Initial commit - sync AliceRC to Gitea

2026-08-03 15:54:25 +08:00
commit 493b7d81d7
1510 changed files with 185319 additions and 0 deletions
@@ -0,0 +1,5 @@
+idf_component_register(
+    SRCS "sbus.c"
+    INCLUDE_DIRS "."
+    REQUIRES driver
+)
@@ -0,0 +1,40 @@
+/**
+ * @file sbus.c
+ * @brief SBUS decoder implementation
+ */
+#include <string.h>
+#include "sbus.h"
+
+void sbus_init(void)
+{
+    /* Nothing to initialize */
+}
+
+void sbus_decode(const sbus_frame_t *frame, uint16_t *channels, uint8_t *flags)
+{
+    if (frame->start_byte != 0x0F) {
+        /* Invalid frame */
+        if (flags) *flags = 0;
+        return;
+    }
+    
+    /* Unpack 16 × 11-bit channels from 22 bytes, little-endian */
+    const uint8_t *data = frame->channel_data;
+    for (int i = 0; i < 16; i++) {
+        int byte_idx = (i * 11) / 8;
+        int bit_off = (i * 11) % 8;
+        
+        uint16_t ch = data[byte_idx] >> bit_off;
+        ch |= (uint16_t)(data[byte_idx + 1]) << (8 - bit_off);
+        if (bit_off > 5) {
+            ch |= (uint16_t)(data[byte_idx + 2]) << (16 - bit_off);
+        }
+        
+        channels[i] = ch & 0x07FF;
+    }
+    
+    /* Extract flags */
+    if (flags) {
+        *flags = frame->flags;
+    }
+}
@@ -0,0 +1,35 @@
+/**
+ * @file sbus.h
+ * @brief SBUS decoder for receiver telemetry input
+ */
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* SBUS frame structure (25 bytes) */
+typedef struct __attribute__((packed)) {
+    uint8_t start_byte;         /* 0x0F */
+    uint8_t channel_data[22];   /* 16 channels × 11 bit = 176 bit */
+    uint8_t flags;              /* CH17, CH18, failsafe, lost frame */
+    uint8_t end_byte;           /* 0x00 */
+} sbus_frame_t;
+
+/* SBUS flags */
+#define SBUS_FLAG_CH17      (1 << 0)
+#define SBUS_FLAG_CH18      (1 << 1)
+#define SBUS_FLAG_LOST_FRAME (1 << 2)
+#define SBUS_FLAG_FAILSAFE  (1 << 3)
+
+/* Initialize SBUS decoder */
+void sbus_init(void);
+
+/* Decode SBUS frame into channel values */
+void sbus_decode(const sbus_frame_t *frame, uint16_t *channels, uint8_t *flags);
+
+#ifdef __cplusplus
+}
+#endif