enhancement 🪄:: Sbus: Added serial connection monitoring and getters for additional data

Docs/source/example.rst

@@ -3,14 +3,48 @@
 Examples
 ========
 
-CRSF Basic Example
+IBUS Basic Example
 ------------------
 
-.. literalinclude:: ../../examples/espresiff/crsf_basic/crsf_basic.ino
+Atmel AVR
+^^^^^^^^^
+
+.. literalinclude:: ../../examples/atmel/ibus_basic/ibus_basic.ino
+   :language: cpp
+
+RP2040
+^^^^^^
+
+.. literalinclude:: ../../examples/rp2040/ibus_basic/ibus_basic.ino
+   :language: cpp
+
+
+Crossfire Basic Example
+------------------
+
+Atmel AVR
+^^^^^^^^^
+
+.. literalinclude:: ../../examples/atmel/crsf_basic/crsf_basic.ino
+   :language: cpp
+
+RP2040
+^^^^^^
+
+.. literalinclude:: ../../examples/rp2040/crsf_basic/crsf_basic.ino
    :language: cpp
 
 SBUS Basic Example
 ------------------
 
-.. literalinclude:: ../../examples/espresiff/sbus_basic/sbus_basic.ino
-   :language: cpp
+Atmel AVR
+^^^^^^^^^
+
+.. literalinclude:: ../../examples/atmel/sbus_basic/sbus_basic.ino
+   :language: cpp
+
+RP2040
+^^^^^^
+
+.. literalinclude:: ../../examples/rp2040/sbus_basic/sbus_basic.ino
+   :language: cpp

Docs/source/tutorial.rst

@@ -107,8 +107,81 @@ Crossfire
     mySerial.begin(CRSF_BAUDRATE);
     SerialIO *receiver = new crsf(mySerial); 
 
+Monitoring Communication
+========================
+You can monitor the communication status on certain protocols, to ensure reliability of the received channel data.
+
+SBus
+----
+
+Serial Communication
+^^^^^^^^^^^^^^^^^^^^
+You can monitor the serial communication using the `getSerialConnectionStatus()` method on the `receiver` instance.
+This method returns `true` if the serial communication is running without errors, otherwise it returns `false`.
+
+.. code-block:: cpp
+
+    #include <SerialIO.h>
+
+    rc_channels_t channelData;
+    sbus receiver(&Serial);
+
+    // within your setup routine
+    receiver.begin();
+
+    // within your program loop
+    receiver.processIncoming();
+    receiver.getChannel(&channelData);
+
+    bool serialConnectionStatus = receiver.getSerialConnectionStatus();
+
+    if(!serialConnectionStatus) {
+        // handle failsafe of channelData
+    }
+
+
+Radio connection
+^^^^^^^^^^^^^^^^
+You can monitor the radio connection of the receiver using the `getFailsafe()` method on the `receiver` instance.
+The failsafe indicates when the receiver has lost connection to the transmitter.  
+When the failsafe is activated, the channel data might be set to predefined values or hold the last known values.
+
+You can also monitor the quality of the connection with `getFramelost()` method on the `receiver` instance.
+Usually lost frame indicates when a frame is lost between the transmitter an receiver.
+Failsafe activation requires that many frames ahs been lost in a row.
+
+.. note::
+    Some receivers might not provide any failsafe or frame loss information via SBus protocol.
+    In that case, the methods will always return `false`.
+
+.. code-block:: cpp
+
+    #include <SerialIO.h>
+
+    rc_channels_t channelData;
+    sbus receiver(&Serial);
+
+    // within your setup routine
+    receiver.begin();
+
+    // within your program loop
+    receiver.processIncoming();
+    receiver.getChannel(&channelData);
+
+    bool failsafe = receiver.getFailsafe();
+    bool frameLost = receiver.getFramelost();
+
+    if(failsafe) {
+        // handle failsafe of channelData
+    }
+
+    if(frameLost) {
+        // handle frame lost event
+    }
+
+
 See Also
-^^^^^^^^
+========
 - :cpp:class:`SerialIO`
 - :cpp:class:`sbus`
 - :cpp:class:`crsf`

