Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

Fixed IBUS protocol for AFHDS 3 and latest AFHDS 2a receivers.

Browse source
This commit is contained in:
Jakub 2019-08-23 20:08:54 +02:00
parent 8826175b08
commit 588166fa56
2 changed files with 17 additions and 12 deletions
Download patch file Download diff file Expand all files Collapse all files

15
src/main/rx/ibus.c
View file

@ -52,7 +52,9 @@
#include "telemetry/ibus.h"
#include "telemetry/ibus_shared.h"
#define IBUS_MAX_CHANNEL 14
#define IBUS_MAX_CHANNEL 18
//In AFHDS there is 18 channels encoded in 14 slots (each slot is 2 byte long)
#define IBUS_MAX_SLOTS 14
#define IBUS_BUFFSIZE 32
#define IBUS_MODEL_IA6B 0
#define IBUS_MODEL_IA6 1
@ -137,7 +139,7 @@ static bool isChecksumOkIa6(void)
uint16_t chksum, rxsum;
chksum = ibusChecksum;
rxsum = ibus[ibusFrameSize - 2] + (ibus[ibusFrameSize - 1] << 8);
for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_CHANNEL; i++, offset += 2) {
for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_SLOTS; i++, offset += 2) {
chksum += ibus[offset] + (ibus[offset + 1] << 8);
}
return chksum == rxsum;
@ -156,9 +158,12 @@ static bool checksumIsOk(void) {
static void updateChannelData(void) {
uint8_t i;
uint8_t offset;
for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_CHANNEL; i++, offset += 2) {
ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_SLOTS; i++, offset += 2) {
ibusChannelData[i] = ibus[offset] + ((ibus[offset + 1] & 0x0F) << 8);
}
//latest IBUS recievers are using prviously not used 4 bits on every channel to incresse total channel count
for (i = IBUS_MAX_SLOTS, offset = ibusChannelOffset + 1; i < IBUS_MAX_CHANNEL; i++, offset += 6) {
ibusChannelData[i] = ((ibus[offset] & 0xF0) >> 4) | (ibus[offset + 2] & 0xF0) | ((ibus[offset + 4] & 0xF0) << 4);
}
}

14
src/test/unit/rx_ibus_unittest.cc
View file

@ -212,7 +212,7 @@ TEST_F(IbusRxInitUnitTest, Test_IbusRxNotEnabled)
// EXPECT_EQ(NULL, rxRuntimeConfig.rcReadRawFn);
// EXPECT_EQ(NULL, rxRuntimeConfig.rcFrameStatusFn);
EXPECT_EQ(14, rxRuntimeConfig.channelCount);
EXPECT_EQ(18, rxRuntimeConfig.channelCount);
EXPECT_EQ(20000, rxRuntimeConfig.rxRefreshRate);
EXPECT_FALSE(NULL == rxRuntimeConfig.rcReadRawFn);
EXPECT_FALSE(NULL == rxRuntimeConfig.rcFrameStatusFn);
@ -227,7 +227,7 @@ TEST_F(IbusRxInitUnitTest, Test_IbusRxEnabled)
EXPECT_TRUE(ibusInit(&initialRxConfig, &rxRuntimeConfig));
EXPECT_EQ(14, rxRuntimeConfig.channelCount);
EXPECT_EQ(18, rxRuntimeConfig.channelCount);
EXPECT_EQ(20000, rxRuntimeConfig.rxRefreshRate);
EXPECT_FALSE(NULL == rxRuntimeConfig.rcReadRawFn);
EXPECT_FALSE(NULL == rxRuntimeConfig.rcFrameStatusFn);
@ -283,10 +283,10 @@ TEST_F(IbusRxProtocollUnitTest, Test_InitialFrameState)
TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceived)
{
uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits
0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
0x84, 0xff}; //checksum
0x00, 0xE0, 0x01, 0x00, 0x02, 0x00, 0x03, 0xF0, 0x04, 0x00, //channel 1..5 + 15 + 16
0x05, 0x00, 0x06, 0x00, 0x07, 0x10, 0x08, 0x00, 0x09, 0x10, //channel 6..10 + 17 + 18(lsb)
0x0a, 0x10, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14 + 18
0x84, 0xfd}; //checksum
for (size_t i=0; i < sizeof(packet); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
@ -298,7 +298,7 @@ TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceived)
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
//check that channel values have been updated
for (int i=0; i<14; i++) {
for (int i=0; i<18; i++) {
ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
}
}