src/main/telemetry/sbus2.h

   1 /*
   2  * This file is part of INAV.
   3  *
   4  * INAV 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  * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18
  19 #pragma once
  20
  21 #include <stdint.h>
  22
  23 #include "platform.h"
  24
  25 #include "common/time.h"
  26 #include "common/utils.h"
  27
  28 #define SBUS2_TELEMETRY_PAYLOAD_SIZE 3
  29
  30 #define SBUS2_TELEMETRY_ITEM_SIZE   3
  31 #define SBUS2_TELEMETRY_SLOTS       8
  32 #define SBUS2_TELEMETRY_PAGES       4
  33
  34 #define SBUS2_DEADTIME              MS2US(2)
  35 #define SBUS2_SLOT_TIME             650u
  36
  37 #define SBUS2_TRANSMIT_TIME         ((8 + 1 + 2 + 1 + 1) * 3 * 10) // 8e2, 100000 baud + star and stop bits
  38 #define SBUS2_SLOT_DELAY            200
  39
  40 #define SBUS2_SLOT_DELAY_MAX        (MIN(350u, (SBUS2_SLOT_TIME / 2u)))
  41
  42 #define SBUS2_SLOT_COUNT            (SBUS2_TELEMETRY_PAGES * SBUS2_TELEMETRY_SLOTS)
  43
  44 #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SBUS2)
  45
  46 // Information on SBUS2 sensors from: https://github.com/BrushlessPower/SBUS2-Telemetry/tree/master
  47 typedef struct sbus2_telemetry_frame_s {
  48     uint8_t slotId;
  49     union
  50     {
  51         uint8_t data[2];
  52         uint16_t u16;
  53     } payload;
  54 } __attribute__((packed)) sbus2_telemetry_frame_t;
  55
  56
  57 STATIC_ASSERT(sizeof(sbus2_telemetry_frame_t) == 3, sbus2_telemetry_size);
  58
  59 extern const uint8_t sbus2SlotIds[SBUS2_SLOT_COUNT];
  60 extern sbus2_telemetry_frame_t sbusTelemetryData[SBUS2_SLOT_COUNT];
  61 extern uint8_t sbusTelemetryDataUsed[SBUS2_SLOT_COUNT];
  62
  63 // refresh telemetry buffers
  64 void handleSbus2Telemetry(timeUs_t currentTimeUs);
  65
  66 // time critical, send sbus2 data
  67 void taskSendSbus2Telemetry(timeUs_t currentTimeUs);
  68
  69 uint8_t sbus2GetTelemetrySlot(timeUs_t elapsed);
  70 void sbus2IncrementTelemetrySlot(timeUs_t now);
  71
  72 #endif