examples/atmel/crsf_basic/.arduino-ci.yml

@@ -0,0 +1,5 @@
+compile:
+  platforms:
+    - uno
+    - mega2560
+    - leonardo

examples/atmel/crsf_basic/crsf_basic.ino

@@ -0,0 +1,22 @@
+/*!
+ * @file crsf_basic.ino
+ */
+#include <SerialIO.h>
+
+rc_channels_t channelData;
+
+crsf receiver(&Serial);
+
+void setup() { 
+  receiver.begin();
+}
+
+void loop() {
+  // setup crsf receiver
+  receiver.processIncoming();
+  receiver.getChannel(&channelData);
+
+  // `channelData` now contains the latest RC channel values
+  // You can use them by accessing the channelData e.g. channelData.channel1 to channelData.channel16
+}
+

examples/atmel/ibus_basic/ibus_basic.ino

@@ -14,5 +14,8 @@ void setup() {
 void loop() {
   receiver.processIncoming();
   receiver.getChannel(&channelData);
+
+  // `channelData` now contains the latest RC channel values
+  // You can use them by accessing the channelData e.g. channelData.channel1 to channelData.channel16
 }
 

examples/atmel/sbus_basic/.arduino-ci.yml

@@ -0,0 +1,5 @@
+compile:
+  platforms:
+    - uno
+    - mega2560
+    - leonardo

examples/atmel/sbus_basic/sbus_basic.ino

@@ -0,0 +1,22 @@
+/*!
+ * @file sbus_basic.ino
+ */
+#include <SerialIO.h>
+
+rc_channels_t channelData;
+
+sbus receiver(&Serial);
+
+void setup() { 
+  receiver.begin();
+}
+
+void loop() {
+  // setup sbus receiver
+  receiver.processIncoming();
+  receiver.getChannel(&channelData);
+
+  // `channelData` now contains the latest RC channel values
+  // You can use them by accessing the channelData e.g. channelData.channel1 to channelData.channel16
+}
+

examples/rp2040/crsf_basic/.arduino-ci.yml

@@ -0,0 +1,18 @@
+platforms:
+  rpipico:
+    board: rp2040:rp2040:rpipico
+    package: rp2040:rp2040
+    gcc:
+      features:
+      defines:
+        - ARDUINO_ARCH_RP2040
+      warnings:
+      flags:
+
+packages:
+  rp2040:rp2040:
+    url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+
+compile:
+  platforms:
+    - rpipico

examples/rp2040/crsf_basic/crsf_basic.ino

@@ -0,0 +1,55 @@
+/*!
+ * @file crsf_basic.ino
+ */
+/*
+
+# Sample platformio.ini file:
+# ---------------------------
+[platformio]
+default_envs = ws-rp2040-zero
+
+[env:ws-rp2040-zero]
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = waveshare_rp2040_pizero
+framework = arduino
+board_build.core = earlephilhower
+monitor_speed = 115200
+
+lib_deps =
+  https://github.com/Witty-Wizard/SerialIO
+*/
+
+#include <SerialIO.h>
+
+#define CRSF_TX_PIN 0
+#define CRSF_RX_PIN 1
+
+rc_channels_t rcdata;
+// On RP2040 or Arduino ESP32 you need to specify the TX and RX pins
+crsf receiver(&Serial1, CRSF_RX_PIN, CRSF_TX_PIN,
+              true); // RP2040 requires the TX_PIN so to not hang up the mcu
+
+void setup() {
+  // setup crsf receiver
+  receiver.begin();
+
+  Serial.begin(115200);
+}
+
+void loop() {
+  static unsigned long last_millis = millis();
+
+  receiver.processIncoming();
+  receiver.getChannel(&rcdata);
+
+  if (millis() > last_millis + 100) {
+    Serial.printf("RC: %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d",
+                  rcdata.channel1, rcdata.channel2, rcdata.channel3,
+                  rcdata.channel4, rcdata.channel5, rcdata.channel6,
+                  rcdata.channel7, rcdata.channel8, rcdata.channel9,
+                  rcdata.channel10, rcdata.channel11, rcdata.channel12,
+                  rcdata.channel13, rcdata.channel14);
+    Serial.println();
+    last_millis = millis();
+  }
+}

