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-:10922000022277200296FEF734FDBDF8080040BA0E +:10922000022277200296FEF730FDBDF8080040BA12 :1092300028F81400641C082CEEDB2F4800F026F8F8 :1092400010B10020BDE8FE8342F2107028806880D3 :10925000304868603048A8603048E860304828618D :10926000304868610120EDE708B56B460322002114 -:109270007720FEF70EFD9DF800009DF80110000418 +:109270007720FEF70AFD9DF800009DF8011000041C :1092800040EA01209DF80210084308BDF0B5C289EC :10929000002102F47F4502F00F040123C5810A4634 :1092A00030F8126006B10023521C082AF8DB4FF098 @@ -2457,7 +2457,7 @@ :10997000C4E90615A562656284F83B52012084F8AB :109980003A0284F8385284F83C02206BFFF7ECFE70 :10999000D4F83401FFF703FF01212046FFF7D0FE82 -:1099A0003220FEF7D3FCAFF289032A463146206B02 +:1099A0003220FEF7CFFCAFF289032A463146206B06 :1099B000BDE87040DEE6D0E90721914202D14FF0C8 :1099C0000000704702D9A1EB020003E0C068084420 :1099D000A0EB0200C0B2704700B50346FFF7EBFFF3 @@ -2467,16 +2467,16 @@ :109A1000131141627047704708B5ADF800108DF81A :109A2000022002218DF803106946FFF77DFC08BD76 :109A3000C0C62D005415002070D60008CCD50008F3 -:109A40001FB5044602AB062202211820FEF721F9B9 +:109A40001FB5044602AB062202211820FEF71DF9BD :109A50009DF808009DF80910800800EB0120ADF882 :109A600000009DF80A009DF80B10800800EB012013 :109A7000ADF802009DF80C009DF80D10800800EB79 :109A80000120ADF804001A48214602786846FDF727 :109A9000B1F91FBD10B5044608220F211820FEF7AA -:109AA000F2F80E2210211820FEF7EDF811494FF4BC +:109AA000EEF80E2210211820FEF7E9F811494FF4C4 :109AB0008050002C088001D00D48047010BD38B5CE :109AC000044600208DF8000001466B460122182054 -:109AD000FEF7DFF818B19DF80000FB2801D0002048 +:109AD000FEF7DBF818B19DF80000FB2801D000204C :109AE00038BD0548206005486060012038BD000091 :109AF000180400207E010020959A0008419A000871 :109B000002681268104770B50C46054603E02A68E3 diff --git a/src/drv_serial.h b/src/drv_serial.h index de3d674385..6d83b56c79 100644 --- a/src/drv_serial.h +++ b/src/drv_serial.h @@ -1,9 +1,10 @@ #pragma once typedef enum portMode_t { - MODE_RX = 1, - MODE_TX = 2, - MODE_RXTX = MODE_RX | MODE_TX + MODE_RX = 1 << 0, + MODE_TX = 1 << 1, + MODE_RXTX = MODE_RX | MODE_TX, + MODE_SBUS = 1 << 2, } portMode_t; typedef struct serialPort { diff --git a/src/drv_uart.c b/src/drv_uart.c index b0348371e3..7a1727f431 100755 --- a/src/drv_uart.c +++ b/src/drv_uart.c @@ -120,8 +120,13 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback, USART_InitStructure.USART_BaudRate = baudRate; USART_InitStructure.USART_WordLength = USART_WordLength_8b; - USART_InitStructure.USART_StopBits = USART_StopBits_1; - USART_InitStructure.USART_Parity = USART_Parity_No; + if (mode & MODE_SBUS) { + USART_InitStructure.USART_StopBits = USART_StopBits_2; + USART_InitStructure.USART_Parity = USART_Parity_Even; + } else { + USART_InitStructure.USART_StopBits = USART_StopBits_1; + USART_InitStructure.USART_Parity = USART_Parity_No; + } USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = 0; if (mode & MODE_RX) diff --git a/src/sbus.c b/src/sbus.c index f9afd77e9b..df21d894af 100644 --- a/src/sbus.c +++ b/src/sbus.c @@ -6,7 +6,6 @@ #define SBUS_MAX_CHANNEL 8 #define SBUS_FRAME_SIZE 25 #define SBUS_SYNCBYTE 0x0F -#define SBUS_ENDBYTE 0x00 #define SBUS_OFFSET 988 static bool sbusFrameDone = false; @@ -23,7 +22,7 @@ void sbusInit(rcReadRawDataPtr *callback) int b; for (b = 0; b < SBUS_MAX_CHANNEL; b ++) sbusChannelData[b] = 2 * (mcfg.midrc - SBUS_OFFSET); - core.rcvrport = uartOpen(USART2, sbusDataReceive, 100000, MODE_RX); + core.rcvrport = uartOpen(USART2, sbusDataReceive, 100000, MODE_RX | MODE_SBUS); if (callback) *callback = sbusReadRawRC; core.numRCChannels = SBUS_MAX_CHANNEL; @@ -61,7 +60,7 @@ static void sbusDataReceive(uint16_t c) static uint8_t sbusFramePosition; sbusTime = micros(); - if ((sbusTime - sbusTimeLast) > 4000) + if ((sbusTime - sbusTimeLast) > 2500) // sbus2 fast timing sbusFramePosition = 0; sbusTimeLast = sbusTime; @@ -73,8 +72,7 @@ static void sbusDataReceive(uint16_t c) sbus.in[sbusFramePosition - 1] = (uint8_t)c; if (sbusFramePosition == SBUS_FRAME_SIZE - 1) { - if (sbus.in[sbusFramePosition - 1] == SBUS_ENDBYTE) - sbusFrameDone = true; + sbusFrameDone = true; sbusFramePosition = 0; } else { sbusFramePosition++;