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SimpleRX
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Added sbus working with default software serial.

master
Englebert 3 years ago
parent
04fefc9b13
commit
a4d0aae61d
6 changed files with 248 additions and 139 deletions
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  1. 25
      DRAFT.md
  2. 1
      platformio.ini
  3. 53
      src/main.cpp
  4. 2
      src/nrf24l01.cpp
  5. 279
      src/sbus.cpp
  6. 27
      src/sbus.h

25
DRAFT.md
View File

@ -0,0 +1,25 @@
.0000000062
mmmuuunnnp
6.2nS per cpu cycle
100000 baud ?
1/100000 = .0000100000
.0000100000
mmmuuunnn
10uS per bit
HIGH:
80% HIGH 20% LOW
LOW:
50% HIGH 50% LOW
10uS ~ 1612.9032258064 cpu cycles
HIGH:
1290.3225806451 HIGH 322.5806451612 LOW
LOW:
806.4516129032 HIGH 806.4516129032 LOW

1
platformio.ini
View File

@ -16,4 +16,5 @@ framework = arduino
upload_protocol = espota
upload_port = 192.168.4.1
board_build.filesystem = littlefs
board_build.f_cpu = 160000000L
lib_deps = arkhipenko/TaskScheduler@^3.6.0

53
src/main.cpp
View File

@ -18,7 +18,7 @@
#define LED_HEARTBEAT 2
bool led_heartbeat_state = false;
uint16_t rcCommand[18]; // Signal to ESC
//// uint16_t rcCommand[18]; // Signal to ESC
Scheduler scheduler;
RXMessage rxMessage;
@ -43,6 +43,9 @@ void setup() {
// Delay a bit
delay(100);
// Checking CPU Speed
Serial.printf("CPU: %d MHz\r\n", ESP.getCpuFreqMHz());
// Setting up status led
pinMode(LED_STATUS, OUTPUT);
pinMode(LED_HEARTBEAT, OUTPUT);
@ -58,7 +61,7 @@ void setup() {
// swSer1.begin(100000, SWSERIAL_8N2, D5, D5, false, 256);
// Start up NRF24L01
//////// rx.begin();
rx.begin();
// Setup Receiver
// setup_rx();
@ -73,7 +76,7 @@ void setup() {
Serial.println("Enabling Tasks...");
// Add task to scheduler
scheduler.addTask(task_sbus_generator);
////////// scheduler.addTask(task_rx);
scheduler.addTask(task_rx);
scheduler.addTask(task_heartbeat);
scheduler.addTask(task_web);
scheduler.addTask(task_ota);
@ -81,7 +84,7 @@ void setup() {
// Enabling Tasks
task_sbus_generator.enable();
//////////// task_rx.enable();
task_rx.enable();
task_heartbeat.enable();
task_web.enable();
task_ota.enable();
@ -146,6 +149,8 @@ void uptime_tracker(void) {
// DEBUGGING...
uint32_t printagain = 0;
bool first_load = true;
uint16_t last_receive = 0;
// Processing received data
void nrf_rx(void) {
if(first_load == true) {
@ -159,13 +164,18 @@ void nrf_rx(void) {
setup_rx();
Serial.println("NRF READY TO LISTEN...");
}
}
if((uint32_t)(millis() - last_receive) > 1000) {
sbus.signalNotOK = true;
}
if(rx.available()) {
// Getting signals from Receiver
rx.read(&rxMessage, sizeof(RXMessage));
// Debugging only. Remove this once working.
