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Refactor RCReceiver to SBUSReceiver #125

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Merged
SuperMK15 merged 2 commits into from
Feb 13, 2026
Merged

Refactor RCReceiver to SBUSReceiver #125

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c2f6ad1
Refactor RCReceiver to SBUSReceiver
SuperMK15 Feb 12, 2026
8e72578
naming fixes
SuperMK15 Feb 13, 2026
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2 changes: 1 addition & 1 deletion stm32h753iitx/boardfiles/drivers/rc/rc_crsf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,4 +85,4 @@ void CRSFReceiver::parse() {

UART_HandleTypeDef * CRSFReceiver::getHUART() {
return uart_;
}
}
16 changes: 8 additions & 8 deletions stm32h753iitx/boardfiles/drivers/rc/rc.cpp → ...753iitx/boardfiles/drivers/rc/rc_sbus.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
#include <cmath>
#include <cstring>
#include <cstdio>
#include "rc.hpp"
#include "rc_sbus.hpp"

DataChunk_t channelMappings[SBUS_CHANNEL_COUNT][SBUS_MAX_BTYES_PER_CHANNEL] = {
{ //channel 1
Expand Down Expand Up @@ -54,31 +54,31 @@ DataChunk_t channelMappings[SBUS_CHANNEL_COUNT][SBUS_MAX_BTYES_PER_CHANNEL] = {
}
};

RCReceiver::RCReceiver(UART_HandleTypeDef* uart) : uart(uart) {
SBUSReceiver::SBUSReceiver(UART_HandleTypeDef* uart) : uart(uart) {
memset((void*)rawSbus, 0, SBUS_PACKET_SIZE);
}


UART_HandleTypeDef* RCReceiver::getHUART() {
UART_HandleTypeDef* SBUSReceiver::getHUART() {
return uart;
}

RCControl RCReceiver::getRCData() {
RCControl SBUSReceiver::getRCData() {
RCControl tmp = rcData;
rcData.isDataNew = false;
return tmp;
}

void RCReceiver::init() {
void SBUSReceiver::init() {
rcData.isDataNew = false;
HAL_UARTEx_ReceiveToIdle_DMA(uart, (uint8_t*)rawSbus, SBUS_PACKET_SIZE);
}

void RCReceiver::startDMA() {
void SBUSReceiver::startDMA() {
HAL_UARTEx_ReceiveToIdle_DMA(uart, (uint8_t*)rawSbus, SBUS_PACKET_SIZE);
}

void RCReceiver::parse() {
void SBUSReceiver::parse() {

uint8_t *buf = (uint8_t*)rawSbus;

Expand All @@ -92,7 +92,7 @@ void RCReceiver::parse() {
}
}

float RCReceiver::sbusToRCControl(uint8_t *buf, int channelMappingIdx) {
float SBUSReceiver::sbusToRCControl(uint8_t *buf, int channelMappingIdx) {
uint16_t res = 0;

for (int i = 0; i < SBUS_MAX_BTYES_PER_CHANNEL; i++) {
Expand Down
4 changes: 2 additions & 2 deletions stm32h753iitx/boardfiles/drivers/rc/rc.hpp → ...753iitx/boardfiles/drivers/rc/rc_sbus.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,9 +10,9 @@ typedef struct {
int bitshift;
} DataChunk_t;

class RCReceiver : public IRCReceiver {
class SBUSReceiver : public IRCReceiver {
public:
RCReceiver(UART_HandleTypeDef *uart);
SBUSReceiver(UART_HandleTypeDef *uart);

RCControl getRCData() override;

Expand Down
1 change: 1 addition & 0 deletions stm32h753iitx/boardfiles/model/inc/drivers.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#include "logger.hpp"
#include "motor.hpp"
#include "motor_datatype.hpp"
#include "rc_sbus.hpp"
#include "rc_crsf.hpp"
#include "rc_motor_control.hpp"
#include "tm_queue.hpp"
Expand Down
2 changes: 1 addition & 1 deletion stm32l552xx/boardfiles/drivers/rc/rc_crsf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,6 @@ void CRSFReceiver::parse() {
rcData.isDataNew = true;
}

