Merge pull request #47 from unitware/conditional-ppm-input-on-tx

Hardware and configuration selections and travis build server setup

.gitignore

@@ -1 +1,4 @@
-build
+build
+ppm_reader.*
+config_tx_ppm.h
+.DS_Store

.travis.yml

@@ -0,0 +1,33 @@
+language: c
+env:
+  matrix:
+      - BOARD="adafruit:samd:adafruit_feather_m0" CONFIG="tx_sbus"
+      - BOARD="adafruit:samd:adafruit_feather_m0" CONFIG="rx"
+      - BOARD="adafruit:avr:feather32u4"          CONFIG="tx_sbus"
+      - BOARD="adafruit:avr:feather32u4"          CONFIG="rx"
+before_install:
+  - "/sbin/start-stop-daemon --start --quiet --pidfile /tmp/custom_xvfb_1.pid --make-pidfile --background --exec /usr/bin/Xvfb -- :1 -ac -screen 0 1280x1024x16"
+  - sleep 3
+  - export DISPLAY=:1.0
+  - wget http://downloads.arduino.cc/arduino-1.8.5-linux64.tar.xz
+  - tar xf arduino-1.8.5-linux64.tar.xz
+  - sudo mv arduino-1.8.5 /usr/local/share/arduino
+  - sudo ln -s /usr/local/share/arduino/arduino /usr/local/bin/arduino
+  - arduino --pref "boardsmanager.additional.urls=https://adafruit.github.io/arduino-board-index/package_adafruit_index.json" --save-prefs
+  - if [[ "$BOARD" =~ "adafruit:avr:" ]]; then
+      arduino --install-boards adafruit:avr   > /tmp/install_boards.log || cat /tmp/install_boards.log ;
+    fi
+  - if [[ "$BOARD" =~ "adafruit:samd:" ]]; then
+      arduino --install-boards arduino:samd   > /tmp/install_boards.log || cat /tmp/install_boards.log ;
+      arduino --install-boards adafruit:samd  > /tmp/install_boards.log || cat /tmp/install_boards.log ;
+    fi
+  - arduino --pref "boardsmanager.additional.urls=" --save-prefs
+install:
+  - arduino --install-library "Adafruit SSD1306","Adafruit GFX Library"
+script:
+  - cp -f $PWD/crossbow/configurations/config_${CONFIG}.h $PWD/crossbow/config.h &&
+    arduino --verify --board $BOARD $PWD/crossbow/crossbow.ino
+notifications:
+  email:
+    on_success: change
+    on_failure: change

crossbow/config.h

@@ -0,0 +1,17 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#define DEVICE_MODE_TX
+// #define DEVICE_MODE_RX
+
+#define FEATURE_TX_OLED
+// #define FORCE_TX_WITHOUT_INPUT
+#define FEATURE_TX_INPUT_PPM
+// #define FEATURE_TX_INPUT_SBUS
+
+// #define DEBUG_SERIAL
+// #define DEBUG_PING_PONG
+// #define DEBUG_LED
+// #define DEBUG_TX_INPUT_ON_OLED
+
+#endif

crossbow/configurations/config_rx.h

@@ -0,0 +1,6 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#define DEVICE_MODE_RX
+
+#endif

crossbow/configurations/config_tx_sbus.h

@@ -0,0 +1,9 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#define DEVICE_MODE_TX
+
+#define FEATURE_TX_OLED
+#define FEATURE_TX_INPUT_SBUS
+
+#endif

crossbow/crossbow.ino

@@ -1,12 +1,13 @@
-#define DEVICE_MODE_TX
+/*
-// #define DEVICE_MODE_RX
+This Source Code Form is subject to the terms of the Mozilla Public
+License, v. 2.0. If a copy of the MPL was not distributed with this file,
+You can obtain one at http://mozilla.org/MPL/2.0/.
 