/***
Serial.print(rxMessage.Byte00);
Serial.print(" ");
Serial.print(rxMessage.Byte01);
@ -178,6 +188,7 @@ void nrf_rx(void) {
Serial.print(" ");
Serial.print(rxMessage.Byte05);
Serial.println(" ");
***/
// static bool firstload = true;
@ -199,21 +210,23 @@ void nrf_rx(void) {
rcCommand[AUX8] = ((rxMessage.Byte00 >> 0) & 0x01) ? 2000 : 1000; // 8
rcCommand[AUX9] = ((rxMessage.Byte01 >> 7) & 0x01) ? 2000 : 1000; // 9
***/
rcCommand[AUX1] = ((rxMessage.Byte00 >> 7) & 0x01) ? 1 : 0; // 1
rcCommand[AUX2] = ((rxMessage.Byte00 >> 6) & 0x01) ? 1 : 0; // 2
rcCommand[AUX3] = ((rxMessage.Byte00 >> 5) & 0x01) ? 1 : 0; // 3
rcCommand[AUX4] = ((rxMessage.Byte00 >> 4) & 0x01) ? 1 : 0; // 4
rcCommand[AUX5] = ((rxMessage.Byte00 >> 3) & 0x01) ? 1 : 0; // 5
rcCommand[AUX6] = ((rxMessage.Byte00 >> 2) & 0x01) ? 1 : 0; // 6
rcCommand[AUX7] = ((rxMessage.Byte00 >> 1) & 0x01) ? 1 : 0; // 7
rcCommand[AUX8] = ((rxMessage.Byte00 >> 0) & 0x01) ? 1 : 0; // 8
rcCommand[AUX9] = ((rxMessage.Byte01 >> 7) & 0x01) ? 1 : 0; // 9
rcCommand[THROTTLE] = ((rxMessage.Byte01 & 0X7F) << 4) | (rxMessage.Byte02 & 0xF0) >> 4; // Throttle
rcCommand[YAW] = ((rxMessage.Byte02 & 0x07) << 8) | rxMessage.Byte03; // Yaw
rcCommand[PITCH] = ((rxMessage.Byte04 & 0x7F) << 4) | (rxMessage.Byte05 & 0xF0) >> 4; // Pitch
rcCommand[ROLL] = ((rxMessage.Byte05 & 0x07) << 8) | rxMessage.Byte06; // Roll
sbus.rcCommand[AUX1] = ((rxMessage.Byte00 >> 7) & 0x01) ? 2000 : 1000; // 1
sbus.rcCommand[AUX2] = ((rxMessage.Byte00 >> 6) & 0x01) ? 2000 : 1000; // 2
sbus.rcCommand[AUX3] = ((rxMessage.Byte00 >> 5) & 0x01) ? 2000 : 1000; // 3
sbus.rcCommand[AUX4] = ((rxMessage.Byte00 >> 4) & 0x01) ? 2000 : 1000; // 4
sbus.rcCommand[AUX5] = ((rxMessage.Byte00 >> 3) & 0x01) ? 2000 : 1000; // 5
sbus.rcCommand[AUX6] = ((rxMessage.Byte00 >> 2) & 0x01) ? 2000 : 1000; // 6
sbus.rcCommand[AUX7] = ((rxMessage.Byte00 >> 1) & 0x01) ? 2000 : 1000; // 7
sbus.rcCommand[AUX8] = ((rxMessage.Byte00 >> 0) & 0x01) ? 2000 : 1000; // 8
sbus.rcCommand[AUX9] = ((rxMessage.Byte01 >> 7) & 0x01) ? 2000 : 1000; // 9
sbus.rcCommand[THROTTLE] = ((rxMessage.Byte01 & 0X7F) << 4) | (rxMessage.Byte02 & 0xF0) >> 4; // Throttle
sbus.rcCommand[YAW] = ((rxMessage.Byte02 & 0x07) << 8) | rxMessage.Byte03; // Yaw
sbus.rcCommand[PITCH] = ((rxMessage.Byte04 & 0x7F) << 4) | (rxMessage.Byte05 & 0xF0) >> 4; // Pitch
sbus.rcCommand[ROLL] = ((rxMessage.Byte05 & 0x07) << 8) | rxMessage.Byte06; // Roll
sbus.signalNotOK = false;
last_receive = millis();
}
}

2
src/nrf24l01.cpp
View File

@ -441,7 +441,7 @@ bool NRF24L01::begin(void) {
pinMode(ce_pin, OUTPUT);
pinMode(csn_pin, OUTPUT);
}
// _SPI.begin();
_SPI.begin();
ce(LOW);
csn(HIGH);

