add support for flysky and turnigy ibus receiver ia6

src/main/config/config.c

@@ -523,6 +523,7 @@ void createDefaultConfig(master_t *config)
 #else
     config->rxConfig.serialrx_provider = 0;
 #endif
+    config->rxConfig.ibus_model = 0;
     config->rxConfig.sbus_inversion = 1;
     config->rxConfig.spektrum_sat_bind = 0;
     config->rxConfig.spektrum_sat_bind_autoreset = 1;

src/main/io/serial_cli.c

@@ -429,6 +429,10 @@ static const char * const lookupTableSerialRX[] = {
 };
 #endif
 
+static const char * const lookupTableIbusModel[] = {
+    "IA6B", "IA6"
+};
+
 static const char * const lookupTableGyroLpf[] = {
     "OFF",
     "188HZ",
@@ -546,6 +550,7 @@ typedef enum {
 #ifdef SERIAL_RX
     TABLE_SERIAL_RX,
 #endif
+    TABLE_IBUS_MODEL,
     TABLE_GYRO_LPF,
     TABLE_ACC_HARDWARE,
 #ifdef BARO
@@ -585,6 +590,7 @@ static const lookupTableEntry_t lookupTables[] = {
 #ifdef SERIAL_RX
     { lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
 #endif
+    { lookupTableIbusModel, sizeof(lookupTableIbusModel) / sizeof(char *) },
     { lookupTableGyroLpf, sizeof(lookupTableGyroLpf) / sizeof(char *) },
     { lookupTableAccHardware, sizeof(lookupTableAccHardware) / sizeof(char *) },
 #ifdef BARO
@@ -730,6 +736,7 @@ const clivalue_t valueTable[] = {
 #ifdef SERIAL_RX
     { "serialrx_provider",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
 #endif
+    { "ibus_model",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.ibus_model, .config.lookup = { TABLE_IBUS_MODEL } },
     { "sbus_inversion",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.sbus_inversion, .config.lookup = { TABLE_OFF_ON } },
 #ifdef SPEKTRUM_BIND
     { "spektrum_sat_bind",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED,  SPEKTRUM_SAT_BIND_MAX} },

src/main/rx/ibus.c

@@ -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;
+    chksum = ibusChecksum;
-    for (i = 0; i < 30; i++)
+    rxsum = ibus[ibusFrameSize - 2] + (ibus[ibusFrameSize - 1] << 8);
-        chksum -= ibus[i];
+    
-        
+    if (ibusModel == IBUS_MODEL_IA6) {
-    rxsum = ibus[30] + (ibus[31] << 8);
+	    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) {
+        for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_CHANNEL; i++, offset += 2) {
-            ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
+	    ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
-        }
+	}
-        frameStatus = SERIAL_RX_FRAME_COMPLETE;
+	frameStatus = SERIAL_RX_FRAME_COMPLETE;
     }
 
     return frameStatus;

src/main/rx/rx.h

@@ -112,6 +112,7 @@ typedef struct rxChannelRangeConfiguration_s {
 typedef struct rxConfig_s {
     uint8_t rcmap[MAX_MAPPABLE_RX_INPUTS];  // mapping of radio channels to internal RPYTA+ order
     uint8_t serialrx_provider;              // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
+    uint8_t ibus_model;
     uint8_t sbus_inversion;                 // default sbus (Futaba, FrSKY) is inverted. Support for uninverted OpenLRS (and modified FrSKY) receivers.
     uint8_t spektrum_sat_bind;              // number of bind pulses for Spektrum satellite receivers
     uint8_t spektrum_sat_bind_autoreset;    // whenever we will reset (exit) binding mode after hard reboot