34 lines
818 B
C
34 lines
818 B
C
#ifndef RADIO_RECEIVER_H
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#define RADIO_RECEIVER_H
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#include "stm32g431xx.h"
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#include <stdint.h>
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#define SBUS_FRAME_SIZE 25
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#define SBUS_START_BYTE 0X0F
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typedef struct
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{
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int16_t rc_roll; // -500 - 500
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int16_t rc_pitch; // -500 - 500
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int16_t rc_throttle; // 1000 - 2000
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int16_t rc_yaw; // -500 - 500
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int16_t rc_armed; // 0/1
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} rc_channels;
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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 LPUART1_IRQHandler();
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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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int16_t int_mapping(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
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int8_t bool_mapping_gt(int16_t x, int16_t boundary);
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void led_init();
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void toggle_led();
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#endif |