279
src/sbus.cpp
View File

@ -5,34 +5,23 @@
// https://github.com/plerup/espsoftwareserial/blob/main/src/SoftwareSerial.cpp
// https://lucidar.me/en/serialib/most-used-baud-rates-table/
#include "sbus.h"
// SBUS data structure
#define RC_CHANS 18
#define RC_CHANNEL_MIN 990
#define RC_CHANNEL_MAX 2010
#define SBUS_MIN_OFFSET 173
#define SBUS_MID_OFFSET 992
#define SBUS_MAX_OFFSET 1811
#define SBUS_CHANNEL_NUMBER 16
#define SBUS_PACKET_LENGTH 25
#define SBUS_FRAME_HEADER 0x0f
#define SBUS_FRAME_FOOTER 0x00
#define SBUS_FRAME_FOOTER_V2 0x04
#define SBUS_STATE_FAILSAFE 0x08
#define SBUS_STATE_SIGNALLOSS 0x04
#define SBUS_UPDATE_RATE 15 // ms
#define SBUS_PORT 13 // Trigger pulse from the port
uint8_t sbusPacket[SBUS_PACKET_LENGTH];
int rcChannels[SBUS_CHANNEL_NUMBER];
#include "sbus.h"
uint rcChannels[SBUS_CHANNEL_NUMBER];
uint32_t sbusTime = 0;
bool signalNotOK = false;
uint32_t counter = 900;
uint32_t last_count = 0;
SoftwareSerial swSer1;
SBUS::SBUS(void) {
}
@ -42,93 +31,150 @@ void SBUS::begin(void) {
// ON it first as IDLE
GPOS = (1 << SBUS_PORT);
// swSer1.begin(220000, SWSERIAL_8E2, SBUS_PORT, SBUS_PORT, false, 256);
// swSer1.enableIntTx(false);
// swSer1.enableTx(true);
// swSer1.begin(200000, SWSERIAL_8E2, SBUS_PORT, SBUS_PORT, false, 264);
// swSer1.begin(100000, SWSERIAL_8E2, SBUS_PORT, SBUS_PORT);
swSer1.begin(200000, SWSERIAL_8E2, SBUS_PORT, SBUS_PORT);
//// swSer1.enableTx(true);
//// swSer1.enableIntTx(true);
// Initialize to 1000
for(uint8_t i = 0; i < SBUS_CHANNEL_NUMBER; i++) {
rcCommand[i] = 1000;
}
}
void SBUS::run(void) {
}
uint32_t last_profile = 0;
// Sending SBUS packets
void SBUS::writePackets(void) {
if((uint32_t)(millis() - sbusTime) > SBUS_UPDATE_RATE) {
if(signalNotOK) {
// DEBUG ONLY...later put back to 900
rcChannels[2] = 1800;
rcChannels[3] = 900;
rcChannels[1] = 900;
rcChannels[0] = 900;
// rcChannels[2] = 900;
// rcChannels[3] = 900;
// rcChannels[1] = 900;
// rcChannels[0] = 900;
rcCommand[2] = 900;
rcCommand[3] = 900;
rcCommand[1] = 900;
rcCommand[0] = 900;
}
sbusPreparePacket(sbusPacket, rcChannels, signalNotOK, false);
// sbusPreparePacket(sbusPacket, rcChannels, signalNotOK, false);
sbusPreparePacket(rcCommand, signalNotOK, false);
// Serial2.write(sbusPacket, SBUS_PACKET_LENGTH);
/// swSer1.write(sbusPacket, SBUS_PACKET_LENGTH);
swSer1.write(sbusPacket, SBUS_PACKET_LENGTH);
// Looping through the bytes - Generating Parity Bits
// Is using SBUS_FAST (200000 Baud), 8E2 (Even Parity and 2 bits stop
// For sending at 200000 baud, each bit used about 5uS
// Profiling each bits timing before sending
uint32_t clock_cycles_per_micro = 0;
uint32_t clock_cycles = 0;
uint32_t clock_cycles_total_start = millis();
while((uint32_t) millis() - clock_cycles_total_start < 1) {
clock_cycles_per_micro++;
}
// bool tx_state = true;
uint8_t parity_count = 0;
uint8_t data_bits = 0;
bool current_bit = 0;
// Now we roughly know how much per clock cycles per microseconds
for(uint8_t pos = 0; pos < SBUS_PACKET_LENGTH; pos++) {
// Now we are going to send the data from LSB and with EVEN parity on each byte with 2 bits stop.
// Looping through each bytes with:
// START BIT | DATA FRAME | PARITY BITS | STOP BITS
// START BIT - For 1 clock cycle = 5uS = clock_per_micro
// Set to LOW as start bit
GPOC = (1 << SBUS_PORT);
for(clock_cycles = 0; clock_cycles < clock_cycles_per_micro; clock_cycles++);
// DATA FRAME
// Reading the data sending it byte by byte
for(data_bits = 0; data_bits < 8; data_bits++) {
current_bit = (sbusPacket[pos] >> data_bits) & 0x01;
// Sending it out...
if(current_bit) {
parity_count++;
// HIGH
GPOS = (1 << SBUS_PORT);
} else {
// LOW
GPOC = (1 << SBUS_PORT);
}
for(clock_cycles = 0; clock_cycles < clock_cycles_per_micro; clock_cycles++);
}
// PARITY BITS
