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Updated to namespace bfs, updated sensors::Sbus to SbusRx and actuators::Sbus to SbusTx.
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6 files changed

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‎.gitlab-ci.yml

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@@ -5,8 +5,7 @@ Lint:
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stage: lint
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tags:
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- bfs
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- mk66fx1m0
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script:
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- cpplint.py --verbose=0 --filter=-whitespace,-line_length src/sbus/sbus.cc
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- cpplint.py --verbose=0 --filter=-whitespace,-line_length include/sbus/sbus.h
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- cpplint --verbose=0 src/sbus/sbus.cc
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- cpplint --verbose=0 include/sbus/sbus.h
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‎CHANGELOG.md

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# Changelog
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## v2.0.0
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- Updated to namespace *bfs*
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- Updated sensors::Sbus to SbusRx and actuators::Sbus to SbusTx
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## v1.1.6
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- Added Channel 17 and 18 support
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- Added ability to set lost_frame and failsafe for transmitting

‎README.md

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@@ -52,17 +52,15 @@ These are known to work with the same packages used in Teensy products. Also swi
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The *sbus_example* target creates an executable for communicating with sbus receivers and servos. This target also has a *_hex* for creating the hex file to upload to the microcontroller.
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# Namespaces
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The Sbus object for receiving SBUS data from a receiver is within the namespace *sensors*. The Sbus object for sending SBUS commands to servos is within the namespace *actuators*.
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# Namespace
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This library is within the namespace *bfs*
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# Methods
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# SbusRx
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## Sensors
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**Sbus(HardwareSerial *bus)** Creates an Sbus object. A pointer to the Serial object corresponding to the serial port used is passed. The RX pin of the serial port will receive SBUS packets.
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**SbusRx(HardwareSerial *bus)** Creates an *SbusRx* object. A pointer to the Serial object corresponding to the serial port used is passed. The RX pin of the serial port will receive SBUS packets.
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```C++
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sensors::Sbus sbus(&Serial1);
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bfs::SbusRx sbus(&Serial1);
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```
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**void Begin()** Initializes SBUS communication.
@@ -109,12 +107,12 @@ bool lost_frame = sbus.lost_frame();
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bool failsafe = sbus.failsafe();
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```
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## Actuators
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## SbusTx
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**Sbus(HardwareSerial *bus)** Creates an Sbus object. A pointer to the Serial object corresponding to the serial port used is passed. The TX pin of the serial port will transmit SBUS packets.
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**SbusTx(HardwareSerial *bus)** Creates an *SbusTx* object. A pointer to the Serial object corresponding to the serial port used is passed. The TX pin of the serial port will transmit SBUS packets.
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```C++
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actuators::Sbus sbus(&Serial1);
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bfs::SbusTx sbus(&Serial1);
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```
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**void Begin()** Initializes SBUS communication.

‎examples/sbus_example.cc

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@@ -2,15 +2,33 @@
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* Brian R Taylor
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* [email protected]
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*
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* Copyright (c) 2020 Bolder Flight Systems
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* Copyright (c) 2021 Bolder Flight Systems Inc
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the “Software”), to
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* deal in the Software without restriction, including without limitation the
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* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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* 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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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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* IN THE SOFTWARE.
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*/
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#include "sbus/sbus.h"
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/* SBUS object, reading SBUS */
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sensors::Sbus sbus_rx(&Serial1);
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bfs::SbusRx sbus_rx(&Serial1);
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/* SBUS object, writing SBUS */
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actuators::Sbus sbus_tx(&Serial1);
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bfs::SbusTx sbus_tx(&Serial1);
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int main() {
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/* Serial to display data */

