AP_RCProtocol_SBUS.cpp File Reference

#include "AP_RCProtocol_SBUS.h"

Include dependency graph for AP_RCProtocol_SBUS.cpp:

Go to the source code of this file.

Classes
struct	sbus_bit_pick

Macros
#define	SBUS_FRAME_SIZE   25
#define	SBUS_INPUT_CHANNELS   16
#define	SBUS_FLAGS_BYTE   23
#define	SBUS_FAILSAFE_BIT   3
#define	SBUS_FRAMELOST_BIT   2
#define	SBUS_RANGE_MIN   200.0f
#define	SBUS_RANGE_MAX   1800.0f
#define	SBUS_TARGET_MIN   1000.0f
#define	SBUS_TARGET_MAX   2000.0f
#define	SBUS_SCALE_FACTOR   ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN))
#define	SBUS_SCALE_OFFSET   (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))

Variables
static const struct sbus_bit_pick	sbus_decoder [SBUS_INPUT_CHANNELS][3]

Macro Definition Documentation

SBUS_FAILSAFE_BIT

#define SBUS_FAILSAFE_BIT   3

Definition at line 59 of file AP_RCProtocol_SBUS.cpp.

Referenced by AP_RCProtocol_SBUS::sbus_decode().

SBUS_FLAGS_BYTE

#define SBUS_FLAGS_BYTE   23

Definition at line 58 of file AP_RCProtocol_SBUS.cpp.

Referenced by AP_RCProtocol_SBUS::sbus_decode().

SBUS_FRAME_SIZE

#define SBUS_FRAME_SIZE   25

Definition at line 56 of file AP_RCProtocol_SBUS.cpp.

SBUS_FRAMELOST_BIT

#define SBUS_FRAMELOST_BIT   2

Definition at line 60 of file AP_RCProtocol_SBUS.cpp.

Referenced by AP_RCProtocol_SBUS::sbus_decode().

SBUS_INPUT_CHANNELS

#define SBUS_INPUT_CHANNELS   16

Definition at line 57 of file AP_RCProtocol_SBUS.cpp.

Referenced by AP_RCProtocol_SBUS::sbus_decode().

SBUS_RANGE_MAX

#define SBUS_RANGE_MAX   1800.0f

Definition at line 64 of file AP_RCProtocol_SBUS.cpp.

SBUS_RANGE_MIN

#define SBUS_RANGE_MIN   200.0f

Definition at line 63 of file AP_RCProtocol_SBUS.cpp.

SBUS_SCALE_FACTOR

#define SBUS_SCALE_FACTOR   ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN))

Definition at line 70 of file AP_RCProtocol_SBUS.cpp.

Referenced by AP_RCProtocol_SBUS::sbus_decode().

SBUS_SCALE_OFFSET

#define SBUS_SCALE_OFFSET   (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))

Definition at line 71 of file AP_RCProtocol_SBUS.cpp.

Referenced by AP_RCProtocol_SBUS::sbus_decode().

SBUS_TARGET_MAX

#define SBUS_TARGET_MAX   2000.0f

Definition at line 67 of file AP_RCProtocol_SBUS.cpp.

SBUS_TARGET_MIN

#define SBUS_TARGET_MIN   1000.0f

Definition at line 66 of file AP_RCProtocol_SBUS.cpp.

Variable Documentation

sbus_decoder

const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3]

static

Initial value:

= {
     { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
     { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
     { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} },
     { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
     { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
     { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03,  9} },
     { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
     { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00,  0} },
     { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
     { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
     { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} },
     { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
     { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
     { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03,  9} },
     { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
     { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00,  0} }
}

Definition at line 90 of file AP_RCProtocol_SBUS.cpp.