// Parity Calculation
if(parity_count & 0x01) {
// ODD
// Need to make it EVEN....
GPOS = (1 << SBUS_PORT);
} else {
// EVEN
// Nothing needs to be set
GPOC = (1 << SBUS_PORT);
}
for(clock_cycles = 0; clock_cycles < clock_cycles_per_micro; clock_cycles++);
// STOP BITS
GPOS = (1 << SBUS_PORT);
for(clock_cycles = 0; clock_cycles < clock_cycles_per_micro; clock_cycles++);
for(clock_cycles = 0; clock_cycles < clock_cycles_per_micro; clock_cycles++);
}
// uint32_t clock_cycles = 0;
//
// if((uint32_t)(millis() - last_profile) > 500) {
// Serial.printf("Cmd: %d Signal: %d\r\n", rcCommand[2], signalNotOK);
// last_profile = millis();
// }
//
// // bool tx_state = true;
// uint8_t parity_count = 0;
// uint8_t data_bits = 0;
// bool current_bit = 0;
//
// // Now we roughly know how much per clock cycles per microseconds
// for(uint8_t pos = 0; pos < SBUS_PACKET_LENGTH; pos++) {
// // Now we are going to send the data from LSB and with EVEN parity on each byte with 2 bits stop.
// // Looping through each bytes with:
// // START BIT | DATA FRAME | PARITY BITS | STOP BITS
//
// // START BIT - For 1 clock cycle = 5uS = clock_per_micro
// // Set to LOW as start bit
// GPOS = (1 << SBUS_PORT);
//
// // Low for 50% duty cycle
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_ON_TIME; clock_cycles++);
//
// GPOC = (1 << SBUS_PORT);
//
// // High for 50% duty cycle
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_OFF_TIME; clock_cycles++);
//
// // DATA FRAME
// // Reading the data sending it byte by byte
// for(data_bits = 0; data_bits < 8; data_bits++) {
// current_bit = (sbusPacket[pos] >> data_bits) & 0x01;
//
// // Sending it out...
// if(current_bit) {
// parity_count++;
//
// // HIGH
// GPOS = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_HIGH_ON_TIME; clock_cycles++);
//
// // LOW
// GPOC = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_HIGH_OFF_TIME; clock_cycles++);
//
//
// } else {
// // HIGH
// GPOS = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_ON_TIME; clock_cycles++);
//
// // LOW
// GPOC = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_OFF_TIME; clock_cycles++);
// }
// }
//
// // PARITY BITS
// // Parity Calculation
// if(parity_count & 0x01) {
// // ODD
// // Need to make it EVEN....
// // HIGH
// GPOS = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_HIGH_ON_TIME; clock_cycles++);
//
// // LOW
// GPOC = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_HIGH_OFF_TIME; clock_cycles++);
// } else {
// // EVEN
// // Nothing needs to be set
// // HIGH
// GPOS = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_ON_TIME; clock_cycles++);
//
// // LOW
// GPOC = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_OFF_TIME; clock_cycles++);
// }
//
// // STOP BITS
// // HIGH
// GPOS = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_ON_TIME; clock_cycles++);
//
// // LOW
// GPOC = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_OFF_TIME; clock_cycles++);
//
// // HIGH
// GPOS = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_ON_TIME; clock_cycles++);
//
// // LOW
// GPOC = (1 << SBUS_PORT);
// for(clock_cycles = 0; clock_cycles < PULSE_LOW_OFF_TIME; clock_cycles++);
//
// }
// Wait for next round
@ -137,7 +183,7 @@ void SBUS::writePackets(void) {
}
// Preparing SBUS packets
void SBUS::sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool isFailsafe){
void SBUS::sbusPreparePacket(uint16_t channels[], bool isSignalLoss, bool isFailsafe){
if(millis() - last_count > 2000) {
counter+= 100;
@ -153,10 +199,11 @@ void SBUS::sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss
* Map 1000-2000 with middle at 1500 chanel values to
* 173-1811 with middle at 992 S.BUS protocol requires
*/
for (uint8_t i = 0; i < SBUS_CHANNEL_NUMBER; i++) {
