mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
/*
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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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