fix connecting in AP mode + fix async mode in esc driver + docs update

README.md

@@ -3,12 +3,13 @@ The mini, DIY, ~$5 cost, ESP8266/ESP32 based, high performance flight controller
 
 ## Features
 * Frames (Quad X)
-* Betaflight configuration tool compatible (v10.8 or v10.9)
+* Betaflight configuration tool compatible (v10.8-v10.10)
 * Receiver protocol (8 channel PPM)
-* SBUS and CRSF Serial Rx protocols on ESP32 and RP2040
+* SBUS and CRSF Serial Rx protocols
+* Builtin ESP-NOW receiver
 * ESC protocols (PWM, Oneshot125, Brushed, Dshot150, Dshot300, Dshot600)
-* Configurable Gyro Filters (LPF, Notch, dTerm)
-* Blackbox recording (OpenLog/Opelager serial)
+* Configurable Gyro Filters (LPF, Notch, dTerm, RPM)
+* Blackbox recording (OpenLog/OpenLager serial)
 * In flight PID Tuning
 * Flight modes (ACRO, ANGLE, AIRMODE, ARM)
 * Up to 8kHz gyro/loop on ESP32 with SPI gyro
@@ -17,17 +18,17 @@ The mini, DIY, ~$5 cost, ESP8266/ESP32 based, high performance flight controller
 * Resorce/Pin mapping
 * Buzzer
 * Lipo voltage monitor
-* Failsafe
+* Failsafe mode
 
 ## Requirements
 Hardware:
-* ESP8266 Wemos D1 Mini or ESP32 mini board
-* MPU6050 I2C gyro (GY-88, GY-91, GY-521 or similar) or MPU9250 SPI on ESP32
+* ESP32 mini board or ESP8266 Wemos D1 mini or similar
+* MPU9250 SPI or MPU6050 I2C gyro (GY-88, GY-91, GY-521 or similar)
 * PDB with 5V BEC
 * Buzzer and some electronic components (optional).
 
 Software:
-* [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) (v10.8 or v10.9)
+* [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) (v10.10 or v10.9 or v10.8)
 * [CH340 usb-serial converter driver](https://sparks.gogo.co.nz/ch340.html)
 
 ## Flashing
@@ -38,6 +39,8 @@ Software:
 5. Click "Program"
 6. After success power cycle board
 
+Note: only ESP32 and ESP8266 can be flashed in this way.
+
 ![ESP-FC Flashing](/docs/images/esptool-js-flash-connect.png)
 
 ## Setup
@@ -75,9 +78,8 @@ Here are more details about [how to setup](/docs/setup.md).
 | MSP             | Yes     |   Yes |    Yes |
 | CLI             | Yes     |   Yes |    Yes |
 | PPM (IN)        | Yes     |   Yes |    Yes |
-| SBUS            | -       |   Yes |    Yes |
-| IBUS            | -       |     - |      - |
-| CRSF (ELRS)     | -       |   Yes |    Yes |
+| SBUS            | Yes     |   Yes |    Yes |
+| CRSF (ELRS)     | Yes     |   Yes |    Yes |
 | BLACKBOX        | Yes     |   Yes |    Yes |
 | PWM (OUT)       | Yes     |   Yes |    Yes |
 | ONESHOT125      | Yes     |   Yes |    Yes |
@@ -124,7 +126,6 @@ You can also join to our [Discord Channel](https://discord.gg/jhyPPM5UEH)
 * Serial Rx (IBUS)
 * ELRS telemetry
 * ESP32-S2/S3/C3 targets
-* BiDir Dshot
 * Baro (MS5611)
 * GPS navigation
 

docs/setup.md

@@ -44,6 +44,13 @@ If you want to use Serial based receiver (SBUS,CRSF), you need to allocate UART
 
 Then go to the `Receiver` tab, and select `Receiver mode` and `Serial Receiver Provider`.
 
