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add support for flysky and turnigy ibus receiver ia6

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This commit is contained in:
androck 2016-08-16 08:52:43 +01:00 • committed by Jeff Wight
parent fc480fab5b
commit 82626de33a
4 changed files with 45 additions and 15 deletions
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51
src/main/rx/ibus.c
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@ -42,12 +42,20 @@
#include "rx/rx.h"
#include "rx/ibus.h"
#define IBUS_MAX_CHANNEL 10
#define IBUS_MAX_CHANNEL 14
#define IBUS_BUFFSIZE 32
#define IBUS_SYNCBYTE 0x20
#define IBUS_MODEL_IA6B 0
#define IBUS_MODEL_IA6 1
#define IBUS_BAUDRATE 115200
static uint8_t ibusModel = 0;
static uint8_t ibusSyncByte = 0x20;
static uint8_t ibusFrameSize = 32;
static uint8_t ibusChannelOffset = 2;
static uint32_t ibusInterframeGap = 3000;
static uint16_t ibusChecksum = 0xFFFF;
static bool ibusFrameDone = false;
static uint32_t ibusChannelData[IBUS_MAX_CHANNEL];
@ -56,7 +64,15 @@ static uint16_t ibusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
UNUSED(rxConfig);
if (rxConfig->ibus_model == IBUS_MODEL_IA6) {
ibusModel = 1;
ibusSyncByte = 0x55;
ibusFrameSize = 31;
ibusInterframeGap = 500;
ibusChecksum = 0x0000;
ibusChannelOffset = 1;
}
if (callback)
*callback = ibusReadRawRC;
@ -96,17 +112,17 @@ static void ibusDataReceive(uint16_t c)
ibusTime = micros();
if ((ibusTime - ibusTimeLast) > 3000)
if ((ibusTime - ibusTimeLast) > ibusInterframeGap)
ibusFramePosition = 0;
ibusTimeLast = ibusTime;
if (ibusFramePosition == 0 && c != IBUS_SYNCBYTE)
if (ibusFramePosition == 0 && c != ibusSyncByte)
return;
ibus[ibusFramePosition] = (uint8_t)c;
if (ibusFramePosition == IBUS_BUFFSIZE - 1) {
if (ibusFramePosition == ibusFrameSize - 1) {
ibusFrameDone = true;
} else {
ibusFramePosition++;
@ -125,17 +141,22 @@ uint8_t ibusFrameStatus(void)
ibusFrameDone = false;
chksum = 0xFFFF;
for (i = 0; i < 30; i++)
chksum -= ibus[i];
rxsum = ibus[30] + (ibus[31] << 8);
chksum = ibusChecksum;
rxsum = ibus[ibusFrameSize - 2] + (ibus[ibusFrameSize - 1] << 8);
if (ibusModel == IBUS_MODEL_IA6) {
for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_CHANNEL; i++, offset += 2)
chksum += ibus[offset] + (ibus[offset + 1] << 8);
} else {
for (i = 0; i < 30; i++)
chksum -= ibus[i];
}
if (chksum == rxsum) {
for (i = 0, offset = 2; i < IBUS_MAX_CHANNEL; i++, offset += 2) {
ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
}
frameStatus = SERIAL_RX_FRAME_COMPLETE;
for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_CHANNEL; i++, offset += 2) {
ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
}
frameStatus = SERIAL_RX_FRAME_COMPLETE;
}
return frameStatus;