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Merge branch 'betaflight_master' into development

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# Conflicts:
#	src/main/common/filter.c
#	src/main/common/filter.h
#	src/main/flight/pid.c
#	src/main/rx/ibus.c
#	src/main/target/NAZE/config.c
#	src/main/target/NAZE/target.h
This commit is contained in:
blckmn 2016-10-15 10:52:27 +11:00
commit ac74764740
2 changed files with 46 additions and 13 deletions
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57
src/main/rx/ibus.c
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@ -44,15 +44,25 @@
#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_FRAME_GAP 500
#define IBUS_BAUDRATE 115200
static uint8_t ibusModel;
static uint8_t ibusSyncByte;
static uint8_t ibusFrameSize;
static uint8_t ibusChannelOffset;
static uint16_t ibusChecksum;
static bool ibusFrameDone = false;
static uint32_t ibusChannelData[IBUS_MAX_CHANNEL];
ibusSyncByte = 0;
static uint8_t ibus[IBUS_BUFFSIZE] = { 0, };
// Receive ISR callback
@ -64,17 +74,36 @@ static void ibusDataReceive(uint16_t c)
ibusTime = micros();
if ((ibusTime - ibusTimeLast) > 3000)
if ((ibusTime - ibusTimeLast) > IBUS_FRAME_GAP)
ibusFramePosition = 0;
ibusTimeLast = ibusTime;
if (ibusFramePosition == 0 && c != IBUS_SYNCBYTE)
return;
if (ibusFramePosition == 0) {
if (ibusSyncByte == 0) {
// detect the frame type based on the STX byte.
if (c == 0x55) {
ibusModel = IBUS_MODEL_IA6;
ibusSyncByte = 0x55;
ibusFrameSize = 31;
ibusChecksum = 0x0000;
ibusChannelOffset = 1;
} else if (c == 0x20) {
ibusModel = IBUS_MODEL_IA6B;
ibusSyncByte = 0x20;
ibusFrameSize = 32;
ibusChannelOffset = 2;
ibusChecksum = 0xFFFF;
} else
return;
} else if (ibusSyncByte != c) {
return;
}
}
ibus[ibusFramePosition] = (uint8_t)c;
if (ibusFramePosition == IBUS_BUFFSIZE - 1) {
if (ibusFramePosition == ibusFrameSize - 1) {
ibusFrameDone = true;
} else {
ibusFramePosition++;
@ -93,14 +122,18 @@ 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) {
for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_CHANNEL; i++, offset += 2) {
ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
}
frameStatus = RX_FRAME_COMPLETE;