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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-10-24 20:07:23 +02:00
parent 474d2a9c84
commit 2a47aac573
4 changed files with 91 additions and 63 deletions
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sbus.cpp Normal file
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#include "Arduino.h"
#include "variables.h"
#define SBUS_MIN_OFFSET 173
#define SBUS_MID_OFFSET 992
#define SBUS_MAX_OFFSET 1811
#define SBUS_CHANNEL_NUMBER 16
#define SBUS_PACKET_LENGTH 25
#define SBUS_FRAME_HEADER 0x0f
#define SBUS_FRAME_FOOTER 0x00
#define SBUS_FRAME_FOOTER_V2 0x04
#define SBUS_STATE_FAILSAFE 0x08
#define SBUS_STATE_SIGNALLOSS 0x04
void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool isFailsafe){
static int output[SBUS_CHANNEL_NUMBER] = {0};
/*
* Map 1000-2000 with middle at 1500 chanel values to
* 173-1811 with middle at 992 S.BUS protocol requires
*/
for (uint8_t i = 0; i < SBUS_CHANNEL_NUMBER; i++) {
output[i] = map(channels[i], RC_CHANNEL_MIN, RC_CHANNEL_MAX, SBUS_MIN_OFFSET, SBUS_MAX_OFFSET);
}
uint8_t stateByte = 0x00;
if (isSignalLoss) {
stateByte |= SBUS_STATE_SIGNALLOSS;
}
if (isFailsafe) {
stateByte |= SBUS_STATE_FAILSAFE;
}
packet[0] = SBUS_FRAME_HEADER; //Header
packet[1] = (uint8_t) (output[0] & 0x07FF);
packet[2] = (uint8_t) ((output[0] & 0x07FF)>>8 | (output[1] & 0x07FF)<<3);
packet[3] = (uint8_t) ((output[1] & 0x07FF)>>5 | (output[2] & 0x07FF)<<6);
packet[4] = (uint8_t) ((output[2] & 0x07FF)>>2);
packet[5] = (uint8_t) ((output[2] & 0x07FF)>>10 | (output[3] & 0x07FF)<<1);
packet[6] = (uint8_t) ((output[3] & 0x07FF)>>7 | (output[4] & 0x07FF)<<4);
packet[7] = (uint8_t) ((output[4] & 0x07FF)>>4 | (output[5] & 0x07FF)<<7);
packet[8] = (uint8_t) ((output[5] & 0x07FF)>>1);
packet[9] = (uint8_t) ((output[5] & 0x07FF)>>9 | (output[6] & 0x07FF)<<2);
packet[10] = (uint8_t) ((output[6] & 0x07FF)>>6 | (output[7] & 0x07FF)<<5);
packet[11] = (uint8_t) ((output[7] & 0x07FF)>>3);
packet[12] = (uint8_t) ((output[8] & 0x07FF));
packet[13] = (uint8_t) ((output[8] & 0x07FF)>>8 | (output[9] & 0x07FF)<<3);
packet[14] = (uint8_t) ((output[9] & 0x07FF)>>5 | (output[10] & 0x07FF)<<6);
packet[15] = (uint8_t) ((output[10] & 0x07FF)>>2);
packet[16] = (uint8_t) ((output[10] & 0x07FF)>>10 | (output[11] & 0x07FF)<<1);
packet[17] = (uint8_t) ((output[11] & 0x07FF)>>7 | (output[12] & 0x07FF)<<4);
packet[18] = (uint8_t) ((output[12] & 0x07FF)>>4 | (output[13] & 0x07FF)<<7);
packet[19] = (uint8_t) ((output[13] & 0x07FF)>>1);
packet[20] = (uint8_t) ((output[13] & 0x07FF)>>9 | (output[14] & 0x07FF)<<2);
packet[21] = (uint8_t) ((output[14] & 0x07FF)>>6 | (output[15] & 0x07FF)<<5);
packet[22] = (uint8_t) ((output[15] & 0x07FF)>>3);
packet[23] = stateByte; //Flags byte
packet[24] = SBUS_FRAME_FOOTER; //Footer
}