// output[i] = map(channels[i], RC_CHANNEL_MIN, RC_CHANNEL_MAX, SBUS_MIN_OFFSET, SBUS_MAX_OFFSET);
for(uint8_t i = 0; i < SBUS_CHANNEL_NUMBER; i++) {
output[i] = map(channels[i], RC_CHANNEL_MIN, RC_CHANNEL_MAX, SBUS_MIN_OFFSET, SBUS_MAX_OFFSET);
// DEBUG oNly
output[i] = counter;
// output[i] = 1200;
// output[i] = counter;
}
uint8_t stateByte = 0x00;
@ -166,32 +213,32 @@ void SBUS::sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss
if (isFailsafe) {
stateByte |= SBUS_STATE_FAILSAFE;
}
packet[0] = SBUS_FRAME_HEADER; //Header
packet[1] = (uint8_t) (output[0] & 0x07FF);
packet[2] = (uint8_t) ((output[0] & 0x07FF)>>8 | (output[1] & 0x07FF)<<3);
packet[3] = (uint8_t) ((output[1] & 0x07FF)>>5 | (output[2] & 0x07FF)<<6);
packet[4] = (uint8_t) ((output[2] & 0x07FF)>>2);
packet[5] = (uint8_t) ((output[2] & 0x07FF)>>10 | (output[3] & 0x07FF)<<1);
packet[6] = (uint8_t) ((output[3] & 0x07FF)>>7 | (output[4] & 0x07FF)<<4);
packet[7] = (uint8_t) ((output[4] & 0x07FF)>>4 | (output[5] & 0x07FF)<<7);
packet[8] = (uint8_t) ((output[5] & 0x07FF)>>1);
packet[9] = (uint8_t) ((output[5] & 0x07FF)>>9 | (output[6] & 0x07FF)<<2);
packet[10] = (uint8_t) ((output[6] & 0x07FF)>>6 | (output[7] & 0x07FF)<<5);
packet[11] = (uint8_t) ((output[7] & 0x07FF)>>3);
packet[12] = (uint8_t) ((output[8] & 0x07FF));
packet[13] = (uint8_t) ((output[8] & 0x07FF)>>8 | (output[9] & 0x07FF)<<3);
packet[14] = (uint8_t) ((output[9] & 0x07FF)>>5 | (output[10] & 0x07FF)<<6);
packet[15] = (uint8_t) ((output[10] & 0x07FF)>>2);
packet[16] = (uint8_t) ((output[10] & 0x07FF)>>10 | (output[11] & 0x07FF)<<1);
packet[17] = (uint8_t) ((output[11] & 0x07FF)>>7 | (output[12] & 0x07FF)<<4);
packet[18] = (uint8_t) ((output[12] & 0x07FF)>>4 | (output[13] & 0x07FF)<<7);
packet[19] = (uint8_t) ((output[13] & 0x07FF)>>1);
packet[20] = (uint8_t) ((output[13] & 0x07FF)>>9 | (output[14] & 0x07FF)<<2);
packet[21] = (uint8_t) ((output[14] & 0x07FF)>>6 | (output[15] & 0x07FF)<<5);
packet[22] = (uint8_t) ((output[15] & 0x07FF)>>3);
packet[23] = stateByte; //Flags byte
packet[24] = SBUS_FRAME_FOOTER; //Footer
sbusPacket[0] = SBUS_FRAME_HEADER; //Header
sbusPacket[1] = (uint8_t) (output[0] & 0x07FF);
sbusPacket[2] = (uint8_t) ((output[0] & 0x07FF)>>8 | (output[1] & 0x07FF)<<3);
sbusPacket[3] = (uint8_t) ((output[1] & 0x07FF)>>5 | (output[2] & 0x07FF)<<6);
sbusPacket[4] = (uint8_t) ((output[2] & 0x07FF)>>2);
sbusPacket[5] = (uint8_t) ((output[2] & 0x07FF)>>10 | (output[3] & 0x07FF)<<1);
sbusPacket[6] = (uint8_t) ((output[3] & 0x07FF)>>7 | (output[4] & 0x07FF)<<4);
sbusPacket[7] = (uint8_t) ((output[4] & 0x07FF)>>4 | (output[5] & 0x07FF)<<7);
sbusPacket[8] = (uint8_t) ((output[5] & 0x07FF)>>1);
sbusPacket[9] = (uint8_t) ((output[5] & 0x07FF)>>9 | (output[6] & 0x07FF)<<2);
sbusPacket[10] = (uint8_t) ((output[6] & 0x07FF)>>6 | (output[7] & 0x07FF)<<5);
sbusPacket[11] = (uint8_t) ((output[7] & 0x07FF)>>3);
sbusPacket[12] = (uint8_t) ((output[8] & 0x07FF));
sbusPacket[13] = (uint8_t) ((output[8] & 0x07FF)>>8 | (output[9] & 0x07FF)<<3);
sbusPacket[14] = (uint8_t) ((output[9] & 0x07FF)>>5 | (output[10] & 0x07FF)<<6);
sbusPacket[15] = (uint8_t) ((output[10] & 0x07FF)>>2);
sbusPacket[16] = (uint8_t) ((output[10] & 0x07FF)>>10 | (output[11] & 0x07FF)<<1);
sbusPacket[17] = (uint8_t) ((output[11] & 0x07FF)>>7 | (output[12] & 0x07FF)<<4);
sbusPacket[18] = (uint8_t) ((output[12] & 0x07FF)>>4 | (output[13] & 0x07FF)<<7);
sbusPacket[19] = (uint8_t) ((output[13] & 0x07FF)>>1);
sbusPacket[20] = (uint8_t) ((output[13] & 0x07FF)>>9 | (output[14] & 0x07FF)<<2);
sbusPacket[21] = (uint8_t) ((output[14] & 0x07FF)>>6 | (output[15] & 0x07FF)<<5);
sbusPacket[22] = (uint8_t) ((output[15] & 0x07FF)>>3);
sbusPacket[23] = stateByte; //Flags byte
sbusPacket[24] = SBUS_FRAME_FOOTER; //Footer
}
SBUS sbus;

