sbus: provide a stub based on Spektrum driver (for CC only)

flight/CopterControl/Makefile

@@ -46,6 +46,7 @@ ENABLE_DEBUG_PINS ?= NO
 ENABLE_AUX_UART ?= NO
 
 USE_SPEKTRUM ?= NO
+USE_SBUS ?= NO
 
 USE_I2C ?= NO
 
@@ -184,6 +185,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
 SRC += $(PIOSSTM32F10X)/pios_ppm.c
 SRC += $(PIOSSTM32F10X)/pios_pwm.c
 SRC += $(PIOSSTM32F10X)/pios_spektrum.c
+SRC += $(PIOSSTM32F10X)/pios_sbus.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
 SRC += $(PIOSSTM32F10X)/pios_exti.c
@@ -381,6 +383,9 @@ endif
 ifeq ($(USE_SPEKTRUM), YES)
 CDEFS += -DUSE_SPEKTRUM
 endif
+ifeq ($(USE_SBUS), YES)
+CDEFS += -DUSE_SBUS
+endif
 
 ifeq ($(USE_I2C), YES)
 CDEFS += -DUSE_I2C

flight/CopterControl/System/inc/pios_config.h

@@ -47,6 +47,8 @@
 
 #if defined(USE_SPEKTRUM)
 #define PIOS_INCLUDE_SPEKTRUM
+#elif defined(USE_SBUS)
+#define PIOS_INCLUDE_SBUS
 #else
 #define PIOS_INCLUDE_GPS
 //#define PIOS_INCLUDE_PPM

flight/CopterControl/System/pios_board.c

@@ -383,6 +383,95 @@ void PIOS_SUPV_irq_handler() {
 }
 #endif	/* PIOS_INCLUDE_SPEKTRUM */
 
+#if defined(PIOS_INCLUDE_SBUS)
+/*
+ * SBUS USART
+ */
+void PIOS_USART_sbus_irq_handler(void);
+void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_sbus_irq_handler")));
+const struct pios_usart_cfg pios_usart_sbus_cfg = {
+	.regs = USART3,
+	.init = {
+	#if defined (PIOS_COM_SBUS_BAUDRATE)
+		.USART_BaudRate        = PIOS_COM_SBUS_BAUDRATE,
+	#else
+		.USART_BaudRate        = 115200,
+	#endif
+		.USART_WordLength          = USART_WordLength_8b,
+		.USART_Parity              = USART_Parity_No,
+		.USART_StopBits            = USART_StopBits_1,
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+		.USART_Mode                = USART_Mode_Rx,
+	},
+	.irq = {
+		.handler = PIOS_USART_sbus_irq_handler,
+		.init = {
+			.NVIC_IRQChannel                   = USART3_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		  },
+	},
+	.rx = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_IPU,
+		},
+	},
+	.tx = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_IN_FLOATING,
+		},
+	},
+};
+
+static uint32_t pios_usart_sbus_id;
+void PIOS_USART_sbus_irq_handler(void)
+{
+	SBUS_IRQHandler(pios_usart_sbus_id);
+}
+
+#include <pios_sbus_priv.h>
+void RTC_IRQHandler();
+void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
+const struct pios_sbus_cfg pios_sbus_cfg = {
+	.pios_usart_sbus_cfg = &pios_usart_sbus_cfg,
+	.gpio_init = { //used for bind feature
+		.GPIO_Mode = GPIO_Mode_Out_PP,
+		.GPIO_Speed = GPIO_Speed_2MHz,
+	},
+	.remap = 0,
+	.irq = {
+		.handler = RTC_IRQHandler,
+		.init    = {
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.port = GPIOB,
+	.pin = GPIO_Pin_11,
+};
+
+void PIOS_SUPV_irq_handler() {
+	if (RTC_GetITStatus(RTC_IT_SEC))
+	{
+		/* Call the right handler */
+		PIOS_SBUS_irq_handler(pios_usart_sbus_id);
+
+		/* Wait until last write operation on RTC registers has finished */
+		RTC_WaitForLastTask();
+		/* Clear the RTC Second interrupt */
+		RTC_ClearITPendingBit(RTC_IT_SEC);
+	}
+}
+#endif	/* PIOS_INCLUDE_SBUS */
+
 static uint32_t pios_usart_telem_rf_id;
 void PIOS_USART_telem_irq_handler(void)
 {
@@ -659,6 +748,7 @@ uint32_t pios_com_telem_rf_id;
 uint32_t pios_com_telem_usb_id;
 uint32_t pios_com_gps_id;
 uint32_t pios_com_spektrum_id;
+uint32_t pios_com_sbus_id;
 
