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Code Issues Wiki Activity

Combine ibus serial rx and ibus telemetry on the same fc uart on a single pin.

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```
+---------+
| FS-iA6B |
|         |
| Ser RX  |---|<---\       +------------+
|         |        |       | FC         |
| Sensor  |---[R]--*-------| Uart TX    |
+---------+                +------------+
```
R = 10Kohm, Diode 1N4148 or similar.

Both uart tx and rx channels are used so it's not possible to use the spare pin for rx of something else.

Configure the serial port like this to get both serial rx and ibus telemetry on the same port:
```
serial 1 4160 115200 57600 115200 115200
```

It is still possible to run the serial rx and ibus telemetry on two uarts like before, an example:
```
serial 1 64 115200 57600 0 115200
serial 2 4096 115200 57600 115200 115200
```
This commit is contained in:
Magnus Ivarsson 2017-03-08 21:44:46 +01:00
parent 355c7cc215
commit b13d4694bb
12 changed files with 640 additions and 347 deletions
Download patch file Download diff file Expand all files Collapse all files

125
src/main/rx/ibus.c
View file

@ -43,6 +43,8 @@
#include "rx/rx.h"
#include "rx/ibus.h"
#include "telemetry/ibus.h"
#include "telemetry/ibus_shared.h"
#define IBUS_MAX_CHANNEL 14
#define IBUS_BUFFSIZE 32
@ -51,11 +53,14 @@
#define IBUS_FRAME_GAP 500
#define IBUS_BAUDRATE 115200
#define IBUS_TELEMETRY_PACKET_LENGTH (4)
#define IBUS_SERIAL_RX_PACKET_LENGTH (32)
static uint8_t ibusModel;
static uint8_t ibusSyncByte;
static uint8_t ibusFrameSize;
static uint8_t ibusChannelOffset;
static uint8_t rxBytesToIgnore;
static uint16_t ibusChecksum;
static bool ibusFrameDone = false;
@ -63,6 +68,13 @@ static uint32_t ibusChannelData[IBUS_MAX_CHANNEL];
static uint8_t ibus[IBUS_BUFFSIZE] = { 0, };
static bool isValidIa6bIbusPacketLength(uint8_t length)
{
return (length == IBUS_TELEMETRY_PACKET_LENGTH) || (length == IBUS_SERIAL_RX_PACKET_LENGTH);
}
// Receive ISR callback
static void ibusDataReceive(uint16_t c)
{
@ -72,29 +84,29 @@ static void ibusDataReceive(uint16_t c)
ibusTime = micros();
if ((ibusTime - ibusTimeLast) > IBUS_FRAME_GAP)
if ((ibusTime - ibusTimeLast) > IBUS_FRAME_GAP) {
ibusFramePosition = 0;
rxBytesToIgnore = 0;
} else if (rxBytesToIgnore) {
rxBytesToIgnore--;
return;
}
ibusTimeLast = ibusTime;
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;
}
if (isValidIa6bIbusPacketLength(c)) {
ibusModel = IBUS_MODEL_IA6B;
ibusSyncByte = c;
ibusFrameSize = c;
ibusChannelOffset = 2;
ibusChecksum = 0xFFFF;
} else if ((ibusSyncByte == 0) && (c == 0x55)) {
ibusModel = IBUS_MODEL_IA6;
ibusSyncByte = 0x55;
ibusFrameSize = 31;
ibusChecksum = 0x0000;
ibusChannelOffset = 1;
} else if (ibusSyncByte != c) {
return;
}
@ -109,11 +121,42 @@ static void ibusDataReceive(uint16_t c)
}
}
static bool isChecksumOkIa6(void)
{
uint8_t offset;
uint8_t i;
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) {
chksum += ibus[offset] + (ibus[offset + 1] << 8);
}
return chksum == rxsum;
}
static bool checksumIsOk(void) {
if (ibusModel == IBUS_MODEL_IA6 ) {
return isChecksumOkIa6();
} else {
return isChecksumOkIa6b(ibus, ibusFrameSize);
}
}
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);
}
}
static uint8_t ibusFrameStatus(void)
{
uint8_t i, offset;
uint8_t frameStatus = RX_FRAME_PENDING;
uint16_t chksum, rxsum;
if (!ibusFrameDone) {
return frameStatus;
@ -121,32 +164,30 @@ static uint8_t ibusFrameStatus(void)
ibusFrameDone = false;
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 = ibusChannelOffset; i < IBUS_MAX_CHANNEL; i++, offset += 2) {
ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
if (checksumIsOk()) {
if (ibusModel == IBUS_MODEL_IA6 || ibusSyncByte == 0x20) {
updateChannelData();
frameStatus = RX_FRAME_COMPLETE;
}
else
{
#if defined(TELEMETRY) && defined(TELEMETRY_IBUS)
rxBytesToIgnore = respondToIbusRequest(ibus);
#endif
}
frameStatus = RX_FRAME_COMPLETE;
}
return frameStatus;
}
static uint16_t ibusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
{
UNUSED(rxRuntimeConfig);
return ibusChannelData[chan];
}
bool ibusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
{
UNUSED(rxConfig);
@ -164,25 +205,29 @@ bool ibusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
}
#ifdef TELEMETRY
bool portShared = telemetryCheckRxPortShared(portConfig);
// bool portShared = telemetryCheckRxPortShared(portConfig);
bool portShared = isSerialPortShared(portConfig, FUNCTION_RX_SERIAL, FUNCTION_TELEMETRY_IBUS);
#else
bool portShared = false;
#endif
rxBytesToIgnore = 0;
serialPort_t *ibusPort = openSerialPort(portConfig->identifier,
FUNCTION_RX_SERIAL,
ibusDataReceive,
IBUS_BAUDRATE,
portShared ? MODE_RXTX : MODE_RX,
SERIAL_NOT_INVERTED | (rxConfig->halfDuplex ? SERIAL_BIDIR : 0)
SERIAL_NOT_INVERTED | (rxConfig->halfDuplex || portShared ? SERIAL_BIDIR : 0)
);
#ifdef TELEMETRY
#if defined(TELEMETRY) && defined(TELEMETRY_IBUS)
if (portShared) {
telemetrySharedPort = ibusPort;
}
initSharedIbusTelemetry(ibusPort);
}
#endif
return ibusPort != NULL;
}
#endif
#endif //SERIAL_RX