优化头文件注释

 *

 * SPDX-License-Identifier: Apache-2.0

 */

#ifndef SBUS_H

#define SBUS_H

#ifndef ZEPHYR_DRIVERS_SBUS_H_

#define ZEPHYR_DRIVERS_SBUS_H_

#include "zephyr/toolchain.h"

#include <stdbool.h>

#include <stdint.h>

#include <sys/types.h>

#include <zephyr/device.h>

#include <stdint.h>

#ifdef __cplusplus

extern "C" {

#endif

// SBUS API 函数指针定义

typedef void (*sbus_api_parseframe_t)(const struct device *dev);

typedef float (*sbus_api_getchannel_percentage_t)(const struct device *dev, uint8_t channelid);

typedef int (*sbus_api_getchannel_digital_t)(const struct device *dev, uint8_t channelid);

// SBUS 驱动 API 结构体

__subsystem struct sbus_driver_api {

    sbus_api_getchannel_percentage_t getchannel_percentage;

    sbus_api_getchannel_digital_t    getchannel_digital;

/**

 * @brief SBUS driver API

 */

struct sbus_driver_api {

	float (*getchannel_percentage)(const struct device *dev, uint8_t channelid);

	int (*getchannel_digital)(const struct device *dev, uint8_t channelid);

};

// 系统调用声明

/**

 * @brief Get the percentage value of a SBUS channel

 *

 * @param dev Pointer to the SBUS device

 * @param channelid Channel ID to read

 * @return float Percentage value (-1.0 to 1.0)

 */

__syscall float sbus_get_percent(const struct device *dev, uint8_t channelid);

__syscall int   sbus_get_digit(const struct device *dev, uint8_t channelid);

// 实现函数

static inline float z_impl_sbus_get_percent(const struct device *dev, uint8_t channelid) {

static inline float z_impl_sbus_get_percent(const struct device *dev, uint8_t channelid)

{

	const struct sbus_driver_api *api = (const struct sbus_driver_api *)dev->api;

    if (api->getchannel_percentage) {

        float temp = api->getchannel_percentage(dev, channelid);

        return temp;

    }

    return 0.0f;

	return api->getchannel_percentage(dev, channelid);

}

static inline int z_impl_sbus_get_digit(const struct device *dev, uint8_t channelid) {

/**

 * @brief Get the digital value of a SBUS channel

 *

 * @param dev Pointer to the SBUS device

 * @param channelid Channel ID to read

 * @return int Digital value

 */

__syscall int sbus_get_digit(const struct device *dev, uint8_t channelid);

static inline int z_impl_sbus_get_digit(const struct device *dev, uint8_t channelid)

{

	const struct sbus_driver_api *api = (const struct sbus_driver_api *)dev->api;

    if (api->getchannel_digital) {

	return api->getchannel_digital(dev, channelid);

}

    return -1;

}

#ifdef __cplusplus

}

#endif

#include <zephyr/syscalls/sbus.h>

#include <syscalls/sbus.h>

#endif // SBUS_H

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#endif /* ZEPHYR_DRIVERS_SBUS_H_ */

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