+To use Serial RX on ESP8266, you need to connect reciver to primary UART. In this case you lose ability to configure through UART.
+To deal with it activate "SOFTSERIAL" feature. In this case if board stay in failsafe mode for 30 seconds (transmitter is turned off), then automatically WiFi access point will be started.
+Default name is "ESP-FC". After connecting to this AP open configurator, select "manual" port and type port: `tcp://192.168.4.1:1111`.
+You can also configure board to automatically connect existing wifi network. In this case set `wifi_ssid` and `wifi_pass` parameters in CLI.
+
+To use ESP-NOW receiver, choose "SPI Rx (e.g. built-in Rx)" receiver mode in Receiver tab. You need compatible transmitter module.
+
 ## Motor setup
 
 In `Motors` tab you must configure
@@ -92,7 +99,7 @@ This option allows to separate PWM frequency. If your pid loop is set to 1k, but
 
 ## Flight modes
 
-Flight modes can be configured in modes tab
+Flight modes can be configured in `Modes` tab
 
 ### Arm
 
@@ -125,8 +132,7 @@ Logging using serial device is possible, like [D-ronin OpenLager](https://github
 
 Recommended settings
 
-- To log with 1k rate, you need device that is capable to receive data with 250kbps.
-- To log with 1k rate with debug, baro and mag data, 500kbps is recommended.
+- To log with 1k rate, you need device that is capable to receive data with 500kbps.
 - To log with 2k rate, you need 1Mbps
 
 OpenLager can handle it easily. If you plan to use OpenLog, you might need to flash [blackbox-firmware](https://github.com/cleanflight/blackbox-firmware) to be able to handle more than 115.2kbps. Either 250kbps and 500kbps works well with modern SD cards up to 32GB size.

lib/EscDriver/src/EscDriverEsp32.cpp

@@ -60,6 +60,16 @@ static void IRAM_ATTR _rmt_zero_mem(rmt_channel_t channel, size_t len)
   }
 }
 
+// using map() in isr cause crash
+static long IRAM_ATTR _map(long x, long in_min, long in_max, long out_min, long out_max)
+{
+  const long in_range = in_max - in_min;
+  if(in_range == 0) return out_min;
+  const long out_range = out_max - out_min;
+  const long delta = x - in_min;
+  return (delta * out_range) / in_range + out_min;
+}
+
 bool EscDriverEsp32::_tx_end_installed = false;
 
 EscDriverEsp32 *EscDriverEsp32::instances[] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
@@ -324,40 +334,19 @@ void EscDriverEsp32::readTelemetry()
     if(!_digital || !_dshot_tlm) continue;
     if(!_channel[i].attached()) continue;
 
-    //HardwareSerial* s = (i == 0 && _timer.check()) ? &Serial : nullptr;
-
     RingbufHandle_t rb = NULL;
     if(ESP_OK != rmt_get_ringbuf_handle((rmt_channel_t)i, &rb)) continue;
 
     size_t rmt_len = 0;
     rmt_item32_t* data = (rmt_item32_t*)xRingbufferReceive(rb, &rmt_len, 0);
-    //if(s) { s->print((uint8_t)rmt_len); }
     if (data)
     {
-      /*for(size_t j = 0; j < rmt_len >> 2; j++)
-      {
-        if(!data[j].duration0) break;
-        if(s) s->print(' ');
-        if(s) s->print(data[j].level0);
-        if(s) s->print(':');
-        if(s) s->print(data[j].duration0);
-
-        if(!data[j].duration1) break;
-        if(s) s->print(' ');
-        if(s) s->print(data[j].level1);
-        if(s) s->print(':');
-        if(s) s->print(data[j].duration1);
-      }*/
       uint32_t value = extractTelemetryGcr((uint32_t*)data, rmt_len >> 2, _channel[i].dshot_tlm_bit_len);
 
-      //if(s) s->print(' ');
-      //if(s) s->print(value, HEX);
-
       vRingbufferReturnItem(rb, (void *)data);
 
       _channel[i].telemetryValue = value;
     }
-    //if(s) s->print('\n');
   }
   //PIN_DEBUG(LOW);
 }
@@ -373,7 +362,7 @@ void EscDriverEsp32::writeAnalogCommand(uint8_t channel, int32_t pulse)
     maxPulse = 2000;
   }
   pulse = constrain(pulse, minPulse, maxPulse);
-  int duration = map(pulse, 1000, 2000, slot.pulse_min, slot.pulse_max);
+  int duration = _map(pulse, 1000, 2000, slot.pulse_min, slot.pulse_max);
 
   int count = 2;
   if (_async)

lib/Espfc/src/Cli.h

@@ -877,7 +877,7 @@ class Cli
       else if(strcmp_P(cmd.args[0], PSTR("wifi")) == 0)
       {
         s.print(F("ST IP4: tcp://"));
-        s.print(_model.state.localIp);
+        s.print(WiFi.localIP());
         s.print(F(":"));
         s.println(_model.config.wireless.port);
         s.print(F("ST MAC: "));

