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44 lines
1.2 KiB
44 lines
1.2 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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SBUS output support |
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*/ |
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#include "ch.h" |
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#include "hal.h" |
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#include "sbus_out.h" |
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#include <AP_SBusOut/AP_SBusOut.h> |
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static const SerialConfig uart3_cfg = { |
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100000, // speed |
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USART_CR1_PCE | USART_CR1_M, // cr1, enable even parity |
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0, // cr2 |
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0, // cr3 |
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nullptr, // irq_cb |
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nullptr, // ctx |
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}; |
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void sbus_out_init(void) |
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{ |
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sdStart(&SD3, &uart3_cfg); |
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} |
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void sbus_out_write(uint16_t *channels, uint8_t nchannels) |
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{ |
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uint8_t buffer[25]; |
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AP_SBusOut::sbus_format_frame(channels, nchannels, buffer); |
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chnWrite(&SD3, buffer, sizeof(buffer)); |
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}
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