Added non-final versions of iris and tower firmware.

software/firmware/libraries/SBUS/examples/AIN_SBUS_example/AIN_SBUS_example.ino

@@ -0,0 +1,82 @@
+/*
+SBUS_example.ino
+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.
+*/
+
+// This example reads 10 analog inputs, linearly maps them to SBUS
+// servo commands and sends the command to the servos. In this case
+// an interrupt is used to control packet timing.
+
+#include <TimerOne.h>
+#include "SBUS.h"
+
+// a SBUS object, which is on Teensy hardware
+// serial port 1
+SBUS x8r(Serial1);
+
+// analog read values, 16 bit counts
+uint16_t ain[10];
+
+void setup() {
+
+	// serial to display the channel commands for debugging
+	Serial.begin(115200);
+
+	// begin the SBUS communication
+  	x8r.begin();
+
+  	// setup the analog read resolution to 16 bits
+  	analogReadResolution(16);
+
+  	// setup an interrupt to send packets every 9 ms
+  	Timer1.initialize(9000);
+  	Timer1.attachInterrupt(sendSBUS);
+}
+
+void loop() {
+
+}
+
+/* reads analog inputs and sends an SBUS packet */
+void sendSBUS() {
+	float scaleFactor = 1639.0f / 65535.0f;
+	float bias = 172.0f;
+	uint16_t channels[16];
+
+	// read the analog inputs
+  	for(uint8_t i = 14; i < 24; i++) {
+  		ain[i-14] = analogRead(i);
+  	}
+
+  	// linearly map the analog measurements (0-65535)
+  	// to the SBUS commands (172-1811)
+  	for(uint8_t i = 0; i < 10; i++) {
+  		channels[i] = (uint16_t)(((float)ain[i]) * scaleFactor + bias);
+  		Serial.print(channels[i]); // print the channel command (172-1811)
+  		Serial.print("\t");
+  	}
+  	Serial.println();
+
+	// write the SBUS packet to an SBUS compatible servo
+    x8r.write(&channels[0]);
+}
+

software/firmware/libraries/SBUS/examples/SBUS_example/SBUS_example.ino

@@ -0,0 +1,61 @@
+/*
+SBUS_example.ino
+Brian R Taylor
+brian.taylor@bolderflight.com
+2016-09-21
+
+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.
+*/
+
+// This example reads an SBUS packet from an
+// SBUS receiver (FrSky X8R) and then takes that
+// packet and writes it back to an SBUS
+// compatible servo. The SBUS out capability (i.e.
+// writing a command to the servo) could be generated
+// independently; however, the packet timing would need
+// to be controlled by the programmer, the write function
+// simply generates an SBUS packet and writes it to the
+// servos. In this case the packet timing is handled by the
+// SBUS receiver and waiting for a good packet read.
+
+#include "SBUS.h"
+
+// a SBUS object, which is on Teensy hardware
+// serial port 1
+SBUS x8r(Serial1);
+
+// channel, fail safe, and lost frames data
+uint16_t channels[16];
+uint8_t failSafe;
+uint16_t lostFrames = 0;
+
+void setup() {
+  // begin the SBUS communication
+  x8r.begin();
+}
+
+void loop() {
+
+  // look for a good SBUS packet from the receiver
+  if(x8r.read(&channels[0], &failSafe, &lostFrames)){
+
+    // write the SBUS packet to an SBUS compatible servo
+    x8r.write(&channels[0]);
+  }
+}
+