v9.9.1: SBUS & battery protection bugfixes

README.md

@@ -515,6 +515,10 @@ const uint8_t shakerStop = 60; // Shaker power while engine stop (max. 255, abou
 
 ## Changelog (newest on top):
 
+### New in V 9.9.1:
+- Flysky SBUS should now be stable with #define EMBEDDED_SBUS. Please let me know, if not.
+- BATTERY_PROTECTION: scaling bug with higher resistor values fixed.
+
 ### New in V 9.9.0:
 - New NEOPIXEL_UNION_JACK animation for Land Rover ;-)
 - New MAX_POWER_MILLIAMPS setting for Neopixels. This and other optimizations is eliminating the flickering Neopixels issue

src/2_adjustmentsRemote.h

@@ -28,7 +28,7 @@
 // NOTE: "boolean sbusInverted = true / false" was moved to the remote configuration profiles, so you don't have to change it
 uint32_t sbusBaud = 100000; // Standard is 100000. Try to lower it, if your channels are coming in unstable. Working range is about 96000 - 104000.
 #define EMBEDDED_SBUS // SBUS library not used, if defined (It is working fine with MICRO_RC, but still unstable with Flysky remotes, use IBUS for them)
-uint16_t sbusFailsafeTimeout = 100; // Failsafe is triggered after this timeout in milliseconds (about 100, was 50)
+uint16_t sbusFailsafeTimeout = 100; // Failsafe is triggered after this timeout in milliseconds (about 100)
 
 // IBUS communication (RX header, 13 channels not recommended, NO FAILSAFE, if bad contact in iBUS wiring!) --------
 //#define IBUS_COMMUNICATION // control signals are coming in via the IBUS interface (comment it out for classic PWM RC signals)

src/3_adjustmentsESC.h

@@ -130,9 +130,9 @@ const float RECOVERY_HYSTERESIS = 0.2; // around 0.2 V
  * When selecting resistors, always use two of the same magnitude: Like, for example, 10k/2k, 20k/4k or 100k/20k. NEVER exceed a ratio LOWER than (4:1 = 4)!
  * WARNING: If the ratio is too LOW, like 10k/5k (2:1 = 2), the battery voltage will most likely DAMAGE the controller permanently!
  * Example calculation: 2000 / (2000 + 10000) = 0.166 666 666 7; 7.4 V * 0.167 = 1.2358 V (of 3.3 V maximum on GPIO Pin). */
-uint16_t RESISTOR_TO_BATTTERY_PLUS = 10000; // Value in Ohms (Ω), for example 10000
-uint16_t RESISTOR_TO_GND = 2000; // Value in Ohms (Ω), for example 2000. Measuring exact resistor values before soldering, if possible is recommended!
-float DIODE_DROP = 0.34; // Fine adjust measured value and/or consider diode voltage drop (about 0.34V for SS34 diode)
+uint32_t RESISTOR_TO_BATTTERY_PLUS = 10000; // Value in Ohms (Ω), for example 10000
+uint32_t RESISTOR_TO_GND = 2000; // Value in Ohms (Ω), for example 2000. Measuring exact resistor values before soldering, if possible is recommended!
+float DIODE_DROP = 0.0; // Fine adjust measured value and/or consider diode voltage drop (about 0.34V for SS34 diode)
 /* It is recommended to add a sticker to your ESP32, which includes the 3 calibration values above */
 volatile int outOfFuelVolumePercentage = 80; // Adjust the message volume in %
 // Select the out of fuel message you want:

src/7_adjustmentsServos.h

@@ -22,6 +22,7 @@
  // Select the vehicle configuration you have:
 #define SERVOS_DEFAULT // <------- Select (remove //) one of the remote configurations below
 //#define SERVOS_LANDY
+//#define SERVOS_URAL
 //#define SERVOS_RGT_EX86100
 //#define SERVOS_ACTROS
 //#define SERVOS_KING_HAULER 
@@ -66,6 +67,25 @@ const uint16_t STEERING_RAMP_TIME = 0; // 0 = fastest speed, enlarge it to aroun
 