-// #define FEATURE_TX_OLED
+Copyright (c) 20xx, MPL Contributor1 contrib1@example.net
-// #define FORCE_TX_WITHOUT_INPUT
+*/
+
+#include "config.h"
 
-#define DEBUG_SERIAL
-// #define DEBUG_PING_PONG
-// #define DEBUG_LED
 
 #include "lora.h"
 #include "variables.h"
@@ -14,27 +15,44 @@
 #include "qsp.h"
 #include "sbus.h"
 
-// LoRa32u4 ports
+#ifdef ARDUINO_AVR_FEATHER32U4
-#define LORA32U4_SS_PIN     8
+ #define LORA_SS_PIN     8
-#define LORA32U4_RST_PIN    4
+ #define LORA_RST_PIN    4
-#define LORA32U4_DI0_PIN    7
+ #define LORA_DI0_PIN    7
+#elif defined(ARDUINO_SAMD_FEATHER_M0)
+ #define LORA_SS_PIN     8
+ #define LORA_RST_PIN    4
+ #define LORA_DI0_PIN    3
+#else
+ #error please select hardware
+#endif
 
 /*
  * Main defines for device working in TX mode
  */
 #ifdef DEVICE_MODE_TX
-// #include <PPMReader.h>
-// PPMReader ppmReader(PPM_INPUT_PIN, PPM_INPUT_INTERRUPT, true);
 
-SbusInput_t sbusInput = {};
+#ifdef FEATURE_TX_INPUT_PPM
+  #include "ppm_reader.h"
+  PPM_Reader txInput(PPM_INPUT_PIN, true);
+
+#elif defined(FEATURE_TX_INPUT_SBUS)
+  #include "sbus.h"
+  SbusInput txInput(Serial1);
+
+#else
+  #error please select tx input source
+#endif
+
+volatile int16_t TxInput::channels[TX_INPUT_CHANNEL_COUNT];
 
-// FUTABA_SBUS sBus;
 
 #include "txbuzzer.h"
 
 BuzzerState_t buzzer;
 
 #ifdef FEATURE_TX_OLED
+#include "Wire.h"
 
 #define OLED_RESET -1
 #include <Adafruit_SSD1306.h>
@@ -129,7 +147,7 @@ void setup(void)
 
 #ifdef DEVICE_MODE_RX
     qsp.deviceState = DEVICE_STATE_FAILSAFE;
-#else 
+#else
     qsp.deviceState = DEVICE_STATE_OK;
 #endif
 
@@ -137,11 +155,11 @@ void setup(void)
      * Setup hardware
      */
     LoRa.setPins(
-        LORA32U4_SS_PIN,
+        LORA_SS_PIN,
-        LORA32U4_RST_PIN,
+        LORA_RST_PIN,
-        LORA32U4_DI0_PIN
+        LORA_DI0_PIN
     );
-    
+
     if (!LoRa.begin(radioState.frequency))
     {
     #ifdef DEBUG_SERIAL
@@ -156,7 +174,7 @@ void setup(void)
     LoRa.setCodingRate4(radioState.loraCodingRate);
     LoRa.setTxPower(radioState.loraTxPower);
     LoRa.enableCrc();
-    
+
     //Setup ISR callback and start receiving
     LoRa.onReceive(onReceive);
     LoRa.receive();
@@ -182,7 +200,6 @@ void setup(void)
 #ifdef DEVICE_MODE_TX
 
 #ifdef FEATURE_TX_OLED
-
     Wire.setClock(400000);
 
     display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C addr 0x3C (for the 128x32)
@@ -205,7 +222,7 @@ void setup(void)
     /*
      * Prepare Serial1 for S.Bus processing
      */
-    Serial1.begin(100000, SERIAL_8N2);
+    txInput.start();
 #endif
 
     pinMode(LED_BUILTIN, OUTPUT);
@@ -228,17 +245,17 @@ void updateRxDeviceState(RxDeviceState_t *rxDeviceState) {
     rxDeviceState->rxVoltage = map(analogRead(RX_ADC_PIN_1), 0, 1024, 0, 255);
     rxDeviceState->a1Voltage = map(analogRead(RX_ADC_PIN_2), 0, 1024, 0, 255);
     rxDeviceState->a2Voltage = map(analogRead(RX_ADC_PIN_3), 0, 1024, 0, 255);
-}    
+}
 
 int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
-    
+
     if (qsp->forcePongFrame) {
         qsp->forcePongFrame = false;
         return QSP_FRAME_PONG;
     }
 
     int8_t retVal = rxSendSequence[currentSequenceIndex];
-    
+
     currentSequenceIndex++;
     if (currentSequenceIndex >= TRANSMIT_SEQUENCE_COUNT) {
         currentSequenceIndex = 0;
@@ -263,9 +280,9 @@ int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
 #endif
 
