flight/pios/inc/pios_sbus_priv.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup   PIOS_SBus S.Bus Functions
   6  * @brief PIOS interface to read and write from Futaba S.Bus port
   7  * @{
   8  *
   9  * @file       pios_sbus_priv.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
  11  * @brief      Futaba S.Bus Private structures.
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #ifndef PIOS_SBUS_PRIV_H
  32 #define PIOS_SBUS_PRIV_H
  33
  34 #include <pios.h>
  35 #include <pios_stm32.h>
  36 #include <pios_usart_priv.h>
  37
  38 /*
  39  * S.Bus serial port settings:
  40  *  100000bps inverted serial stream, 8 bits, even parity, 2 stop bits
  41  *  frame period is 7ms (HS) or 14ms (FS)
  42  *
  43  * Frame structure:
  44  *  1 byte  - 0x0f (start of frame byte)
  45  * 22 bytes - channel data (11 bit/channel, 16 channels, LSB first)
  46  *  1 byte  - bit flags:
  47  *                   0x01 - discrete channel 1,
  48  *                   0x02 - discrete channel 2,
  49  *                   0x04 - lost frame flag,
  50  *                   0x08 - failsafe flag,
  51  *                   0xf0 - reserved
  52  *  1 byte  - 0x00 (end of frame byte)
  53  *
  54  * The R7008SB receiver has four different end of frame bytes, which rotates in order:
  55  *    00000100
  56  *    00010100
  57  *    00100100
  58  *    00110100
  59  */
  60
  61 #define SBUS_FRAME_LENGTH             (1 + 22 + 1 + 1)
  62 #define SBUS_SOF_BYTE                 0x0f
  63 #define SBUS_EOF_BYTE                 0x00
  64 #define SBUS_FLAG_DC1                 0x01
  65 #define SBUS_FLAG_DC2                 0x02
  66 #define SBUS_FLAG_FL                  0x04
  67 #define SBUS_FLAG_FS                  0x08
  68
  69 #define SBUS_R7008SB_EOF_COUNTER_MASK 0xCB
  70
  71 /*
  72  * S.Bus protocol provides 16 proportional and 2 discrete channels.
  73  * Do not change unless driver code is updated accordingly.
  74  */
  75 #if (PIOS_SBUS_NUM_INPUTS != (16 + 2))
  76 #error "S.Bus protocol provides 16 proportional and 2 discrete channels"
  77 #endif
  78
  79 /* Discrete channels represented as bits, provide values for them */
  80 #define SBUS_VALUE_MIN 352
  81 #define SBUS_VALUE_MAX 1696
  82
  83 /*
  84  * S.Bus configuration programmable invertor
  85  */
  86 struct pios_sbus_cfg {
  87     bool non_inverted;
  88 };
  89
  90 extern const struct pios_rcvr_driver pios_sbus_rcvr_driver;
  91
  92 extern int32_t PIOS_SBus_Init(uint32_t *sbus_id,
  93                               const struct pios_sbus_cfg *cfg,
  94                               const struct pios_com_driver *driver,
  95                               uint32_t lower_id);
  96
  97 #endif /* PIOS_SBUS_PRIV_H */
  98
  99 /**
 100  * @}
 101  * @}
 102  */