Added non-final versions of iris and tower firmware.

software/firmware/iris/iris.ino

@@ -1,9 +1,33 @@
-void setup() {
-  // put your setup code here, to run once:
+#include "SBUS.h"
+#include <ModbusRtu.h>
 
+SBUS x8r(Serial3);
+
+const char num_modbus_channels = 16; //Being explicit so I get errors if I try to do something stupid
+uint16_t modbus_data[num_modbus_channels] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0 , 0 , 0, 0, 0, 0, 0};
+
+Modbus slave(1, 2, 0);
+
+uint16_t channels[16];
+uint8_t failSafe;
+uint16_t lostFrames = 0;
+
+const char bad_pins[] = {3, 4, 23, 24,};
+
+void setup() {
+  for (int i = 0 ; i < sizeof(bad_pins) / sizeof(bad_pins[0]) ; i++) {
+    pinMode(bad_pins[i], INPUT);
+  }
+
+  pinMode(8, INPUT_PULLUP);
+
+  //  analogWriteResolution(16);
+  x8r.begin();
+  slave.begin(2000000); // baud-rate at 19200
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
+  x8r.read(&channels[0], &failSafe, &lostFrames);
+  slave.poll( channels, num_modbus_channels );
 
 }