Sbus
This library communicates with SBUS receivers and servos and is compatible with Arduino and CMake build systems.
Description
SBUS is a bus protocol for receivers to send commands to servos. Unlike PWM, SBUS uses a bus architecture where a single serial line can be connected with up to 16 servos with each receiving a unique command.
The SBUS protocol uses an inverted serial logic with a baud rate of 100000, 8 data bits, even parity, and 2 stop bits. The SBUS packet is 25 bytes long consisting of:
- Byte[0]: SBUS header, 0x0F
- Byte[1 -22]: 16 servo channels, 11 bits each
- Byte[23]
- Bit 0: channel 17 (0x01)
- Bit 1: channel 18 (0x02)
- Bit 2: frame lost (0x04)
- Bit 3: failsafe activated (0x08)
- Byte[24]: SBUS footer
Note that lost frame is indicated when a frame is lost between the transmitter and receiver. Failsafe activation typically requires that many frames are lost in a row and indicates that the receiver has moved into failsafe mode. Packets are sent approximately every 10 ms or 20 ms, depending on the system configuration.
A variation on SBUS called "Fast SBUS" has started to be used. This uses a baudrate of 200000 and a quicker update rate.
Note on CH17 and CH18: Channel 17 and channel 18 are digital on/off channels. These are not universally available on all SBUS receivers and servos.
FrSky receivers will output a range of 172 - 1811 with channels set to a range of -100% to +100%. Using extended limits of -150% to +150% outputs a range of 0 to 2047, which is the maximum range acheivable with 11 bits of data.
Because SBUS is a digital bus format, it is an excellent means of receiving pilot commands from a transmitter and an SBUS capable receiver. If SBUS servos are used in the aircraft, SBUS is also an excellent means of sending actuator commands - servo commands can often be sent with lower latency and, by only using a single pin to command up to 16 servos, additional microcontroller pins are freed for other uses.
Inverted Serial
SBUS uses an inverted serial protocol, which is not commonly supported in Arduino. This library is able to use inverted serial for the following microcontrollers:
- Teensy 3.x
- Teensy 4.x
- Teensy LC
- STM32L496xx
- STM32L476xx
- STM32L433xx
- STM32L432xx
- ESP32
For all other microcontrollers, you must use a serial inverter. If you've modified this library to work with other microcontrollers, please submit a pull request.
Installation
Arduino
Simply clone or download and extract the zipped library into your Arduino/libraries folder. The library is added as:
#include "sbus.h"An example is located in examples/arduino/sbus_example/sbus_example.ino. This library is tested with Teensy 3.x, 4.x, and LC devices and should work with other Arduino devices.
CMake
CMake is used to build this library, which is exported as a library target called sbus. The header is added as:
#include "sbus.h"The library can be also be compiled stand-alone using the CMake idiom of creating a build directory and then, from within that directory issuing:
cmake .. -DMCU=MK66FX1M0
make
This will build the library and example executable called sbus_example. The example executable source file is located at examples/cmake/sbus_example.cc. Notice that the cmake command includes a define specifying the microcontroller the code is being compiled for. This is required to correctly configure the code, CPU frequency, and compile/linker options. The available MCUs are:
- MK64FX512
- MK66FX1M0
- MKL26Z64
- IMXRT1062_T40
- IMXRT1062_T41
- IMXRT1062_MMOD
These are known to work with the same packages used in Teensy products. Also switching packages is known to work well, as long as it's only a package change.
The sbus_example target creates an executable for communicating with sbus receivers and servos. This target also has a _hex for creating the hex file and an _upload for using the Teensy CLI Uploader to flash the Teensy. Instructions for setting up your build environment can be found in our build-tools repo.
Namespace
This library is within the namespace bfs.
SbusData
This struct defines SBUS data that can be read and returned by the SbusRx object or set and sent by the SbusTx object.
Data Members
bool lost_frame Whether a frame has been lost.
bool failsafe Whether the receiver has entered failsafe mode or to command servos to enter failsafe mode.
bool ch17, ch18 State of channel 17 and channel 18.
static constexpr int8_t NUM_CH = 16 The number of SBUS channels.
int16_t ch[NUM_CH] An array of SBUS channel data.
SbusRx
This class is used for receiving SBUS data from an SBUS capable receiver.
SbusRx(HardwareSerial *bus) Creates an SbusRx object. A pointer to the Serial object corresponding to the serial port used is passed. The RX pin of the serial port will receive SBUS packets.
bfs::SbusRx sbus(&Serial1);SbusRx(HardwareSerial *bus, const bool inv) Creates an SbusRx object. A pointer to the Serial object corresponding to the serial port used is passed along with a second parameter, inv, which sets whether inverted serial is used. If inv is true, the signal is the standard inverted SBUS, otherwise it is non-inverted SBUS.
bfs::SbusRx sbus(&Serial1, false);SbusRx(HardwareSerial *bus, const bool inv, const bool fast) Same as the constructor above, but enables selecting the fast SBUS baudrate (200000) if fast is true.
(ESP32 ONLY) SbusRx(HardwareSerial *bus, const int8_t rxpin, const int8_t txpin, const bool inv) Creates an SbusRx object. A pointer to the Serial object corresponding to the serial port used is passed along with the RX pin number (rxpin), TX pin number (txpin), and whether inverted serial is used (inv). If inv is true, the signal is the standard inverted SBUS, otherwise it is non-inverted SBUS.
(ESP32 ONLY) SbusRx(HardwareSerial *bus, const int8_t rxpin, const int8_t txpin, const bool inv, const bool fast) Same as the constructor above, but enables selecting the fast SBUS baudrate (200000) if fast is true.
void Begin() Initializes SBUS communication.
sbus.Begin();bool Read() Parses SBUS packets, returns true on successfully receiving an SBUS packet.
if (sbus.Read()) {
// Do something with the received data
}SbusData data() Returns the SbusData structure, populated with data from the last received packet.
if (sbus.Read()) {
bfs::SbusData data = sbus.data();
}SbusTx
This class is used for transmitting SBUS data to SBUS capable servos.
SbusTx(HardwareSerial *bus) Creates an SbusTx object. A pointer to the Serial object corresponding to the serial port used is passed. The TX pin of the serial port will receive SBUS packets.
bfs::SbusTx sbus(&Serial1);SbusTx(HardwareSerial *bus, const bool inv) Creates an SbusTx object. A pointer to the Serial object corresponding to the serial port used is passed along with a second parameter, inv, which sets whether inverted serial is used. If inv is true, the signal is the standard inverted SBUS, otherwise it is non-inverted SBUS.
bfs::SbusTx sbus(&Serial1, false);(ESP32 ONLY) SbusTx(HardwareSerial *bus, const int8_t rxpin, const int8_t txpin, const bool inv) Creates an SbusTx object. A pointer to the Serial object corresponding to the serial port used is passed along with the RX pin number (rxpin), TX pin number (txpin), and whether inverted serial is used (inv). If inv is true, the signal is the standard inverted SBUS, otherwise it is non-inverted SBUS.
void Begin() Initializes SBUS communication.
sbus.Begin();void Write() Writes an SBUS packet. The packet is written immediately, you should regulate timing of sending packets to servos to maintain a frequency of approximately 100 Hz or 50 Hz, depending on the setup of the SBUS system.
sbus.Write();void data(const SbusData &data) Sets the SBUS data, which will be transmitted on the next Write method.
bfs::SbusData data;
data.ch[0] = 900;
sbus.data(data);SbusData data() Returns the SBUS data buffered in the SbusTx object, which will be transmitted on the next Write method.
bfs::SbusData data = sbus.data();