 /**
  * PIOS_Board_Init()
@@ -691,6 +781,19 @@ void PIOS_Board_Init(void) {
 		PIOS_DEBUG_Assert(0);
 	}
 #endif
+
+#if defined(PIOS_INCLUDE_SBUS)
+	/* SBUS init must come before comms */
+	PIOS_SBUS_Init();
+
+	if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_cfg)) {
+		PIOS_DEBUG_Assert(0);
+	}
+	if (PIOS_COM_Init(&pios_com_sbus_id, &pios_usart_com_driver, pios_usart_sbus_id)) {
+		PIOS_DEBUG_Assert(0);
+	}
+#endif
+
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();

flight/Modules/ManualControl/manualcontrol.c

@@ -213,6 +213,8 @@ static void manualControlTask(void *parameters)
 				cmd.Channel[n] = PIOS_PPM_Get(n);
 #elif defined(PIOS_INCLUDE_SPEKTRUM)
 				cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
+#elif defined(PIOS_INCLUDE_SBUS)
+				cmd.Channel[n] = PIOS_SBUS_Get(n);
 #endif
 				scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n],	settings.ChannelMin[n], settings.ChannelNeutral[n]);
 			}

flight/OpenPilot/Makefile

@@ -44,6 +44,7 @@ ENABLE_DEBUG_PINS ?= NO
 ENABLE_AUX_UART ?= NO
 
 USE_SPEKTRUM ?= NO
+USE_SBUS ?= NO
 
 
 # Set to YES when using Code Sourcery toolchain
@@ -170,6 +171,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
 SRC += $(PIOSSTM32F10X)/pios_ppm.c
 SRC += $(PIOSSTM32F10X)/pios_pwm.c
 SRC += $(PIOSSTM32F10X)/pios_spektrum.c
+SRC += $(PIOSSTM32F10X)/pios_sbus.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
 SRC += $(PIOSSTM32F10X)/pios_exti.c
@@ -366,6 +368,9 @@ endif
 ifeq ($(USE_SPEKTRUM), YES)
 CDEFS += -DUSE_SPEKTRUM
 endif
+ifeq ($(USE_SBUS), YES)
+CDEFS += -DUSE_SBUS
+endif
 
 
 # Place project-specific -D and/or -U options for

flight/OpenPilot/System/inc/pios_config.h

@@ -44,6 +44,8 @@
 
 #if defined(USE_SPEKTRUM)
 #define PIOS_INCLUDE_SPEKTRUM
+#elif defined(USE_SBUS)
+#define PIOS_INCLUDE_SBUS
 #else
 //#define PIOS_INCLUDE_PPM
 #define PIOS_INCLUDE_PWM

flight/OpenPilot/System/openpilot.c

@@ -153,6 +153,9 @@ static void TaskTesting(void *pvParameters)
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7));
 #endif
+#if defined(PIOS_INCLUDE_SBUS)
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBUS_Get(0), PIOS_SBUS_Get(1), PIOS_SBUS_Get(2), PIOS_SBUS_Get(3), PIOS_SBUS_Get(4), PIOS_SBUS_Get(5), PIOS_SBUS_Get(6), PIOS_SBUS_Get(7));
+#endif
 #if defined(PIOS_INCLUDE_PWM)
 		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
 #endif

flight/OpenPilot/System/pios_board.c

@@ -539,6 +539,10 @@ void PIOS_SUPV_irq_handler() {
 }
 #endif	/* PIOS_COM_SPEKTRUM */
 