lib/Espfc/src/Input.h

@@ -363,26 +363,26 @@ class Input
     Device::InputDevice * getInputDevice()
     {
       Device::SerialDevice * serial = _model.getSerialStream(SERIAL_FUNCTION_RX_SERIAL);
-      if(serial && _model.isActive(FEATURE_RX_SERIAL) && _model.config.input.serialRxProvider == SERIALRX_SBUS)
+      if(serial && _model.isFeatureActive(FEATURE_RX_SERIAL) && _model.config.input.serialRxProvider == SERIALRX_SBUS)
       {
         _sbus.begin(serial);
         _model.logger.info().logln(F("RX SBUS"));
         return &_sbus;
       }
-      if(serial && _model.isActive(FEATURE_RX_SERIAL) && _model.config.input.serialRxProvider == SERIALRX_CRSF)
+      if(serial && _model.isFeatureActive(FEATURE_RX_SERIAL) && _model.config.input.serialRxProvider == SERIALRX_CRSF)
       {
         _crsf.begin(serial);
         _model.logger.info().logln(F("RX CRSF"));
         return &_crsf;
       }
-      else if(_model.isActive(FEATURE_RX_PPM) && _model.config.pin[PIN_INPUT_RX] != -1)
+      else if(_model.isFeatureActive(FEATURE_RX_PPM) && _model.config.pin[PIN_INPUT_RX] != -1)
       {
         _ppm.begin(_model.config.pin[PIN_INPUT_RX], _model.config.input.ppmMode);
         _model.logger.info().log(F("RX PPM")).log(_model.config.pin[PIN_INPUT_RX]).logln(_model.config.input.ppmMode);
         return &_ppm;
       }
 #if defined(ESPFC_ESPNOW)
-      else if(_model.isActive(FEATURE_RX_SPI))
+      else if(_model.isFeatureActive(FEATURE_RX_SPI))
       {
         int status = _espnow.begin();
         _model.logger.info().log(F("RX ESPNOW")).logln(status);

lib/Espfc/src/Msp/MspProcessor.h

@@ -530,7 +530,7 @@ class MspProcessor
         case MSP_CF_SERIAL_CONFIG:
           for(int i = 0; i < SERIAL_UART_COUNT; i++)
           {
-            if(_model.config.serial[i].id >= SERIAL_ID_SOFTSERIAL_1 && !_model.isActive(FEATURE_SOFTSERIAL)) continue;
+            if(_model.config.serial[i].id >= SERIAL_ID_SOFTSERIAL_1 && !_model.isFeatureActive(FEATURE_SOFTSERIAL)) continue;
             r.writeU8(_model.config.serial[i].id); // identifier
             r.writeU16(_model.config.serial[i].functionMask); // functionMask
             r.writeU8(toBaudIndex(_model.config.serial[i].baud)); // msp_baudrateIndex
@@ -545,13 +545,13 @@ class MspProcessor
             uint8_t count = 0;
             for (int i = 0; i < SERIAL_UART_COUNT; i++)
             {
-              if(_model.config.serial[i].id >= SERIAL_ID_SOFTSERIAL_1 && !_model.isActive(FEATURE_SOFTSERIAL)) continue;
+              if(_model.config.serial[i].id >= SERIAL_ID_SOFTSERIAL_1 && !_model.isFeatureActive(FEATURE_SOFTSERIAL)) continue;
               count++;
             }
             r.writeU8(count);
             for (int i = 0; i < SERIAL_UART_COUNT; i++)
             {
-              if(_model.config.serial[i].id >= SERIAL_ID_SOFTSERIAL_1 && !_model.isActive(FEATURE_SOFTSERIAL)) continue;
+              if(_model.config.serial[i].id >= SERIAL_ID_SOFTSERIAL_1 && !_model.isFeatureActive(FEATURE_SOFTSERIAL)) continue;
               r.writeU8(_model.config.serial[i].id); // identifier
               r.writeU32(_model.config.serial[i].functionMask); // functionMask
               r.writeU8(toBaudIndex(_model.config.serial[i].baud)); // msp_baudrateIndex

lib/Espfc/src/Target/TargetESP32s3.h

@@ -3,6 +3,11 @@
 #include "Esp.h"
 #include "Debug_Espfc.h"
 
