36 lines
848 B
C
36 lines
848 B
C
/**
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* @file sbus.h
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* @brief SBUS decoder for receiver telemetry input
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*/
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#pragma once
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* SBUS frame structure (25 bytes) */
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typedef struct __attribute__((packed)) {
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uint8_t start_byte; /* 0x0F */
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uint8_t channel_data[22]; /* 16 channels × 11 bit = 176 bit */
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uint8_t flags; /* CH17, CH18, failsafe, lost frame */
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uint8_t end_byte; /* 0x00 */
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} sbus_frame_t;
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/* SBUS flags */
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#define SBUS_FLAG_CH17 (1 << 0)
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#define SBUS_FLAG_CH18 (1 << 1)
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#define SBUS_FLAG_LOST_FRAME (1 << 2)
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#define SBUS_FLAG_FAILSAFE (1 << 3)
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/* Initialize SBUS decoder */
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void sbus_init(void);
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/* Decode SBUS frame into channel values */
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void sbus_decode(const sbus_frame_t *frame, uint16_t *channels, uint8_t *flags);
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#ifdef __cplusplus
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}
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#endif
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