examples/rp2040/ibus_basic/ibus_basic.ino

@@ -21,15 +21,16 @@ lib_deps =
 
 #include <SerialIO.h>
 
-#define SBUS_TX_PIN 0
-#define SBUS_RX_PIN 1
+#define IBUS_TX_PIN 0
+#define IBUS_RX_PIN 1
 
 rc_channels_t rcdata;
-ibus receiver(&Serial1, SBUS_RX_PIN, SBUS_TX_PIN,
+// On RP2040 or Arduino ESP32 you need to specify the TX and RX pins
+ibus receiver(&Serial1, IBUS_RX_PIN, IBUS_TX_PIN,
               true); // RP2040 requires the TX_PIN so to not hang up the mcu
 
 void setup() {
-  // setup sbus receiver
+  // setup ibus receiver
   receiver.begin();
 
   Serial.begin(115200);

examples/rp2040/sbus_basic/.arduino-ci.yml

@@ -0,0 +1,18 @@
+platforms:
+  rpipico:
+    board: rp2040:rp2040:rpipico
+    package: rp2040:rp2040
+    gcc:
+      features:
+      defines:
+        - ARDUINO_ARCH_RP2040
+      warnings:
+      flags:
+
+packages:
+  rp2040:rp2040:
+    url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+
+compile:
+  platforms:
+    - rpipico

examples/rp2040/sbus_basic/sbus_basic.ino

@@ -0,0 +1,55 @@
+/*!
+ * @file sbus_basic.ino
+ */
+/*
+
+# Sample platformio.ini file:
+# ---------------------------
+[platformio]
+default_envs = ws-rp2040-zero
+
+[env:ws-rp2040-zero]
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = waveshare_rp2040_pizero
+framework = arduino
+board_build.core = earlephilhower
+monitor_speed = 115200
+
+lib_deps =
+  https://github.com/Witty-Wizard/SerialIO
+*/
+
+#include <SerialIO.h>
+
+#define SBUS_TX_PIN 0
+#define SBUS_RX_PIN 1
+
+rc_channels_t rcdata;
+// On RP2040 or Arduino ESP32 you need to specify the TX and RX pins
+sbus receiver(&Serial1, SBUS_RX_PIN, SBUS_TX_PIN,
+              true); // RP2040 requires the TX_PIN so to not hang up the mcu
+
+void setup() {
+  // setup sbus receiver
+  receiver.begin();
+
+  Serial.begin(115200);
+}
+
+void loop() {
+  static unsigned long last_millis = millis();
+
+  receiver.processIncoming();
+  receiver.getChannel(&rcdata);
+
+  if (millis() > last_millis + 100) {
+    Serial.printf("RC: %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d",
+                  rcdata.channel1, rcdata.channel2, rcdata.channel3,
+                  rcdata.channel4, rcdata.channel5, rcdata.channel6,
+                  rcdata.channel7, rcdata.channel8, rcdata.channel9,
+                  rcdata.channel10, rcdata.channel11, rcdata.channel12,
+                  rcdata.channel13, rcdata.channel14);
+    Serial.println();
+    last_millis = millis();
+  }
+}

src/SerialIO.h

@@ -89,6 +89,8 @@ class SerialIO
   bool _inverted;  ///< Indicates whether the serial signal is inverted.
   int _rxPin;      ///< RX pin number.
   int _txPin;      ///< TX pin number.
+  uint32_t _lastPacketTime = 0; ///< Timestamp of the last received packet.
+  bool _connectionTimeout = false; ///< Indicates whether the connection has timed out.
 
   /**
    * @brief Perform a left shift operation on the given byte array.