Added non-final versions of iris and tower firmware.

software/firmware/libraries/SBUS/SBUS.h

@@ -0,0 +1,54 @@
+/*
+SBUS.h
+Brian R Taylor
+brian.taylor@bolderflight.com
+2017-01-13
+
+Copyright (c) 2016 Bolder Flight Systems
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+and associated documentation files (the "Software"), to deal in the Software without restriction, 
+including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or 
+substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef SBUS_h
+#define SBUS_h
+
+#include "Arduino.h"
+
+class SBUS{
+	public:
+    	SBUS(HardwareSerial& bus);
+    	void begin();
+    	bool read(uint16_t* channels, uint8_t* failsafe, uint16_t* lostFrames);
+    	bool readCal(float* calChannels, uint8_t* failsafe, uint16_t* lostFrames);
+    	void write(uint16_t* channels);
+  	private:
+  		uint8_t _fpos;
+        const uint16_t SBUS_TIMEOUT = 10000;
+  		const float _sbusScale = 0.00122025625f;
+  		const float _sbusBias = -1.2098840f;
+  		const uint8_t _sbusHeader = 0x0F;
+  		const uint8_t _sbusFooter = 0x00;
+      const uint8_t _sbus2Footer = 0x04;
+  		const uint8_t _sbusLostFrame = 0x04;
+  		const uint8_t _sbusFailSafe = 0x08;
+  		static const uint8_t _payloadSize = 24;
+  		uint8_t _payload[_payloadSize];
+  		HardwareSerial* _bus;
+  		
+  		bool parse();
+};
+
+#endif