27
src/sbus.h
View File

@ -1,17 +1,40 @@
#ifndef SBUS_H_
#define SBUS_H_
#define SBUS_MIN_OFFSET 173
#define SBUS_MID_OFFSET 992
#define SBUS_MAX_OFFSET 1811
#define SBUS_CHANNEL_NUMBER 16
#define SBUS_PACKET_LENGTH 25
#define SBUS_FRAME_HEADER 0x0f
#define SBUS_FRAME_FOOTER 0x00
#define SBUS_FRAME_FOOTER_V2 0x04
#define SBUS_STATE_FAILSAFE 0x08
#define SBUS_STATE_SIGNALLOSS 0x04
#define SBUS_UPDATE_RATE 15 // ms
#define SBUS_PORT 16 // Trigger pulse from the port
// For BAUD RATE: 100000
#define PULSE_HIGH_ON_TIME 1290
#define PULSE_HIGH_OFF_TIME 323
#define PULSE_LOW_ON_TIME 807
#define PULSE_LOW_OFF_TIME 807
#define PULSE_TOTAL_TIME 1613
#include <Arduino.h>
// #include "SoftwareSerial.h"
#include "SoftwareSerial.h"
class SBUS {
public:
bool signalNotOK = true;
bool invert;
uint16_t rcCommand[18]; // Signal to ESC
uint8_t sbusPacket[SBUS_PACKET_LENGTH];
SBUS(void);
void begin(void);
void run(void);
void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool isFailsafe);
void sbusPreparePacket(uint16_t channels[], bool isSignalLoss, bool isFailsafe);
void writePackets(void);
private:

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