hpm6750/controller_yy_app/remote_controller/rc_sbus.h

#ifndef _SOFT_RC_SBUS_H_
#define _SOFT_RC_SBUS_H_

#include "common.h"
#include "remote_controller.h"
#include <stdbool.h>
#include <stdint.h>

#define _SBUS_CALIB_CH_NUM 4
#define _SBUS_DATA_NUM 23

/* sbus 信号状态 */
typedef enum
{
    SBUS_SIGNAL_OK = 0x00,
    SBUS_SIGNAL_LOST = 0x01,
    SBUS_SIGNAL_FAILSAFE = 0x03,
} RCSbus_SignalStatus;

typedef struct
{
    /*--------- public members ---------------*/
    RC_Data_Type rc;

    /*--------- public members end -----------*/

    /*--------- private members --------------*/
    uint32_t _link_lost_time_us; /* 失联时间 */

    RCSbus_SignalStatus _sbus_signal_status; /* sbus 信号状态 */

    /* 接收解析 */
    uint8_t _raw_sbus_parse_stage;
    uint8_t _raw_sbus_head;
    uint8_t _raw_sbus_data[_SBUS_DATA_NUM];
    uint8_t _raw_sbus_tail;
    uint8_t _raw_sbus_data_rx_index;

    /* 数值异常判断计时 */
    float _health_count_s;
    float _fail_count_s;
    float _bad_count_s;

    /*-------- private members end-------------*/
} RC_SBUS_Data;

void RcSbus_StructInit(RC_SBUS_Data *prc_sbus);

bool rc_sbus_protocal_parse_char(RC_SBUS_Data *rc_sbus, uint8_t data);

#endif