34 lines
749 B
C
34 lines
749 B
C
#pragma once
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#ifndef RADIO_RECEIVER_H
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#define RADIO_RECEIVER_H
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#include "stm32g431xx.h"
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#define SBUS_FRAME_SIZE 25
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#define SBUS_START_BYTE 0X0F
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struct rc_channels
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{
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short rc_roll; // -500 - 500
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short rc_pitch; // -500 - 500
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short rc_throttle; // 1000 - 2000
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short rc_yaw; // -500 - 500
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bool rc_armed; // 0/1
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};
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void receiver_gpio_init();
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void receiver_lpuart_clock_init();
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void receiver_uart_init();
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void receiver_init();
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void receiver_update(rc_channels* chs);
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void receiver_parse_frame();
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rc_channels normalize_channels(rc_channels chs);
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short int_mapping(short x, short in_min, short in_max, short out_min, short out_max);
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bool bool_mapping_gt(short x, short boundary);
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void led_init();
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void toggle_led();
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#endif |