+#if defined(PIOS_INCLUDE_SBUS)
+#error PIOS_INCLUDE_SBUS not implemented
+#endif	/* PIOS_INCLUDE_SBUS */
+
 static uint32_t pios_usart_telem_rf_id;
 void PIOS_USART_telem_irq_handler(void)
 {

flight/PiOS/Boards/STM32103CB_CC_Rev1.h

@@ -161,6 +161,12 @@ extern uint32_t pios_com_spektrum_id;
 #define PIOS_COM_SPEKTRUM               (pios_com_spektrum_id)
 #endif
 
+#ifdef PIOS_INCLUDE_SBUS
+#define PIOS_COM_SBUS_BAUDRATE          115200
+extern uint32_t pios_com_sbus_id;
+#define PIOS_COM_SBUS                   (pios_com_sbus_id)
+#endif
+
 //-------------------------
 // ADC
 // PIOS_ADC_PinGet(0) = Gyro Z

flight/PiOS/Boards/STM3210E_OP.h

@@ -173,6 +173,12 @@ extern uint32_t pios_com_spektrum_id;
 #define PIOS_COM_SPEKTRUM               (pios_com_spektrum_id)
 #endif
 
+#ifdef PIOS_INCLUDE_SBUS
+#define PIOS_COM_SBUS_BAUDRATE          100000
+extern uint32_t pios_com_sbus_id;
+#define PIOS_COM_SBUS                   (pios_com_sbus_id)
+#endif
+
 //-------------------------
 // Delay Timer
 //-------------------------

flight/PiOS/Common/pios_hcsr04.c

@@ -32,8 +32,8 @@
 #include "pios.h"
 
 #if defined(PIOS_INCLUDE_HCSR04)
-#if !defined(PIOS_INCLUDE_SPEKTRUM)
-#error Only supported with spektrum interface!
+#if !(defined(PIOS_INCLUDE_SPEKTRUM) || defined(PIOS_INCLUDE_SBUS))
+#error Only supported with Spektrum or S.Bus interface!
 #endif
 
 /* Local Variables */

flight/PiOS/STM32F10x/pios_rtc.c

@@ -49,7 +49,7 @@ void PIOS_RTC_Init()
 	RTC_WaitForSynchro();
 	RTC_WaitForLastTask();
 
-#if defined(PIOS_INCLUDE_SPEKTRUM)
+#if defined(PIOS_INCLUDE_SPEKTRUM) || defined(PIOS_INCLUDE_SBUS)
 	/* Enable the RTC Second interrupt */
 	RTC_ITConfig( RTC_IT_SEC, ENABLE );
 	/* Wait until last write operation on RTC registers has finished */

