[radio_control][sbus_dual] Remove double code

conf/firmwares/subsystems/shared/radio_control_sbus.makefile

@@ -20,4 +20,5 @@ $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
 $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
 $(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control.c
 $(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/sbus.c
+$(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
 

conf/firmwares/subsystems/shared/radio_control_sbus_dual.makefile

@@ -31,4 +31,5 @@ $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.
 $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
 $(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control.c
 $(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
+$(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
 

sw/airborne/subsystems/radio_control/sbus.c

@@ -21,39 +21,12 @@
 
 /** @file subsystems/radio_control/sbus.c
  *
- * Futaba SBUS decoder
+ * Single SBUS radio_control
  */
 
 #include "subsystems/radio_control.h"
 #include "subsystems/radio_control/sbus.h"
 #include BOARD_CONFIG
-#include "mcu_periph/uart.h"
-#include "mcu_periph/gpio.h"
-#include <string.h>
-
-/*
- * SBUS protocol and state machine status
- */
-#define SBUS_START_BYTE 0x0f
-#define SBUS_END_BYTE 0x00
-#define SBUS_BIT_PER_CHANNEL 11
-#define SBUS_BIT_PER_BYTE 8
-#define SBUS_FLAGS_BYTE 22
-#define SBUS_FRAME_LOST_BIT 2
-
-#define SBUS_STATUS_UNINIT      0
-#define SBUS_STATUS_GOT_START   1
-
-/** Set polarity using RC_POLARITY_GPIO.
- * SBUS signal has a reversed polarity compared to normal UART
- * this allows to using hardware UART peripheral by changing
- * the input signal polarity.
- * Setting this gpio ouput high inverts the signal,
- * output low sets it to normal polarity.
- */
-#ifndef RC_SET_POLARITY
-#define RC_SET_POLARITY gpio_set
-#endif
 
 
 /** SBUS struct */
@@ -78,18 +51,7 @@ static void send_sbus(void) {
 
 // Init function
 void radio_control_impl_init(void) {
-  sbus.frame_available = FALSE;
+  sbus_common_init(&sbus, &SBUS_UART_DEV);
-  sbus.status = SBUS_STATUS_UNINIT;
-
-  // Set UART parameters (100K, 8 bits, 2 stops, even parity)
-  uart_periph_set_bits_stop_parity(&SBUS_UART_DEV, UBITS_8, USTOP_2, UPARITY_EVEN);
-  uart_periph_set_baudrate(&SBUS_UART_DEV, B100000);
-
-  // Set polarity
-#ifdef RC_POLARITY_GPIO_PORT
-  gpio_setup_output(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
-  RC_SET_POLARITY(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
-#endif
 
   // Register telemetry message
 #if PERIODIC_TELEMETRY
@@ -98,73 +60,10 @@ void radio_control_impl_init(void) {
 }
 
 
-/** Decode the raw buffer */
-static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available, uint16_t *dstppm)
-{
-  // reset counters
-  uint8_t byteInRawBuf = 0;
-  uint8_t bitInRawBuf = 0;
-  uint8_t channel = 0;
-  uint8_t bitInChannel = 0;
-
-  // clear bits
-  memset (dst, 0, SBUS_NB_CHANNEL*sizeof(uint16_t));
-
-  // decode sbus data
-  for (uint8_t i=0; i< (SBUS_NB_CHANNEL*SBUS_BIT_PER_CHANNEL); i++) {
-    if (src[byteInRawBuf] & (1<<bitInRawBuf))
-      dst[channel] |= (1<<bitInChannel);
-
-    bitInRawBuf++;
-    bitInChannel++;
-
-    if (bitInRawBuf == SBUS_BIT_PER_BYTE) {
-      bitInRawBuf = 0;
-      byteInRawBuf++;
-    }
-    if (bitInChannel == SBUS_BIT_PER_CHANNEL) {
-      bitInChannel = 0;
-#if PERIODIC_TELEMETRY
-      dstppm[channel] = USEC_OF_RC_PPM_TICKS(dst[channel]);
-#endif
-      channel++;
-    }
-  }
-  // test frame lost flag
-  *available = !bit_is_set(src[SBUS_FLAGS_BYTE], SBUS_FRAME_LOST_BIT);
-}
 