+// pins to avoid:
+// strapping: 0, 3, 45, 46
+// flash/psram: 26-37 (reserved)
+// usb/jtag: 19, 20
+
 #define ESPFC_INPUT
 #define ESPFC_INPUT_PIN 6 // ppm
 

lib/Espfc/src/Wireless.h

@@ -17,7 +17,6 @@ class Wireless
 {
   enum Status {
     STOPPED,
-    STARTING,
     STARTED,
   };
   public:
@@ -27,7 +26,7 @@ class Wireless
     {
       WiFi.persistent(false);
 #ifdef ESPFC_ESPNOW
-      if(_model.isActive(FEATURE_RX_SPI))
+      if(_model.isFeatureActive(FEATURE_RX_SPI))
       {
         startAp();
       }
@@ -38,7 +37,7 @@ class Wireless
     void startAp()
     {
       bool status = WiFi.softAP("ESP-FC");
-      _model.logger.info().log(F("WIFI AP")).logln(status);
+      _model.logger.info().log(F("WIFI AP START")).logln(status);
     }
 
     int connect()
@@ -65,41 +64,33 @@ class Wireless
       {
         startAp();
       }
-      //delay(200);
       _server.begin(_model.config.wireless.port);
       _server.setNoDelay(true);
-      _model.logger.info().log(F("WIFI PORT")).log(WiFi.status()).logln(_model.config.wireless.port);
+      _model.state.serial[SERIAL_SOFT_0].stream = &_adapter;
+      _model.logger.info().log(F("WIFI SERVER PORT")).log(WiFi.status()).logln(_model.config.wireless.port);
       return 1;
     }
 
     void wifiEventConnected(const String& ssid, int channel)
     {
-      _model.logger.info().log(F("WIFI CONNECTED")).log(ssid).logln(channel);
+      _model.logger.info().log(F("WIFI STA CONN")).log(ssid).logln(channel);
     }
 
     void wifiEventApConnected(const uint8_t* mac)
     {
       char buf[20];
       snprintf(buf, sizeof(buf), "%02x:%02x:%02x:%02x:%02x:%02x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
-      _model.logger.info().log(F("WIFI AP CONNECTED")).logln(buf);
-      //_server.begin(_model.config.wireless.port);
-      //_model.logger.info().log(F("WIFI PORT")).log(WiFi.status()).logln(_model.config.wireless.port);
+      _model.logger.info().log(F("WIFI AP CONNECT")).logln(buf);
     }
 
     void wifiEventGotIp(const IPAddress& ip)
     {
-      _model.state.localIp = ip;
-      //_status = STARTED;
-      _model.state.serial[SERIAL_SOFT_0].stream = &_adapter;
-      _model.logger.info().log(F("WIFI IP")).logln(_model.state.localIp.toString());
+      _model.logger.info().log(F("WIFI STA IP")).logln(ip.toString());
     }
 
     void wifiEventDisconnected()
     {
-      _model.state.serial[SERIAL_SOFT_0].stream = nullptr;
-      _model.state.localIp = IPAddress(0,0,0,0);
-      //_status = STOPPED;
-      _model.logger.info().logln(F("WIFI DISCONNECTED"));
+      _model.logger.info().logln(F("WIFI STA DISCONNECT"));
     }
 
     int update()
@@ -109,30 +100,21 @@ class Wireless
       switch(_status)
       {
         case STOPPED: 
-          if(_model.state.rescueConfigMode == RESCUE_CONFIG_ACTIVE)
+          if(_model.state.rescueConfigMode == RESCUE_CONFIG_ACTIVE && _model.isFeatureActive(FEATURE_SOFTSERIAL))
           {
-            _status = STARTING;
             connect();
+            _status = STARTED;
             return 1;
           }
           break;
-        case STARTING:
-          /*if(WiFi.status() == WL_CONNECTED)
-          {
-            _status = STARTED;
-            _server.begin(_model.config.wireless.port);
-            _model.logger.info().log(F("WIFI PORT")).log(WiFi.status()).logln(_model.config.wireless.port);
-          }*/
-          break;
         case STARTED:
+          if(_server.hasClient())
+          {
+            _client = _server.accept();
+          }
           break;
       }
 
-      if(_server.hasClient())
-      {
-        _client = _server.accept();
-      }
-
       return 1;
     }
 

platformio.ini

@@ -51,7 +51,7 @@ build_flags =
 extra_scripts = merge_firmware.py
 
 [env:esp32s3]
-board = lolin_s3
+board = lolin_s3_mini
 platform = espressif32
 framework = arduino
 board_build.f_cpu = 240000000L