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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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1
src/main/config/config.c
View file

@ -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;

7
src/main/io/serial_cli.c
View file

@ -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} },

41
src/main/rx/ibus.c
View file

@ -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++;
@ -125,14 +141,19 @@ uint8_t ibusFrameStatus(void)
ibusFrameDone = false;
chksum = 0xFFFF;
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];
rxsum = ibus[30] + (ibus[31] << 8);
}
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);
}
frameStatus = SERIAL_RX_FRAME_COMPLETE;

1
src/main/rx/rx.h
View file

@ -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