 #endif
 
+// WPL Ural servo configuration profile -------------------------------------------------------------------------------------------
+#ifdef SERVOS_URAL
+
+// Servo frequency
+const uint8_t SERVO_FREQUENCY = 50; // usually 50Hz, some servos may run smoother @ 100Hz
+
+// WARNING: never connect receiver PWM signals to the "CH" pins in BUS communication mode!
+
+// Servo limits 
+const uint16_t CH1L = 1990, CH1C = 1640, CH1R = 1090; // CH1 steering left 1990, center 1640, right 1090
+const uint16_t CH2L = 670, CH2C = 1800, CH2R = 1800; // CH2 transmission gear 1 978, 2 1800, 3 1800
+const uint16_t CH3L = 1300, CH3C = 1450, CH3R = 1600; // CH3 winch pull, off, release
+const uint16_t CH4L = 1300, CH4R = 1700; // CH4 trailer coupler (5th. wheel) locked, unlocked
+
+// Servo ramp time 
+const uint16_t STEERING_RAMP_TIME = 0; // 0 = fastest speed, enlarge it to around 3000 for "scale" servo movements
+
+#endif
+
 // RGT EX86100 servo configuration profile -------------------------------------------------------------------------------------------
 #ifdef SERVOS_RGT_EX86100
 

src/9_adjustmentsDashboard.h

@@ -12,11 +12,11 @@
  */
 
 //#define SPI_DASHBOARD // A 0.96" SPI LCD is used as dashboard: https://www.ebay.ch/itm/174458054566?hash=item289e82a7a6:g:LpAAAOSwtL1fdDtI 
-
-// WARNING:
-// Pins 18 (SCL), 19 (DC), 21 (RES) & 23 (SDA) are used for the dashboard in this case!
-// The dispay CS pin needs to be connected to GND.
-// Shaker, sidelights and both beacon flashers will not work!
+/* WARNING:
+ * Pins 18 (SCL), 19 (DC), 21 (RES) & 23 (SDA) are used for the dashboard in this case!
+ * The dispay CS pin needs to be connected to GND.
+ * Shaker, sidelights and both beacon flashers will not work!
+*/
 
 uint8_t dashRotation = 3; // 3 = normal, 1 = upside down
 

src/src.ino

@@ -18,7 +18,7 @@
    Arduino IDE is supported as before, but stuff was renamed and moved to different folders!
 */
 
-char codeVersion[] = "9.9.0"; // Software revision.
+char codeVersion[] = "9.9.1"; // Software revision.
 
 // This stuff is required for Visual Studio Code IDE, if .ino is renamed into .cpp!
 #include <Arduino.h>
@@ -1822,19 +1822,15 @@ void readSbusCommands() {
   // Signals are coming in via SBUS protocol
 
   static unsigned long lastSbusFailsafe;
-  static unsigned long lastSbusRead;
 
-  if (millis() - lastSbusRead > 20) { // TODO, test for Flysky SBUS bugfix. 20 is not bad, but still a bit unstable! USE IBUS for Flysky!
-    // look for a good SBUS packet from the receiver
+  // look for a good SBUS packet from the receiver
 #if not defined EMBEDDED_SBUS // ------------------------
-    if (sBus.read(&SBUSchannels[0], &SBUSfailSafe, &SBUSlostFrame)) {
+  if (sBus.read(&SBUSchannels[0], &SBUSfailSafe, &SBUSlostFrame)) {
 #else // ------------------------------------------------
-    if (sBus.read() && !sBus.failsafe() && !sBus.lost_frame()) {
+  if (sBus.read() && !sBus.failsafe() && !sBus.lost_frame()) {
 #endif // -----------------------------------------------
-      sbusInit = true;
-      lastSbusFailsafe = millis();
-      lastSbusRead = millis();
-    }
+    sbusInit = true;
+    lastSbusFailsafe = millis();
   }
 