 // Decoding event function
 // Reading from UART
 void sbus_decode_event(void) {
-  uint8_t rbyte;
+  sbus_common_decode_event(&sbus, &SBUS_UART_DEV);
-  if (uart_char_available(&SBUS_UART_DEV)) {
-    do {
-      rbyte = uart_getch(&SBUS_UART_DEV);
-      switch (sbus.status) {
-        case SBUS_STATUS_UNINIT:
-          // Wait for the start byte
-          if (rbyte == SBUS_START_BYTE) {
-            sbus.status++;
-            sbus.idx = 0;
-          }
-          break;
-        case SBUS_STATUS_GOT_START:
-          // Store buffer
-          sbus.buffer[sbus.idx] = rbyte;
-          sbus.idx++;
-          if (sbus.idx == SBUS_BUF_LENGTH) {
-            // Decode if last byte is the correct end byte
-            if (rbyte == SBUS_END_BYTE) {
-              decode_sbus_buffer(sbus.buffer, sbus.pulses, &sbus.frame_available, sbus.ppm);
-            }
-            sbus.status = SBUS_STATUS_UNINIT;
-          }
-          break;
-        default:
-          break;
-      }
-    } while (uart_char_available(&SBUS_UART_DEV));
-  }
 }
 

sw/airborne/subsystems/radio_control/sbus.h

@@ -24,51 +24,11 @@
 
 /** @file subsystems/radio_control/sbus.h
  *
- * Futaba SBUS decoder
+ * Single SBUS radio_control
  */
 
-#include "std.h"
+#include "subsystems/radio_control/sbus_common.h"
 
-/**
- * Macro to use radio.h file
- *
- *  SBUS:   0..1024..2047 (sweep 2048)
- *  PPM:  880..1520..2160 (sweep 1280)
- */
-#define RC_PPM_TICKS_OF_USEC(_v)        ((((_v) - 880) * 8) / 5)
-#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (((_v) * 8) / 5)
-#define USEC_OF_RC_PPM_TICKS(_v)        ((((_v) * 5) / 8) + 880)
-
-/**
- * Generated code holding the description of a given
- * transmitter
- */
-#include "generated/radio.h"
-
-/**
- * Define number of channels.
- *
- * SBUS frame always have 16 channels
- * but only the X first one will be available
- * depending of the RC transmitter.
- * The radio XML file is used to assign the
- * input values to RC channels.
- */
-#define SBUS_BUF_LENGTH 24
-#define SBUS_NB_CHANNEL 16
-#define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
-
-/**
- * SBUS structure
- */
-struct _sbus {
-  uint16_t pulses[SBUS_NB_CHANNEL]; ///< decoded values
-  uint16_t ppm[SBUS_NB_CHANNEL];    ///< decoded and converted values
-  bool_t frame_available;           ///< new frame available
-  uint8_t buffer[SBUS_BUF_LENGTH];  ///< input buffer
-  uint8_t idx;                      ///< input index
-  uint8_t status;                   ///< decoder state machine status
-};
 
 extern struct _sbus sbus;
 

