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 +1,35 @@
+/**
+ * @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