Enabling ESP32 to use non-inverted SBUS

bolderflight · Sep 29, 2022 · b457d85 · b457d85
1 parent 1c353d1
commit b457d85
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Showing 4 changed files with 76 additions and 55 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,8 @@
 # Changelog
 
+## v8.0.1
+- Enabling ESP32 to use non-inverted SBUS
+
 ## v8.0.0
 - Fixed bug in SbusRx timing where the last packet waited for the start of the next packet before returning true
 - Added option to specify a non-inverted signal for cases where that is a hardware option

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=Bolder Flight Systems SBUS
-version=8.0.0
+version=8.0.1
 author=Brian Taylor <[email protected]>
 maintainer=Brian Taylor <[email protected]>
 sentence=Library for communicating with SBUS receivers and servos.

diff --git a/src/sbus.cpp b/src/sbus.cpp
@@ -35,34 +35,42 @@
 namespace bfs {
 
 void SbusRx::Begin() {
-  if (!inv_) {
+  /* Start the bus */
+  /* Teensy 3.0 || Teensy 3.1/3.2 */
+  #if defined(__MK20DX128__) || defined(__MK20DX256__)
+  if (inv_) {
+    uart_->begin(BAUD_, SERIAL_8E1_RXINV_TXINV);
+  } else {
+    uart_->begin(BAUD_, SERIAL_8E1);
+  }
+  /*
+  * Teensy 3.5 || Teensy 3.6 ||
+  * Teensy LC  || Teensy 4.0/4.1 ||
+  * Teensy 4.0 Beta
+  */
+  #elif defined(__MK64FX512__) || defined(__MK66FX1M0__) || \
+        defined(__MKL26Z64__)  || defined(__IMXRT1062__) || \
+        defined(__IMXRT1052__)
+  if (inv_){
+    uart_->begin(BAUD_, SERIAL_8E2_RXINV_TXINV);
+  } else {
     uart_->begin(BAUD_, SERIAL_8E2);
+  }
+  /* STM32L4 */
+  #elif defined(STM32L496xx) || defined(STM32L476xx) || \
+        defined(STM32L433xx) || defined(STM32L432xx)
+  if (inv_) {
+    uart_->begin(BAUD_, SERIAL_8E2 | 0xC000ul);
   } else {
-    /* Start the bus */
-    /* Teensy 3.0 || Teensy 3.1/3.2 */
-    #if defined(__MK20DX128__) || defined(__MK20DX256__)
-      uart_->begin(BAUD_, SERIAL_8E1_RXINV_TXINV);
-    /*
-    * Teensy 3.5 || Teensy 3.6 ||
-    * Teensy LC  || Teensy 4.0/4.1 ||
-    * Teensy 4.0 Beta
-    */
-    #elif defined(__MK64FX512__) || defined(__MK66FX1M0__) || \
-          defined(__MKL26Z64__)  || defined(__IMXRT1062__) || \
-          defined(__IMXRT1052__)
-      uart_->begin(BAUD_, SERIAL_8E2_RXINV_TXINV);
-    /* STM32L4 */
-    #elif defined(STM32L496xx) || defined(STM32L476xx) || \
-          defined(STM32L433xx) || defined(STM32L432xx)
-      uart_->begin(BAUD_, SERIAL_8E2 | 0xC000ul);
-    /* ESP32 */
-    #elif defined(ESP32)
-      uart_->begin(BAUD_, SERIAL_8E2, rxpin_, txpin_, true);
-    /* Everything else, with a hardware inverter */
-    #else
-      uart_->begin(BAUD_, SERIAL_8E2);
-    #endif
+    uart_->begin(BAUD_, SERIAL_8E2);
   }
+  /* ESP32 */
+  #elif defined(ESP32)
+  uart_->begin(BAUD_, SERIAL_8E2, rxpin_, txpin_, inv_);
+  /* Everything else, with a hardware inverter */
+  #else
+  uart_->begin(BAUD_, SERIAL_8E2);
+  #endif
   /* flush the bus */
   uart_->flush();
 }
@@ -166,34 +174,42 @@ namespace {
 #endif
 