UART_HandleTypeDef * CRSFReceiver::getUart() {
UART_HandleTypeDef * CRSFReceiver::getHUART() {
return uart;
}
2 changes: 1 addition & 1 deletion stm32l552xx/boardfiles/drivers/rc/rc_crsf.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ class CRSFReceiver : public IRCReceiver {
void startDMA();

void parse();
UART_HandleTypeDef * getUart();
UART_HandleTypeDef * getHUART();

private:
UART_HandleTypeDef *uart;
Expand Down
16 changes: 8 additions & 8 deletions stm32l552xx/boardfiles/drivers/rc/rc.cpp → ...2l552xx/boardfiles/drivers/rc/rc_sbus.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
#include <cmath>
#include <cstring>
#include <cstdio>
#include "rc.hpp"
#include "rc_sbus.hpp"

DataChunk_t channelMappings[SBUS_CHANNEL_COUNT][SBUS_MAX_BTYES_PER_CHANNEL] = {
{ //channel 1
Expand Down Expand Up @@ -54,31 +54,31 @@ DataChunk_t channelMappings[SBUS_CHANNEL_COUNT][SBUS_MAX_BTYES_PER_CHANNEL] = {
}
};

RCReceiver::RCReceiver(UART_HandleTypeDef* uart) : uart(uart) {
SBUSReceiver::SBUSReceiver(UART_HandleTypeDef* uart) : uart(uart) {
memset(rawSbus, 0, SBUS_PACKET_SIZE);
}


UART_HandleTypeDef* RCReceiver::getHUART() {
UART_HandleTypeDef* SBUSReceiver::getHUART() {
return uart;
}

RCControl RCReceiver::getRCData() {
RCControl SBUSReceiver::getRCData() {
RCControl tmp = rcData;
rcData.isDataNew = false;
return tmp;
}

void RCReceiver::init() {
void SBUSReceiver::init() {
rcData.isDataNew = false;
HAL_UARTEx_ReceiveToIdle_DMA(uart, rawSbus, SBUS_PACKET_SIZE);
}

void RCReceiver::startDMA() {
void SBUSReceiver::startDMA() {
HAL_UARTEx_ReceiveToIdle_DMA(uart, rawSbus, SBUS_PACKET_SIZE);
}

void RCReceiver::parse() {
void SBUSReceiver::parse() {

uint8_t *buf = rawSbus;

Expand All @@ -92,7 +92,7 @@ void RCReceiver::parse() {
}
}

float RCReceiver::sbusToRCControl(uint8_t *buf, int channelMappingIdx) {
float SBUSReceiver::sbusToRCControl(uint8_t *buf, int channelMappingIdx) {
uint16_t res = 0;

for (int i = 0; i < SBUS_MAX_BTYES_PER_CHANNEL; i++) {
Expand Down
4 changes: 2 additions & 2 deletions stm32l552xx/boardfiles/drivers/rc/rc.hpp → ...2l552xx/boardfiles/drivers/rc/rc_sbus.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,9 +10,9 @@ typedef struct {
int bitshift;
} DataChunk_t;

class RCReceiver : public IRCReceiver {
class SBUSReceiver : public IRCReceiver {
public:
RCReceiver(UART_HandleTypeDef *uart);
SBUSReceiver(UART_HandleTypeDef *uart);

RCControl getRCData() override;

Expand Down
2 changes: 1 addition & 1 deletion stm32l552xx/boardfiles/model/inc/drivers.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
#include "logger.hpp"
#include "motor.hpp"
#include "motor_datatype.hpp"
#include "rc.hpp"
#include "rc_sbus.hpp"
#include "rc_crsf.hpp"
#include "rc_motor_control.hpp"
#include "tm_queue.hpp"
Expand Down
4 changes: 2 additions & 2 deletions stm32l552xx/boardfiles/override.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ void HAL_Delay(uint32_t Delay) {


void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
if (huart == rcHandle->getUart()){
if (huart == rcHandle->getHUART()){
rcHandle->parse();
rcHandle->startDMA();
} else if (huart == rfdHandle->getHuart()) {
Expand All @@ -61,7 +61,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
}

void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) {
if(huart == rcHandle->getUart()){
if(huart == rcHandle->getHUART()){
uint32_t error = HAL_UART_GetError(huart);

if (error & HAL_UART_ERROR_PE) {
Expand Down