sw/airborne/subsystems/radio_control/sbus_common.c

@@ -0,0 +1,144 @@
+/*
+ * Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/** @file subsystems/radio_control/sbus_common.c
+ *
+ * Futaba SBUS decoder
+ */
+
+#include "subsystems/radio_control.h"
+#include "subsystems/radio_control/sbus_common.h"
+#include BOARD_CONFIG
+#include "mcu_periph/gpio.h"
+#include <string.h>
+
+/*
+ * SBUS protocol and state machine status
+ */
+#define SBUS_START_BYTE 0x0f
+#define SBUS_END_BYTE 0x00
+#define SBUS_BIT_PER_CHANNEL 11
+#define SBUS_BIT_PER_BYTE 8
+#define SBUS_FLAGS_BYTE 22
+#define SBUS_FRAME_LOST_BIT 2
+
+#define SBUS_STATUS_UNINIT      0
+#define SBUS_STATUS_GOT_START   1
+
+/** Set polarity using RC_POLARITY_GPIO.
+ * SBUS signal has a reversed polarity compared to normal UART
+ * this allows to using hardware UART peripheral by changing
+ * the input signal polarity.
+ * Setting this gpio ouput high inverts the signal,
+ * output low sets it to normal polarity.
+ */
+#ifndef RC_SET_POLARITY
+#define RC_SET_POLARITY gpio_set
+#endif
+
+
+void sbus_common_init(struct _sbus* sbus_p, struct uart_periph* dev) {
+
+  sbus_p->frame_available = FALSE;
+  sbus_p->status = SBUS_STATUS_UNINIT;
+
+  // Set UART parameters (100K, 8 bits, 2 stops, even parity)
+  uart_periph_set_bits_stop_parity(dev, UBITS_8, USTOP_2, UPARITY_EVEN);
+  uart_periph_set_baudrate(dev, B100000);
+
+  // Set polarity
+#ifdef RC_POLARITY_GPIO_PORT
+  gpio_setup_output(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
+  RC_SET_POLARITY(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
+#endif
+
+}
+
+
+/** Decode the raw buffer */
+static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available, uint16_t *dstppm)
+{
+  // reset counters
+  uint8_t byteInRawBuf = 0;
+  uint8_t bitInRawBuf = 0;
+  uint8_t channel = 0;
+  uint8_t bitInChannel = 0;
+
+  // clear bits
+  memset (dst, 0, SBUS_NB_CHANNEL*sizeof(uint16_t));
+
+  // decode sbus data
+  for (uint8_t i=0; i< (SBUS_NB_CHANNEL*SBUS_BIT_PER_CHANNEL); i++) {
+    if (src[byteInRawBuf] & (1<<bitInRawBuf))
+      dst[channel] |= (1<<bitInChannel);
+
+    bitInRawBuf++;
+    bitInChannel++;
+
+    if (bitInRawBuf == SBUS_BIT_PER_BYTE) {
+      bitInRawBuf = 0;
+      byteInRawBuf++;
+    }
+    if (bitInChannel == SBUS_BIT_PER_CHANNEL) {
+      bitInChannel = 0;
+#if PERIODIC_TELEMETRY
+      dstppm[channel] = USEC_OF_RC_PPM_TICKS(dst[channel]);
+#endif
+      channel++;
+    }
+  }
+  // test frame lost flag
+  *available = !bit_is_set(src[SBUS_FLAGS_BYTE], SBUS_FRAME_LOST_BIT);
+}
+
+// Decoding event function
+// Reading from UART
+void sbus_common_decode_event(struct _sbus* sbus_p, struct uart_periph* dev) {
+  uint8_t rbyte;
+  if (uart_char_available(dev)) {
+    do {
+      rbyte = uart_getch(dev);
+      switch (sbus_p->status) {
+        case SBUS_STATUS_UNINIT:
+          // Wait for the start byte
+          if (rbyte == SBUS_START_BYTE) {
+            sbus_p->status++;
+            sbus_p->idx = 0;
+          }
+          break;
+        case SBUS_STATUS_GOT_START:
+          // Store buffer
+          sbus_p->buffer[sbus_p->idx] = rbyte;
+          sbus_p->idx++;
+          if (sbus_p->idx == SBUS_BUF_LENGTH) {
+            // Decode if last byte is the correct end byte
+            if (rbyte == SBUS_END_BYTE) {
+              decode_sbus_buffer(sbus_p->buffer, sbus_p->pulses, &sbus_p->frame_available, sbus_p->ppm);
+            }
+            sbus_p->status = SBUS_STATUS_UNINIT;
+          }
+          break;
+        default:
+          break;
+      }
+    } while (uart_char_available(dev));
+  }
+}

sw/airborne/subsystems/radio_control/sbus_common.h

@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef RC_SBUS_COMMON_H
+#define RC_SBUS_COMMON_H
+
+/** @file subsystems/radio_control/sbus_common.h
+ *
+ * Futaba SBUS decoder
+ */
+
+#include "std.h"
+#include "mcu_periph/uart.h"
+
+/**
+ * Macro to use radio.h file
+ *
+ *  SBUS:   0..1024..2047 (sweep 2048)
+ *  PPM:  880..1520..2160 (sweep 1280)
+ */
+#define RC_PPM_TICKS_OF_USEC(_v)        ((((_v) - 880) * 8) / 5)
+#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (((_v) * 8) / 5)
+#define USEC_OF_RC_PPM_TICKS(_v)        ((((_v) * 5) / 8) + 880)
+
+/**
+ * Generated code holding the description of a given
+ * transmitter
+ */
+#include "generated/radio.h"
+
+/**
+ * Define number of channels.
+ *
+ * SBUS frame always have 16 channels
+ * but only the X first one will be available
+ * depending of the RC transmitter.
+ * The radio XML file is used to assign the
+ * input values to RC channels.
+ */
+#define SBUS_BUF_LENGTH 24
+#define SBUS_NB_CHANNEL 16
+#define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
+
+/**
+ * SBUS structure
+ */
+struct _sbus {
+  uint16_t pulses[SBUS_NB_CHANNEL]; ///< decoded values
+  uint16_t ppm[SBUS_NB_CHANNEL];    ///< decoded and converted values
+  bool_t frame_available;           ///< new frame available
+  uint8_t buffer[SBUS_BUF_LENGTH];  ///< input buffer
+  uint8_t idx;                      ///< input index
+  uint8_t status;                   ///< decoder state machine status
+};
+
+/**
+ * Init function
+ */
+void sbus_common_init(struct _sbus* sbus, struct uart_periph* dev);
+
+/**
+ * Decoding event function
+ */
+void sbus_common_decode_event(struct _sbus* sbus, struct uart_periph* dev);
+
+
+#endif /* RC_SBUS_H */