‎include/sbus/sbus.h

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@@ -2,7 +2,25 @@
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* Brian R Taylor
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* [email protected]
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*
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* Copyright (c) 2020 Bolder Flight Systems
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* Copyright (c) 2021 Bolder Flight Systems Inc
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
8+
* of this software and associated documentation files (the “Software”), to
9+
* deal in the Software without restriction, including without limitation the
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* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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* 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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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
20+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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* IN THE SOFTWARE.
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*/
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#ifndef INCLUDE_SBUS_SBUS_H_
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#include <array>
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#include "core/core.h"
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namespace sensors {
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namespace bfs {
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class Sbus {
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class SbusRx {
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public:
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explicit Sbus(HardwareSerial *bus) : bus_(bus) {}
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explicit SbusRx(HardwareSerial *bus) : bus_(bus) {}
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void Begin();
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bool Read();
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inline std::array<uint16_t, 16> rx_channels() const {return rx_channels_;}
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inline std::array<uint16_t, 16> rx_channels() const {return ch_;}
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inline bool failsafe() const {return failsafe_;}
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inline bool lost_frame() const {return lost_frame_;}
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inline bool ch17() const {return ch17_;}
@@ -29,61 +47,57 @@ class Sbus {
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HardwareSerial *bus_;
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static constexpr uint32_t BAUD_ = 100000;
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/* Parsing */
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static constexpr uint8_t SBUS_HEADER_ = 0x0F;
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static constexpr uint8_t SBUS_FOOTER_ = 0x00;
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static constexpr uint8_t SBUS2_FOOTER_ = 0x04;
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static constexpr uint8_t SBUS_LENGTH_ = 25;
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static constexpr uint8_t SBUS_CH17_ = 0x01;
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static constexpr uint8_t SBUS_CH18_ = 0x02;
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static constexpr uint8_t SBUS_LOST_FRAME_ = 0x04;
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static constexpr uint8_t SBUS_FAILSAFE_ = 0x08;
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unsigned int parser_state_ = 0;
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uint8_t previous_byte_ = SBUS_FOOTER_;
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uint8_t rx_buffer_[SBUS_LENGTH_];
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static constexpr uint8_t HEADER_ = 0x0F;
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static constexpr uint8_t FOOTER_ = 0x00;
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static constexpr uint8_t FOOTER2_ = 0x04;
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static constexpr uint8_t LEN_ = 25;
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static constexpr uint8_t CH17_ = 0x01;
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static constexpr uint8_t CH18_ = 0x02;
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static constexpr uint8_t LOST_FRAME_ = 0x04;
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static constexpr uint8_t FAILSAFE_ = 0x08;
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unsigned int state_ = 0;
59+
uint8_t prev_byte_ = FOOTER_;
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uint8_t buf_[LEN_];
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/* Data */
44-
std::array<uint16_t, 16> rx_channels_;
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std::array<uint16_t, 16> ch_;
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bool failsafe_ = false, lost_frame_ = false, ch17_ = false, ch18_ = false;
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bool Parse();
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};
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} // namespace sensors
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namespace actuators {
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class Sbus {
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class SbusTx {
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public:
55-
explicit Sbus(HardwareSerial *bus) : bus_(bus) {}
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explicit SbusTx(HardwareSerial *bus) : bus_(bus) {}
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void Begin();
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void Write();
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inline void failsafe(bool val) {failsafe_ = val;}
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inline void lost_frame(bool val) {lost_frame_ = val;}
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inline void ch17(bool val) {ch17_ = val;}
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inline void ch18(bool val) {ch18_ = val;}
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inline void tx_channels(const std::array<uint16_t, 16> &val) {tx_channels_ = val;}
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inline void failsafe(const bool val) {failsafe_ = val;}
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inline void lost_frame(const bool val) {lost_frame_ = val;}
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inline void ch17(const bool val) {ch17_ = val;}
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inline void ch18(const bool val) {ch18_ = val;}
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inline void tx_channels(const std::array<uint16_t, 16> &val) {ch_ = val;}
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inline bool failsafe() const {return failsafe_;}
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inline bool lost_frame() const {return lost_frame_;}
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inline bool ch17() const {return ch17_;}
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inline bool ch18() const {return ch18_;}
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inline std::array<uint16_t, 16> tx_channels() const {return tx_channels_;}
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inline std::array<uint16_t, 16> tx_channels() const {return ch_;}
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private:
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/* Communication */
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HardwareSerial *bus_;
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static constexpr uint32_t BAUD_ = 100000;
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/* Parsing */
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static constexpr uint8_t SBUS_HEADER_ = 0x0F;
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static constexpr uint8_t SBUS_FOOTER_ = 0x00;
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static constexpr uint8_t SBUS_LENGTH_ = 25;
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static constexpr uint8_t SBUS_CH17_ = 0x01;
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static constexpr uint8_t SBUS_CH18_ = 0x02;
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static constexpr uint8_t SBUS_LOST_FRAME_ = 0x04;
80-
static constexpr uint8_t SBUS_FAILSAFE_ = 0x08;
81-
uint8_t tx_buffer_[SBUS_LENGTH_];
88+
static constexpr uint8_t HEADER_ = 0x0F;
89+
static constexpr uint8_t FOOTER_ = 0x00;
90+
static constexpr uint8_t LEN_ = 25;
91+
static constexpr uint8_t CH17_ = 0x01;
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static constexpr uint8_t CH18_ = 0x02;
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static constexpr uint8_t LOST_FRAME_ = 0x04;
94+
static constexpr uint8_t FAILSAFE_ = 0x08;
95+
uint8_t buf_[LEN_];
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/* Data */
83-
std::array<uint16_t, 16> tx_channels_;
97+
std::array<uint16_t, 16> ch_;
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bool failsafe_ = false, lost_frame_ = false, ch17_ = false, ch18_ = false;
8599
};
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} // namespace actuators
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} // namespace bfs
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#endif // INCLUDE_SBUS_SBUS_H_

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