flight/PiOS/STM32F10x/pios_sbus.c

@@ -0,0 +1,227 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_SBUS Futaba S.Bus receiver functions
+ * @brief Code to read Futaba S.Bus input
+ * @{
+ *
+ * @file       pios_sbus.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+#include "pios_sbus_priv.h"
+
+#if defined(PIOS_INCLUDE_SBUS)
+#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_SPEKTRUM)
+#error "Both SBUS and either of PWM or SPEKTRUM inputs defined, choose only one"
+#endif
+#if defined(PIOS_COM_AUX)
+#error "AUX com cannot be used with SBUS"
+#endif
+
+/**
+ * @Note Framesyncing:
+ * The code resets the watchdog timer whenever a single byte is received, so what watchdog code
+ * is never called if regularly getting bytes.
+ * RTC timer is running @625Hz, supervisor timer has divider 5 so frame sync comes every 1/125Hz=8ms.
+ * Good for both 11ms and 22ms framecycles
+ */
+
+/* Global Variables */
+
+/* Local Variables */
+static uint16_t CaptureValue[12],CaptureValueTemp[12];
+static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
+uint8_t sync_of = 0;
+uint16_t supv_timer=0;
+
+/**
+* Bind and Initialise S.Bus receiver
+*/
+void PIOS_SBUS_Init(void)
+{
+	/* Init RTC supervisor timer interrupt */
+	NVIC_InitTypeDef NVIC_InitStructure;
+	NVIC_InitStructure.NVIC_IRQChannel = RTC_IRQn;
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+	NVIC_Init(&NVIC_InitStructure);
+	/* Init RTC clock */
+	PIOS_RTC_Init();
+}
+
+/**
+* Get the value of an input channel
+* \param[in] Channel Number of the channel desired
+* \output -1 Channel not available
+* \output >0 Channel value
+*/
+int16_t PIOS_SBUS_Get(int8_t Channel)
+{
+	/* Return error if channel not available */
+	if (Channel >= 12) {
+		return -1;
+	}
+	return CaptureValue[Channel];
+}
+
+/**
+* Decodes a byte
+* \param[in] b byte which should be sbus decoded
+* \return 0 if no error
+* \return -1 if USART not available
+* \return -2 if buffer full (retry)
+* \note Applications shouldn't call these functions directly
+*/
+int32_t PIOS_SBUS_Decode(uint8_t b)
+{
+	static uint16_t channel = 0; /*, sync_word = 0;*/
+	uint8_t channeln = 0, frame = 0;
+	uint16_t data = 0;
+	byte_array[bytecount] = b;
+	bytecount++;
+	if (sync == 0) {
+		//sync_word = (prev_byte << 8) + b;
+#if 0
+		/* maybe create object to show this  data */
+		if(bytecount==1)
+		{
+			/* record losscounter into channel8 */
+			CaptureValueTemp[7]=b;
+			/* instant write */
+			CaptureValue[7]=b;
+		}
+#endif
+		/* Known sync bytes, 0x01, 0x02, 0x12 */
+		if (bytecount == 2) {
+			if (b == 0x01) {
+				datalength=0; // 10bit
+				//frames=1;
+				sync = 1;
+				bytecount = 2;
+			}
+			else if(b == 0x02) {
+				datalength=0; // 10bit
+				//frames=2;
+				sync = 1;
+				bytecount = 2;
+			}
+			else if(b == 0x12) {
+				datalength=1; // 11bit
+				//frames=2;
+				sync = 1;
+				bytecount = 2;
+			}
+			else
+			{
+				bytecount = 0;
+			}
+		}
+	} else {
+		if ((bytecount % 2) == 0) {
+			channel = (prev_byte << 8) + b;
+			frame = channel >> 15;
+			channeln = (channel >> (10+datalength)) & 0x0F;
+			data = channel & (0x03FF+(0x0400*datalength));
+			if(channeln==0 && data<10) // discard frame if throttle misbehaves
+			{
+				frame_error=1;
+			}
+			if (channeln < 12 && !frame_error)
+				CaptureValueTemp[channeln] = data;
+		}
+	}
+	if (bytecount == 16) {
+		//PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16); //00 2c 58 84 b0 dc ff
+		bytecount = 0;
+		sync = 0;
+		sync_of = 0;
+		if (!frame_error)
+		{
+			for(int i=0;i<12;i++)
+			{
+				CaptureValue[i] = CaptureValueTemp[i];
+			}
+		}
+		frame_error=0;
+	}
+	prev_byte = b;
+	return 0;
+}
+
+/* Interrupt handler for USART */
+void SBUS_IRQHandler(uint32_t usart_id) {
+	/* by always reading DR after SR make sure to clear any error interrupts */
+	volatile uint16_t sr = pios_sbus_cfg.pios_usart_sbus_cfg->regs->SR;
+	volatile uint8_t b = pios_sbus_cfg.pios_usart_sbus_cfg->regs->DR;
+	
+	/* check if RXNE flag is set */
+	if (sr & USART_SR_RXNE) {
+		if (PIOS_SBUS_Decode(b) < 0) {
+			/* Here we could add some error handling */
+		}
+	} 
+
+	if (sr & USART_SR_TXE) {	// check if TXE flag is set
+		/* Disable TXE interrupt (TXEIE=0) */
+		USART_ITConfig(pios_sbus_cfg.pios_usart_sbus_cfg->regs, USART_IT_TXE, DISABLE);
+	}
+	/* byte arrived so clear "watchdog" timer */
+	supv_timer=0;
+}
+
+/**
+ *@brief This function is called between frames and when a sbus word hasnt been decoded for too long
+ *@brief clears the channel values
+ */
+void PIOS_SBUS_irq_handler() {
+	/* 125hz */
+	supv_timer++;
+	if(supv_timer > 5) {
+		/* sync between frames */
+		sync = 0;
+		bytecount = 0;
+		prev_byte = 0xFF;
+		frame_error = 0;
+		sync_of++;
+		/* watchdog activated after 100ms silence */
+		if (sync_of > 12) {
+			/* signal lost */
+			sync_of = 0;
+			for (int i = 0; i < 12; i++) {
+				CaptureValue[i] = 0;
+				CaptureValueTemp[i] = 0;
+			}
+		}
+		supv_timer = 0;
+	}
+}
+
+#endif
+
+/** 
+  * @}
+  * @}
+  */