sw/airborne/subsystems/radio_control/sbus_dual.c

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
+ * Copyright (C) 2014 Christophe De Wagter
  *
  * This file is part of paparazzi.
  *
@@ -19,9 +19,9 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file subsystems/radio_control/sbus.c
+/** @file subsystems/radio_control/sbus_dual.c
  *
- * Futaba SBUS decoder
+ * Dual SBUS radio_control
  */
 
 #include "subsystems/radio_control.h"
@@ -31,29 +31,6 @@
 #include "mcu_periph/gpio.h"
 #include <string.h>
 
-/*
- * SBUS protocol and state machine status
- */
-#define SBUS_START_BYTE 0x0f
-#define SBUS_END_BYTE 0x00
-#define SBUS_BIT_PER_CHANNEL 11
-#define SBUS_BIT_PER_BYTE 8
-#define SBUS_FLAGS_BYTE 22
-#define SBUS_FRAME_LOST_BIT 2
-
-#define SBUS_STATUS_UNINIT      0
-#define SBUS_STATUS_GOT_START   1
-
-/** Set polarity using RC_POLARITY_GPIO.
- * SBUS signal has a reversed polarity compared to normal UART
- * this allows to using hardware UART peripheral by changing
- * the input signal polarity.
- * Setting this gpio ouput high inverts the signal,
- * output low sets it to normal polarity.
- */
-#ifndef RC_SET_POLARITY
-#define RC_SET_POLARITY gpio_set
-#endif
 
 
 /** SBUS struct */
@@ -78,22 +55,8 @@ static void send_sbus(void) {
 
 // Init function
 void radio_control_impl_init(void) {
-  sbus1.frame_available = FALSE;
+  sbus_common_init(&sbus1, &SBUS1_UART_DEV);
-  sbus1.status = SBUS_STATUS_UNINIT;
+  sbus_common_init(&sbus2, &SBUS2_UART_DEV);
-  sbus2.frame_available = FALSE;
-  sbus2.status = SBUS_STATUS_UNINIT;
-
-  // Set UART parameters (100K, 8 bits, 2 stops, even parity)
-  uart_periph_set_bits_stop_parity(&SBUS1_UART_DEV, UBITS_8, USTOP_2, UPARITY_EVEN);
-  uart_periph_set_baudrate(&SBUS1_UART_DEV, B100000);
-  uart_periph_set_bits_stop_parity(&SBUS2_UART_DEV, UBITS_8, USTOP_2, UPARITY_EVEN);
-  uart_periph_set_baudrate(&SBUS2_UART_DEV, B100000);
-
-  // Set polarity
-#ifdef RC_POLARITY_GPIO_PORT
-  gpio_setup_output(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
-  RC_SET_POLARITY(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);
-#endif
 
   // Register telemetry message
 #if PERIODIC_TELEMETRY
@@ -101,79 +64,7 @@ void radio_control_impl_init(void) {
 #endif
 }
 
