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add firmware

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This commit is contained in:
Dana Markova
2025-07-28 12:43:33 +03:00
parent 6cf2747ec9
commit 748830dfb7
84 changed files with 40709 additions and 0 deletions
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dev/sbus.cpp Normal file
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#include "stm32g4xx.h"
#include <string.h>
#include "uart.h"
#include "tick.h"
#include "sbus.h"
#pragma pack(push,1)
union SBUS_Struct
{
unsigned char data[25];
struct
{
unsigned start : 8;
unsigned ch1 : 11;
unsigned ch2 : 11;
unsigned ch3 : 11;
unsigned ch4 : 11;
unsigned ch5 : 11;
unsigned ch6 : 11;
unsigned ch7 : 11;
unsigned ch8 : 11;
unsigned ch9 : 11;
unsigned ch10 : 11;
unsigned ch11 : 11;
unsigned ch12 : 11;
unsigned ch13 : 11;
unsigned ch14 : 11;
unsigned ch15 : 11;
unsigned ch16 : 11;
unsigned flags : 8;
unsigned end : 8;
} bus;
};
#pragma pack(pop)
// IBUS: LEN(1)+CMD(1)+DATA(0..32)+CHSM(2)
#define SBUS_START 0x0F
#define SBUS_CH17 0x01
#define SBUS_CH18 0x02
#define SBUS_FRAMELOST 0x04
#define SBUS_FAILSAFE 0x08
#define SBUS_LENGTH 25
void SBUS_Init()
{
UART1_Init(100'000);
USART1->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_RXNEIE;
USART1->CR2 = USART_CR2_STOP_1 | USART_CR2_RXINV;
USART1->CR1 |= USART_CR1_PCE | USART_CR1_PS | USART_CR1_UE;
}
static const unsigned long Size = SBUS_LENGTH;
static char Buffer[Size];
static char Length = 0;
static unsigned long Time;
static bool Parse(SBUS_Data& Data, char byte)
{
unsigned long tick=TICK_GetCount();
unsigned long wait = tick - Time;
if (wait > 4) Length = 0; // Protocol synchronization lost !!!
Time=tick;
if (!Length && (byte != SBUS_START)) return false;
Buffer[Length++] = byte;
if(Length<Size) return false;
Length=0;
SBUS_Struct* frame=(SBUS_Struct*)Buffer;
if(frame->bus.end!=0) return false;
Data.X=frame->bus.ch1;
Data.Y=frame->bus.ch2;
Data.Z=frame->bus.ch3;
Data.W=frame->bus.ch4;
Data.SWA=frame->bus.ch5;
Data.SWB=frame->bus.ch6;
Data.SWC=frame->bus.ch7;
Data.SWD=frame->bus.ch8;
Data.VRA=frame->bus.ch9;
Data.VRB=frame->bus.ch10;
Data.OTHER[0]=frame->bus.ch11;
Data.OTHER[1]=frame->bus.ch12;
Data.OTHER[2]=frame->bus.ch13;
Data.OTHER[3]=frame->bus.ch14;
Data.OTHER[4]=frame->bus.ch15;
Data.OTHER[5]=frame->bus.ch16;
Data.OTHER[6]=(bool)(frame->bus.flags & SBUS_CH17);
Data.OTHER[7]=(bool)(frame->bus.flags & SBUS_CH18);
Data.FailSafe=frame->bus.flags & SBUS_FAILSAFE;
Data.FrameLost=frame->bus.flags & SBUS_FRAMELOST;
return true;
}
bool SBUS_Update(SBUS_Data& Data, bool& Off)
{
char buf[Size];
unsigned long size = UART1_Recv(buf, Size);
bool done = false;
for (long a = 0; a < size; a++) done = Parse(Data, buf[a]);
Off=Data.FailSafe;
return done;
}