 /*
- * 
+ *
  * Main loop starts here!
- * 
+ *
  */
 void loop(void)
 {
@@ -278,7 +295,7 @@ void loop(void)
      */
     if (
         currentMillis > radioState.nextTxCheckMillis &&
-        radioState.deviceState == RADIO_STATE_TX && 
+        radioState.deviceState == RADIO_STATE_TX &&
         !LoRa.isTransmitting()
     ) {
         LoRa.receive();
@@ -290,9 +307,9 @@ void loop(void)
         LoRa.read(tmpBuffer, radioState.bytesToRead);
 
         for (int i = 0; i < radioState.bytesToRead; i++) {
-            qspDecodeIncomingFrame(&qsp, tmpBuffer[i], &rxDeviceState, &txDeviceState, &radioState);            
+            qspDecodeIncomingFrame(&qsp, tmpBuffer[i], &rxDeviceState, &txDeviceState, &radioState);
         }
-        
+
         radioState.rssi = getRadioRssi();
         radioState.snr = getRadioSnr();
 
@@ -310,24 +327,22 @@ void loop(void)
      * Watchdog for frame decoding stuck somewhere in the middle of a process
      */
     if (
-        qsp.protocolState != QSP_STATE_IDLE && 
+        qsp.protocolState != QSP_STATE_IDLE &&
-        qsp.frameDecodingStartedAt + QSP_MAX_FRAME_DECODE_TIME < currentMillis 
+        qsp.frameDecodingStartedAt + QSP_MAX_FRAME_DECODE_TIME < currentMillis
     ) {
         qsp.protocolState = QSP_STATE_IDLE;
     }
 
 #ifdef DEVICE_MODE_TX
 
-    if (Serial1.available()) {
+    txInput.loop();
-        sbusRead(Serial1, &sbusInput);
-    }
 
     if (
         radioState.deviceState == RADIO_STATE_RX &&
         qsp.protocolState == QSP_STATE_IDLE &&
         qsp.lastTxSlotTimestamp + TX_TRANSMIT_SLOT_RATE < currentMillis
     ) {
-        
+
         int8_t frameToSend = getFrameToTransmit(&qsp);
 
     #ifndef FORCE_TX_WITHOUT_INPUT
@@ -335,7 +350,7 @@ void loop(void)
          * If module is not receiving data from radio, do not send RC DATA
          * This is the only way to trigger failsafe in that case
          */
-        if (frameToSend == QSP_FRAME_RC_DATA && !isReceivingSbus(&sbusInput)) {
+        if (frameToSend == QSP_FRAME_RC_DATA && !txInput.isReceiving()) {
             frameToSend = -1;
         }
     #endif
@@ -351,7 +366,7 @@ void loop(void)
                     break;
 
                 case QSP_FRAME_RC_DATA:
-                    encodeRcDataPayload(&qsp, sbusInput.channels, PPM_INPUT_CHANNEL_COUNT);
+                    encodeRcDataPayload(&qsp, txInput.channels, PPM_INPUT_CHANNEL_COUNT);
                     break;
             }
 
@@ -381,7 +396,7 @@ void loop(void)
             digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
         }
     }
-    
+
     /*
      * Main routine to answer to TX module
      */
@@ -443,10 +458,10 @@ void loop(void)
     }
 
 #ifdef DEVICE_MODE_TX
-    
+
     buzzerProcess(TX_BUZZER_PIN, currentMillis, &buzzer);
 
-    // This routing enables when TX starts to receive signal from RX for a first time or after 
+    // This routing enables when TX starts to receive signal from RX for a first time or after
     // failsafe
     if (txDeviceState.isReceiving == false && qsp.anyFrameRecivedAt != 0) {
         //TX module started to receive data
@@ -457,7 +472,7 @@ void loop(void)
 
