// Decoding event function
// Reading from UART
void sbus_common_decode_event(struct Sbus *sbus_p, struct uart_periph *dev)
{
uint8_t rbyte;
if (uart_char_available(dev)) {
do {
rbyte = uart_getch(dev);
switch (sbus_p->status) {
case SBUS_STATUS_UNINIT:
// Wait for the start byte
if (rbyte == SBUS_START_BYTE) {
sbus_p->status++;
sbus_p->idx = 0;
}
break;
case SBUS_STATUS_GOT_START:
// Store buffer
sbus_p->buffer[sbus_p->idx] = rbyte;
sbus_p->idx++;
if (sbus_p->idx == SBUS_BUF_LENGTH) {
// Decode if last byte is the correct end byte
if (rbyte == SBUS_END_BYTE) {
decode_sbus_buffer(sbus_p->buffer, sbus_p->pulses, &sbus_p->frame_available, sbus_p->ppm);
}
sbus_p->status = SBUS_STATUS_UNINIT;
}
break;
default:
break;
}
} while (uart_char_available(dev));
}
}
// Decoding event function
// Reading from UART
void sbus_decode_event(void) {
uint8_t rbyte;
if (uart_char_available(&SBUS_UART_DEV)) {
do {
rbyte = uart_getch(&SBUS_UART_DEV);
switch (sbus.status) {
case SBUS_STATUS_UNINIT:
// Wait for the start byte
if (rbyte == SBUS_START_BYTE) {
sbus.status++;
sbus.idx = 0;
}
break;
case SBUS_STATUS_GOT_START:
// Store buffer
sbus.buffer[sbus.idx] = rbyte;
sbus.idx++;
if (sbus.idx == SBUS_BUF_LENGTH) {
// Decode if last byte is the correct end byte
if (rbyte == SBUS_END_BYTE) {
decode_sbus_buffer(sbus.buffer, sbus.pulses, &sbus.frame_available);
}
sbus.status = SBUS_STATUS_UNINIT;
}
break;
default:
break;
}
} while (uart_char_available(&SBUS_UART_DEV));
}
}