : 11;
  42     unsigned int chan10 : 11;
  43     unsigned int chan11 : 11;
  44     unsigned int chan12 : 11;
  45     unsigned int chan13 : 11;
  46     unsigned int chan14 : 11;
  47     unsigned int chan15 : 11;
  48     uint8_t flags;
  49 } __attribute__((__packed__)) sbusChannels_t;
  50
  51 #define SBUS_CHANNEL_DATA_LENGTH sizeof(sbusChannels_t)
  52
  53 uint8_t sbusChannelsDecode(rxRuntimeState_t *rxRuntimeState, const sbusChannels_t *channels);
  54
  55 void sbusChannelsInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState);
  56