     //Here we detect failsafe state on TX module
     if (
-        txDeviceState.isReceiving && 
+        txDeviceState.isReceiving &&
         qsp.anyFrameRecivedAt + TX_FAILSAFE_DELAY < currentMillis
     ) {
         txDeviceState.isReceiving = false;
@@ -472,7 +487,7 @@ void loop(void)
         qsp.anyFrameRecivedAt = 0;
     }
 
-    //FIXME rxDeviceState should be resetted also in RC_HEALT frame is not received in a long period 
+    //FIXME rxDeviceState should be resetted also in RC_HEALT frame is not received in a long period
 
     //Handle audible alarms
     if (qsp.deviceState == DEVICE_STATE_FAILSAFE) {
@@ -494,36 +509,41 @@ void loop(void)
         currentMillis - lastOledTaskTime > OLED_UPDATE_RATE
     ) {
         lastOledTaskTime = currentMillis;
-
         display.clearDisplay();
 
         display.setTextColor(WHITE, BLACK);
         display.setCursor(0, 0);
         display.setTextSize(3);
-        display.print(radioState.rssi); 
+        display.print(radioState.rssi);
 
         display.setCursor(18, 28);
         display.setTextSize(2);
         display.print(radioState.snr);
-        
+
         display.setCursor(74, 0);
         display.setTextSize(3);
-        display.print(rxDeviceState.rssi); 
+        display.print(rxDeviceState.rssi);
 
         display.setCursor(92, 28);
         display.setTextSize(2);
-        display.print(rxDeviceState.snr); 
+        display.print(rxDeviceState.snr);
+
+        #ifdef DEBUG_TX_INPUT_ON_OLED
+        display.setCursor(0, 48);
+        display.setTextSize(2);
+        display.print(txInput.channels[0]);
+        #endif
 
         display.setCursor(54, 48);
         display.setTextSize(2);
-        display.print(txDeviceState.roundtrip); 
+        display.print(txDeviceState.roundtrip);
 
-        display.display(); 
+        display.display();
     }
 #endif
 
 #endif
-    
+
 
 }
 

crossbow/qsp.cpp

@@ -1,6 +1,5 @@
 #include "Arduino.h"
 #include "variables.h"
-#include <PPMReader.h>
 
 void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate) {
     int temporaryPpmOutput[PPM_OUTPUT_CHANNEL_COUNT] = {0};
@@ -93,7 +92,7 @@ void decodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSta
 /**
  * Encode 10 RC channels 
  */
-void encodeRcDataPayload(QspConfiguration_t *qsp, int channels[], uint8_t noOfChannels)
+void encodeRcDataPayload(QspConfiguration_t *qsp, volatile int16_t channels[], uint8_t noOfChannels)
 {
     for (uint8_t i = 0; i < noOfChannels; i++)
     {

crossbow/qsp.h

@@ -1,5 +1,4 @@
 #include "Arduino.h"
-#include <PPMReader.h>
 
 void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate);
 void decodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState);
@@ -8,7 +7,7 @@ uint8_t get10bitHighShift(uint8_t channel);
 uint8_t get10bitLowShift(uint8_t channel);
 void qspComputeCrc(QspConfiguration_t *qsp, uint8_t dataByte);
 void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, volatile RadioState_t *radioState);
-void encodeRcDataPayload(QspConfiguration_t *qsp, int channels[], uint8_t noOfChannels);
+void encodeRcDataPayload(QspConfiguration_t *qsp, volatile int16_t channels[], uint8_t noOfChannels);
 void qspDecodeIncomingFrame(
     QspConfiguration_t *qsp, 
     uint8_t incomingByte, 

crossbow/sbus.cpp

@@ -1,5 +1,6 @@
 #include "Arduino.h"
 #include "variables.h"
+#include "sbus.h"
 
 #define SBUS_MIN_OFFSET 173
 #define SBUS_MID_OFFSET 992
@@ -28,7 +29,7 @@ int mapSbusToChannel(int in) {
     return map(in, 173, 1811, 990, 2010);
 }
 