-
-/** Decode the raw buffer */
-static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available, uint16_t *dstppm)
-{
-  // reset counters
-  uint8_t byteInRawBuf = 0;
-  uint8_t bitInRawBuf = 0;
-  uint8_t channel = 0;
-  uint8_t bitInChannel = 0;
-
-  // clear bits
-  memset (dst, 0, SBUS_NB_CHANNEL*sizeof(uint16_t));
-
-  // decode sbus data
-  for (uint8_t i=0; i< (SBUS_NB_CHANNEL*SBUS_BIT_PER_CHANNEL); i++) {
-    if (src[byteInRawBuf] & (1<<bitInRawBuf))
-      dst[channel] |= (1<<bitInChannel);
-
-    bitInRawBuf++;
-    bitInChannel++;
-
-    if (bitInRawBuf == SBUS_BIT_PER_BYTE) {
-      bitInRawBuf = 0;
-      byteInRawBuf++;
-    }
-    if (bitInChannel == SBUS_BIT_PER_CHANNEL) {
-      bitInChannel = 0;
-#if PERIODIC_TELEMETRY
-      dstppm[channel] = USEC_OF_RC_PPM_TICKS(dst[channel]);
-#endif
-      channel++;
-    }
-  }
-  // test frame lost flag
-  *available = !bit_is_set(src[SBUS_FLAGS_BYTE], SBUS_FRAME_LOST_BIT);
-}
-
-// Decoding event function
-// Reading from UART
-void sbus_decode_event(struct _sbus* sbus, struct uart_periph* dev);
-void sbus_decode_event(struct _sbus* sbus, struct uart_periph* dev) {
-  uint8_t rbyte;
-  if (uart_char_available(dev)) {
-    do {
-      rbyte = uart_getch(dev);
-      switch (sbus->status) {
-        case SBUS_STATUS_UNINIT:
-          // Wait for the start byte
-          if (rbyte == SBUS_START_BYTE) {
-            sbus->status++;
-            sbus->idx = 0;
-          }
-          break;
-        case SBUS_STATUS_GOT_START:
-          // Store buffer
-          sbus->buffer[sbus->idx] = rbyte;
-          sbus->idx++;
-          if (sbus->idx == SBUS_BUF_LENGTH) {
-            // Decode if last byte is the correct end byte
-            if (rbyte == SBUS_END_BYTE) {
-              decode_sbus_buffer(sbus->buffer, sbus->pulses, &sbus->frame_available, sbus->ppm);
-            }
-            sbus->status = SBUS_STATUS_UNINIT;
-          }
-          break;
-        default:
-          break;
-      }
-    } while (uart_char_available(dev));
-  }
-}
-
 void sbus_dual_decode_event(void) {
-  sbus_decode_event(&sbus1, &SBUS1_UART_DEV);
+  sbus_common_decode_event(&sbus1, &SBUS1_UART_DEV);
-  sbus_decode_event(&sbus2, &SBUS2_UART_DEV);
+  sbus_common_decode_event(&sbus2, &SBUS2_UART_DEV);
 }

sw/airborne/subsystems/radio_control/sbus_dual.h

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2013 Alexandre Bustico, Gautier Hattenberger
+ * Copyright (C) 2014 Christophe De Wagter
  *
  * This file is part of paparazzi.
  *
@@ -19,56 +19,16 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef RC_SBUS_H
+#ifndef RC_SBUS_DUAL_H
-#define RC_SBUS_H
+#define RC_SBUS_DUAL_H
 
-/** @file subsystems/radio_control/sbus.h
+/** @file subsystems/radio_control/sbus_dual.h
  *
- * Futaba SBUS decoder
+ * Dual SBUS radio_control
  */
 
-#include "std.h"
+#include "subsystems/radio_control/sbus_common.h"
 
-/**
- * Macro to use radio.h file
- *
- *  SBUS:   0..1024..2047 (sweep 2048)
- *  PPM:  880..1520..2160 (sweep 1280)
- */
-#define RC_PPM_TICKS_OF_USEC(_v)        ((((_v) - 880) * 8) / 5)
-#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (((_v) * 8) / 5)
-#define USEC_OF_RC_PPM_TICKS(_v)        ((((_v) * 5) / 8) + 880)
-
-/**
- * Generated code holding the description of a given
- * transmitter
- */
-#include "generated/radio.h"
-
-/**
- * Define number of channels.
- *
- * SBUS frame always have 16 channels
- * but only the X first one will be available
- * depending of the RC transmitter.
- * The radio XML file is used to assign the
- * input values to RC channels.
- */
-#define SBUS_BUF_LENGTH 24
-#define SBUS_NB_CHANNEL 16
-#define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
-
-/**
- * SBUS structure
- */
-struct _sbus {
-  uint16_t pulses[SBUS_NB_CHANNEL]; ///< decoded values
-  uint16_t ppm[SBUS_NB_CHANNEL];    ///< decoded and converted values
-  bool_t frame_available;           ///< new frame available
-  uint8_t buffer[SBUS_BUF_LENGTH];  ///< input buffer
-  uint8_t idx;                      ///< input index
-  uint8_t status;                   ///< decoder state machine status
-};
 
 extern struct _sbus sbus1, sbus2;