 void SbusTx::Begin() {
-  if (!inv_) {
+  /* Start the bus */
+  /* Teensy 3.0 || Teensy 3.1/3.2 */
+  #if defined(__MK20DX128__) || defined(__MK20DX256__)
+  if (inv_) {
+    uart_->begin(BAUD_, SERIAL_8E1_RXINV_TXINV);
+  } else {
+    uart_->begin(BAUD_, SERIAL_8E1);
+  }
+  /*
+  * Teensy 3.5 || Teensy 3.6 ||
+  * Teensy LC  || Teensy 4.0/4.1 ||
+  * Teensy 4.0 Beta
+  */
+  #elif defined(__MK64FX512__) || defined(__MK66FX1M0__) || \
+        defined(__MKL26Z64__)  || defined(__IMXRT1062__) || \
+        defined(__IMXRT1052__)
+  if (inv_){
+    uart_->begin(BAUD_, SERIAL_8E2_RXINV_TXINV);
+  } else {
     uart_->begin(BAUD_, SERIAL_8E2);
+  }
+  /* STM32L4 */
+  #elif defined(STM32L496xx) || defined(STM32L476xx) || \
+        defined(STM32L433xx) || defined(STM32L432xx)
+  if (inv_) {
+    uart_->begin(BAUD_, SERIAL_8E2 | 0xC000ul);
   } else {
-    /* Start the bus */
-    /* Teensy 3.0 || Teensy 3.1/3.2 */
-    #if defined(__MK20DX128__) || defined(__MK20DX256__)
-      uart_->begin(BAUD_, SERIAL_8E1_RXINV_TXINV);
-    /*
-    * Teensy 3.5 || Teensy 3.6 ||
-    * Teensy LC  || Teensy 4.0/4.1 ||
-    * Teensy 4.0 Beta
-    */
-    #elif defined(__MK64FX512__) || defined(__MK66FX1M0__) || \
-          defined(__MKL26Z64__)  || defined(__IMXRT1062__) || \
-          defined(__IMXRT1052__)
-      uart_->begin(BAUD_, SERIAL_8E2_RXINV_TXINV);
-    /* STM32L4 */
-    #elif defined(STM32L496xx) || defined(STM32L476xx) || \
-          defined(STM32L433xx) || defined(STM32L432xx)
-      uart_->begin(BAUD_, SERIAL_8E2 | 0xC000ul);
-    /* ESP32 */
-    #elif defined(ESP32)
-      uart_->begin(BAUD_, SERIAL_8E2, rxpin_, txpin_, true);
-    /* Everything else, with a hardware inverter */
-    #else
-      uart_->begin(BAUD_, SERIAL_8E2);
-    #endif
+    uart_->begin(BAUD_, SERIAL_8E2);
   }
+  /* ESP32 */
+  #elif defined(ESP32)
+  uart_->begin(BAUD_, SERIAL_8E2, rxpin_, txpin_, inv_);
+  /* Everything else, with a hardware inverter */
+  #else
+  uart_->begin(BAUD_, SERIAL_8E2);
+  #endif
 }
 
 void SbusTx::Write() {

diff --git a/src/sbus.h b/src/sbus.h
@@ -46,12 +46,13 @@ struct SbusData {
 
 class SbusRx {
  public:
-  explicit SbusRx(HardwareSerial *bus) : uart_(bus) {}
-  SbusRx(HardwareSerial *bus, const bool inv) : uart_(bus), inv_(inv) {}
   #if defined(ESP32)
   SbusRx(HardwareSerial *bus, const int8_t rxpin, const int8_t txpin,
          const bool inv) : uart_(bus), inv_(inv), rxpin_(rxpin), txpin_(txpin)
          {}
+  #else
+  explicit SbusRx(HardwareSerial *bus) : uart_(bus) {}
+  SbusRx(HardwareSerial *bus, const bool inv) : uart_(bus), inv_(inv) {}
   #endif
   void Begin();
   bool Read();
@@ -92,12 +93,13 @@ class SbusRx {
 
 class SbusTx {
  public:
-  explicit SbusTx(HardwareSerial *bus) : uart_(bus) {}
-  SbusTx(HardwareSerial *bus, const bool inv) : uart_(bus), inv_(inv) {}
   #if defined(ESP32)
   SbusTx(HardwareSerial *bus, const int8_t rxpin, const int8_t txpin,
          const bool inv) : uart_(bus), inv_(inv), rxpin_(rxpin), txpin_(txpin)
          {}
+  #else
+  explicit SbusTx(HardwareSerial *bus) : uart_(bus) {}
+  SbusTx(HardwareSerial *bus, const bool inv) : uart_(bus), inv_(inv) {}
   #endif
   void Begin();
   void Write();