/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sbus.c
*
* Serial protocol decoder for the Futaba S.bus protocol.
*/
#include <nuttx/config.h>
#include <fcntl.h>
#include <unistd.h>
#include <termios.h>
#include <drivers/drv_hrt.h>
#define DEBUG
#include "px4io.h"
static int sbus_fd = -1;
int
sbus_init(const char *device)
{
if (sbus_fd < 0)
sbus_fd = open(device, O_RDONLY);
if (sbus_fd >= 0) {
struct termios t;
/* 100000bps, even parity, two stop bits */
tcgetattr(sbus_fd, &t);
cfsetspeed(&t, 100000);
t.c_cflag |= (CSTOPB | PARENB);
tcsetattr(sbus_fd, TCSANOW, &t);
debug("Sbus: ready");
} else {
debug("Sbus: open failed");
}
return sbus_fd;
}
void
sbus_input(void)
{
}