-void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool isFailsafe){
+void sbusPreparePacket(uint8_t packet[], int16_t channels[], bool isSignalLoss, bool isFailsafe){
     
     static int output[SBUS_CHANNEL_NUMBER] = {0};
     
@@ -76,7 +77,24 @@ void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool
     packet[24] = SBUS_FRAME_FOOTER; //Footer
 }
 
-void sbusRead(HardwareSerial &_serial, SbusInput_t *sbusInput) {
+SbusInput::SbusInput(HardwareSerial &serial) : _serial(serial)
+{
+}
+
+
+void SbusInput::loop(void)
+{
+    if (_serial.available()) {
+        sbusRead();
+    }
+}
+
+void SbusInput::start(void)
+{
+        _serial.begin(100000, SERIAL_8N2);
+}
+
+void SbusInput::sbusRead() {
     static byte buffer[25];
 	static byte buffer_index = 0;
 
@@ -103,33 +121,32 @@ void sbusRead(HardwareSerial &_serial, SbusInput_t *sbusInput) {
 			}
 			_goodFrames++;
 
-			sbusInput->channels[0]  = ((buffer[1]    |buffer[2]<<8)                 & 0x07FF);
+			channels[0]  = ((buffer[1]    |buffer[2]<<8)                 & 0x07FF);
-			sbusInput->channels[1]  = ((buffer[2]>>3 |buffer[3]<<5)                 & 0x07FF);
+			channels[1]  = ((buffer[2]>>3 |buffer[3]<<5)                 & 0x07FF);
-			sbusInput->channels[2]  = ((buffer[3]>>6 |buffer[4]<<2 |buffer[5]<<10)  & 0x07FF);
+			channels[2]  = ((buffer[3]>>6 |buffer[4]<<2 |buffer[5]<<10)  & 0x07FF);
-			sbusInput->channels[3]  = ((buffer[5]>>1 |buffer[6]<<7)                 & 0x07FF);
+			channels[3]  = ((buffer[5]>>1 |buffer[6]<<7)                 & 0x07FF);
-			sbusInput->channels[4]  = ((buffer[6]>>4 |buffer[7]<<4)                 & 0x07FF);
+			channels[4]  = ((buffer[6]>>4 |buffer[7]<<4)                 & 0x07FF);
-			sbusInput->channels[5]  = ((buffer[7]>>7 |buffer[8]<<1 |buffer[9]<<9)   & 0x07FF);
+			channels[5]  = ((buffer[7]>>7 |buffer[8]<<1 |buffer[9]<<9)   & 0x07FF);
-			sbusInput->channels[6]  = ((buffer[9]>>2 |buffer[10]<<6)                & 0x07FF);
+			channels[6]  = ((buffer[9]>>2 |buffer[10]<<6)                & 0x07FF);
-			sbusInput->channels[7]  = ((buffer[10]>>5|buffer[11]<<3)                & 0x07FF);
+			channels[7]  = ((buffer[10]>>5|buffer[11]<<3)                & 0x07FF);
-			sbusInput->channels[8]  = ((buffer[12]   |buffer[13]<<8)                & 0x07FF);
+			channels[8]  = ((buffer[12]   |buffer[13]<<8)                & 0x07FF);
-			sbusInput->channels[9]  = ((buffer[13]>>3|buffer[14]<<5)                & 0x07FF);
+			channels[9]  = ((buffer[13]>>3|buffer[14]<<5)                & 0x07FF);
-			sbusInput->channels[10] = ((buffer[14]>>6|buffer[15]<<2|buffer[16]<<10) & 0x07FF);
+			channels[10] = ((buffer[14]>>6|buffer[15]<<2|buffer[16]<<10) & 0x07FF);
-			sbusInput->channels[11] = ((buffer[16]>>1|buffer[17]<<7)                & 0x07FF);
+			channels[11] = ((buffer[16]>>1|buffer[17]<<7)                & 0x07FF);
-			sbusInput->channels[12] = ((buffer[17]>>4|buffer[18]<<4)                & 0x07FF);
+			channels[12] = ((buffer[17]>>4|buffer[18]<<4)                & 0x07FF);
-			sbusInput->channels[13] = ((buffer[18]>>7|buffer[19]<<1|buffer[20]<<9)  & 0x07FF);
+			channels[13] = ((buffer[18]>>7|buffer[19]<<1|buffer[20]<<9)  & 0x07FF);
-			sbusInput->channels[14] = ((buffer[20]>>2|buffer[21]<<6)                & 0x07FF);
+			channels[14] = ((buffer[20]>>2|buffer[21]<<6)                & 0x07FF);
-			sbusInput->channels[15] = ((buffer[21]>>5|buffer[22]<<3)                & 0x07FF);
+			channels[15] = ((buffer[21]>>5|buffer[22]<<3)                & 0x07FF);
 