flight/PiOS/STM32F10x/pios_spektrum.c

@@ -34,8 +34,8 @@
 #include "pios_spektrum_priv.h"
 
 #if defined(PIOS_INCLUDE_SPEKTRUM)
-#if defined(PIOS_INCLUDE_PWM)
-#error "Both PWM and SPEKTRUM input defined, choose only one"
+#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_SBUS)
+#error "Both SPEKTRUM and either of PWM or SBUS inputs defined, choose only one"
 #endif
 #if defined(PIOS_COM_AUX)
 #error "AUX com cannot be used with SPEKTRUM"

flight/PiOS/inc/pios_sbus.h

@@ -0,0 +1,46 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_SBUS Futaba S.Bus receiver functions
+ * @{
+ *
+ * @file       pios_sbus.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Futaba S.Bus functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_SBUS_H
+#define PIOS_SBUS_H
+
+/* Global Types */
+
+/* Public Functions */
+extern void PIOS_SBUS_Init(void);
+extern int32_t PIOS_SBUS_Decode(uint8_t b);
+extern int16_t PIOS_SBUS_Get(int8_t Channel);
+extern void SBUS_IRQHandler(uint32_t usart_id);
+
+#endif /* PIOS_SBUS_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS/inc/pios_sbus_priv.h

@@ -0,0 +1,57 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_SBUS S.Bus Functions
+ * @brief PIOS interface to read and write from Futaba S.Bus port
+ * @{
+ *
+ * @file       pios_sbus_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Futaba S.Bus Private structures.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_SBUS_PRIV_H
+#define PIOS_SBUS_PRIV_H
+
+#include <pios.h>
+#include <pios_stm32.h>
+#include <pios_usart_priv.h>
+
+struct pios_sbus_cfg {
+	const struct pios_usart_cfg *pios_usart_sbus_cfg;
+	GPIO_InitTypeDef gpio_init;
+	uint32_t remap;		/* GPIO_Remap_* */
+	struct stm32_irq irq;
+	GPIO_TypeDef *port;
+	uint16_t pin;
+};
+
+extern void PIOS_SBUS_irq_handler();
+
+extern uint8_t pios_sbus_num_channels;
+extern const struct pios_sbus_cfg pios_sbus_cfg;
+
+#endif /* PIOS_SBUS_PRIV_H */
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS/pios.h

@@ -79,6 +79,7 @@
 #include <pios_ppm.h>
 #include <pios_pwm.h>
 #include <pios_spektrum.h>
+#include <pios_sbus.h>
 #include <pios_usb_hid.h>
 #include <pios_debug.h>
 #include <pios_gpio.h>