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