 			for (uint8_t channelIndex = 0; channelIndex < SBUS_CHANNEL_NUMBER; channelIndex++) {
-                sbusInput->channels[channelIndex] = mapSbusToChannel(sbusInput->channels[channelIndex]);
+                channels[channelIndex] = mapSbusToChannel(channels[channelIndex]);
             }
 
-			sbusInput->lastChannelReceivedAt = millis();
+			_lastChannelReceivedAt = millis();
         }
-        
 	}
 }
 
-bool isReceivingSbus(SbusInput_t *sbusInput) {
+bool SbusInput::isReceiving() {
-    return  !(millis() - sbusInput->lastChannelReceivedAt > SBUS_IS_RECEIVING_THRESHOLD);
+    return  !(millis() - _lastChannelReceivedAt > SBUS_IS_RECEIVING_THRESHOLD);
 }

crossbow/sbus.h

@@ -0,0 +1,25 @@
+
+#ifndef SBUS_INPUT
+#define SBUS_INPUT
+
+#include "Arduino.h"
+#include "tx_input.h"
+
+
+class SbusInput : public TxInput
+{
+  public:
+  	SbusInput(HardwareSerial &serial);
+    void start(void);
+    void loop(void);
+    bool isReceiving(void);
+  private:
+  	HardwareSerial &_serial;
+    uint32_t _lastChannelReceivedAt = 0;
+	void sbusRead(void);
+};
+
+void sbusPreparePacket(uint8_t packet[], int16_t channels[], bool isSignalLoss, bool isFailsafe);
+
+#endif
+

crossbow/tx_input.h

@@ -0,0 +1,21 @@
+
+#ifndef TX_INPUT_H
+#define TX_INPUT_H
+
+#include "Arduino.h"
+
+#define TX_INPUT_CHANNEL_COUNT 16
+
+class TxInput
+{
+  public:
+  	virtual ~TxInput() {}
+    int get(uint8_t channel) { return channels[channel]; };
+    virtual void start(void) {};
+    virtual void stop(void) {};
+    virtual bool isReceiving(void) { return false; };
+    virtual void loop(void) {};
+    volatile static int16_t channels[TX_INPUT_CHANNEL_COUNT];
+};
+
+#endif

crossbow/variables.h

@@ -55,7 +55,6 @@ enum debugConfigFlags {
 };
 
 #define PPM_INPUT_PIN       0 // Has to be one of Interrupt pins
-#define PPM_INPUT_INTERRUPT 2 // For Pro Micro 1, For Pro Mini 0
 
 #define PPM_INPUT_CHANNEL_COUNT 10
 #define PPM_OUTPUT_CHANNEL_COUNT 10
@@ -125,8 +124,3 @@ struct QspConfiguration_t {
     uint32_t lastTxSlotTimestamp = 0;
     bool transmitWindowOpen = false;
 };
-
-struct SbusInput_t {
-    int16_t channels[16] = {};
-    uint32_t lastChannelReceivedAt = 0;
-};

sbus.h

@@ -1,5 +0,0 @@
-#include "Arduino.h"
-
-void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool isFailsafe);
-void sbusRead(HardwareSerial &_serial, SbusInput_t *sbusInput);
-bool isReceivingSbus(SbusInput_t *sbusInput);