   // Failsafe triggering (works, if SBUS wire is unplugged, but SBUSfailSafe signal from the receiver is untested!)

src/src/sbus.cpp

@@ -55,26 +55,22 @@ bool SbusRx::read() {
     /* Parse new data, if available */
     if (new_data_) {
         /* Grab the channel data */
-        ch_[0]  = static_cast<int16_t>(buf_[1]       | buf_[2]  << 8 & 0x07FF);
-        ch_[1]  = static_cast<int16_t>(buf_[2]  >> 3 | buf_[3]  << 5 & 0x07FF);
-        ch_[2]  = static_cast<int16_t>(buf_[3]  >> 6 | buf_[4]  << 2  |
-                                       buf_[5] << 10 & 0x07FF);
-        ch_[3]  = static_cast<int16_t>(buf_[5]  >> 1 | buf_[6]  << 7 & 0x07FF);
-        ch_[4]  = static_cast<int16_t>(buf_[6]  >> 4 | buf_[7]  << 4 & 0x07FF);
-        ch_[5]  = static_cast<int16_t>(buf_[7]  >> 7 | buf_[8]  << 1  |
-                                       buf_[9] << 9 & 0x07FF);
-        ch_[6]  = static_cast<int16_t>(buf_[9]  >> 2 | buf_[10] << 6 & 0x07FF);
-        ch_[7]  = static_cast<int16_t>(buf_[10] >> 5 | buf_[11] << 3 & 0x07FF);
-        ch_[8]  = static_cast<int16_t>(buf_[12]      | buf_[13] << 8 & 0x07FF);
-        ch_[9]  = static_cast<int16_t>(buf_[13] >> 3 | buf_[14] << 5 & 0x07FF);
-        ch_[10] = static_cast<int16_t>(buf_[14] >> 6 | buf_[15] << 2  |
-                                       buf_[16] << 10 & 0x07FF);
-        ch_[11] = static_cast<int16_t>(buf_[16] >> 1 | buf_[17] << 7 & 0x07FF);
-        ch_[12] = static_cast<int16_t>(buf_[17] >> 4 | buf_[18] << 4 & 0x07FF);
-        ch_[13] = static_cast<int16_t>(buf_[18] >> 7 | buf_[19] << 1  |
-                                       buf_[20] << 9 & 0x07FF);
-        ch_[14] = static_cast<int16_t>(buf_[20] >> 2 | buf_[21] << 6 & 0x07FF);
-        ch_[15] = static_cast<int16_t>(buf_[21] >> 5 | buf_[22] << 3 & 0x07FF);
+        ch_[0]  = static_cast<uint16_t>(buf_[1]       | buf_[2]  << 8                    & 0x07FF);
+        ch_[1]  = static_cast<uint16_t>(buf_[2]  >> 3 | buf_[3]  << 5                    & 0x07FF);
+        ch_[2]  = static_cast<uint16_t>(buf_[3]  >> 6 | buf_[4]  << 2  |buf_[5] << 10    & 0x07FF);
+        ch_[3]  = static_cast<uint16_t>(buf_[5]  >> 1 | buf_[6]  << 7                    & 0x07FF);
+        ch_[4]  = static_cast<uint16_t>(buf_[6]  >> 4 | buf_[7]  << 4                    & 0x07FF);
+        ch_[5]  = static_cast<uint16_t>(buf_[7]  >> 7 | buf_[8]  << 1  |buf_[9] << 9     & 0x07FF);
+        ch_[6]  = static_cast<uint16_t>(buf_[9]  >> 2 | buf_[10] << 6                    & 0x07FF);
+        ch_[7]  = static_cast<uint16_t>(buf_[10] >> 5 | buf_[11] << 3                    & 0x07FF);
+        ch_[8]  = static_cast<uint16_t>(buf_[12]      | buf_[13] << 8                    & 0x07FF);
+        ch_[9]  = static_cast<uint16_t>(buf_[13] >> 3 | buf_[14] << 5                    & 0x07FF);
+        ch_[10] = static_cast<uint16_t>(buf_[14] >> 6 | buf_[15] << 2  |buf_[16] << 10   & 0x07FF);
+        ch_[11] = static_cast<uint16_t>(buf_[16] >> 1 | buf_[17] << 7                    & 0x07FF);
+        ch_[12] = static_cast<uint16_t>(buf_[17] >> 4 | buf_[18] << 4                    & 0x07FF);
+        ch_[13] = static_cast<uint16_t>(buf_[18] >> 7 | buf_[19] << 1  |buf_[20] << 9    & 0x07FF);
+        ch_[14] = static_cast<uint16_t>(buf_[20] >> 2 | buf_[21] << 6                    & 0x07FF);
+        ch_[15] = static_cast<uint16_t>(buf_[21] >> 5 | buf_[22] << 3                    & 0x07FF);
         /* CH 17 */
         ch17_ = buf_[23] & CH17_MASK_;
         /* CH 18 */
@@ -89,23 +85,24 @@ bool SbusRx::read() {
 
 // -----------------------------------------------------------------------------------
 bool SbusRx::parse() {
-    /* Parse messages */
-    while (uart_->available()) {
+    /* Parse (analyze) messages */
+    while (uart_->available() > 0) {
         cur_byte_ = uart_->read();
-        if (state_ == 0) {
-            if ((cur_byte_ == HEADER_) && ((prev_byte_ == FOOTER_) ||
-                                           ((prev_byte_ & 0x0F) == FOOTER2_))) {
-                buf_[state_++] = cur_byte_;
+        if (state_ == 0) { // First byte -----
+            if ((cur_byte_ == HEADER_) && ((prev_byte_ == FOOTER_) || ((prev_byte_ & 0x0F) == FOOTER2_))) {
+                state_++;
+                _sbusMicros = micros();
             } else {
-                state_ = 0;
+                state_ = 0; // Go back, if header incorrect
             }
-        } else {
-            if (state_ < BUF_LEN_) {
+        } else { // Following bytes (read data) -----
+            if (state_ < BUF_LEN_ - 1) {
                 buf_[state_++] = cur_byte_;
-            } else {
+            }
+            // End byte & no timeout -----
+            if (state_ == BUF_LEN_ - 1) {
                 state_ = 0;
-                if ((buf_[BUF_LEN_ - 1] == FOOTER_) ||
-                    ((buf_[BUF_LEN_ - 1] & 0x0F) == FOOTER2_)) {
+                if (((cur_byte_ == FOOTER_) || ((cur_byte_ & 0x0F) == FOOTER2_)) && (micros() - _sbusMicros < SBUS_PACKET_TIMEOUT_US)) {
                     return true;
                 } else {
                     return false;

src/src/sbus.h

@@ -45,6 +45,7 @@ class SbusRx {
   uint32_t BAUD_ = 100000;
   /* Message len */
   static constexpr int8_t BUF_LEN_ = 25;
+  static constexpr uint32_t SBUS_PACKET_TIMEOUT_US = 7000; // 3000 is the minimum working, but causing failsafe in noisy vehicles, so 7000 is recommended
   /* SBUS message defs */
   static constexpr int8_t NUM_SBUS_CH_ = 16;
   static constexpr uint8_t HEADER_ = 0x0F;
@@ -55,6 +56,7 @@ class SbusRx {
   static constexpr uint8_t LOST_FRAME_MASK_ = 0x04;
   static constexpr uint8_t FAILSAFE_MASK_ = 0x08;
   /* Parsing state tracking */
+  uint32_t _sbusMicros = micros();
   int8_t state_ = 0;
   uint8_t prev_byte_ = FOOTER_;
   uint8_t cur_byte_;