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

Browse source 
```
+---------+
| 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

91
src/test/unit/telemetry_ibus_unittest.cc
View file

@ -26,7 +26,7 @@ extern "C" {
#include "fc/rc_controls.h"
#include "telemetry/telemetry.h"
#include "telemetry/ibus.h"
#include "sensors/barometer.h"
#include "sensors/gyro.h"
#include "sensors/battery.h"
#include "scheduler/scheduler.h"
#include "fc/fc_tasks.h"
@ -39,11 +39,19 @@ extern "C" {
extern "C" {
uint8_t batteryCellCount = 3;
int16_t rcCommand[4] = {0, 0, 0, 0};
int16_t telemTemperature1 = 0;
baro_t baro = { .baroTemperature = 50 };
telemetryConfig_t telemetryConfig_System;
}
static int16_t gyroTemperature;
int16_t gyroGetTemperature(void) {
return gyroTemperature;
}
static uint16_t vbat = 100;
uint16_t getVbat(void)
{
return vbat;
}
#define SERIAL_BUFFER_SIZE 256
@ -54,12 +62,6 @@ typedef struct serialPortStub_s {
} serialPortStub_t;
static uint16_t vbat = 100;
uint16_t getVbat(void)
{
return vbat;
}
static serialPortStub_t serialWriteStub;
static serialPortStub_t serialReadStub;
@ -72,6 +74,7 @@ serialPortConfig_t serialTestInstanceConfig = {
static serialPortConfig_t *findSerialPortConfig_stub_retval;
static portSharing_e determinePortSharing_stub_retval;
static bool portIsShared = false;
static bool openSerial_called = false;
static bool telemetryDetermineEnabledState_stub_retval;
@ -105,6 +108,17 @@ bool telemetryDetermineEnabledState(portSharing_e portSharing)
}
bool isSerialPortShared(const serialPortConfig_t *portConfig,
uint16_t functionMask,
serialPortFunction_e sharedWithFunction)
{
EXPECT_EQ(portConfig, findSerialPortConfig_stub_retval);
EXPECT_EQ(functionMask, FUNCTION_RX_SERIAL);
EXPECT_EQ(sharedWithFunction, FUNCTION_TELEMETRY_IBUS);
return portIsShared;
}
serialPortConfig_t *findSerialPortConfig(uint16_t mask)
{
EXPECT_EQ(mask, FUNCTION_TELEMETRY_IBUS);
@ -179,6 +193,7 @@ void serialTestResetBuffers()
void serialTestResetPort()
{
portIsShared = false;
openSerial_called = false;
determinePortSharing_stub_retval = PORTSHARING_UNUSED;
telemetryDetermineEnabledState_stub_retval = true;
@ -235,11 +250,31 @@ TEST_F(IbusTelemteryInitUnitTest, Test_IbusInitEnabled)
}
TEST_F(IbusTelemteryInitUnitTest, Test_IbusInitSerialRxAndTelemetryEnabled)
{
findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
//given stuff in serial read
serialReadStub.end++;
//and serial rx enabled too
portIsShared = true;
//when initializing and polling ibus
initIbusTelemetry();
checkIbusTelemetryState();
handleIbusTelemetry();
//then all is read from serial port
EXPECT_NE(serialReadStub.pos, serialReadStub.end);
EXPECT_FALSE(openSerial_called);
}
class IbusTelemetryProtocolUnitTestBase : public ::testing::Test
{
protected:
virtual void SetUp()
{
serialTestResetPort();
telemetryConfigMutable()->report_cell_voltage = false;
serialTestResetBuffers();
initIbusTelemetry();
@ -373,33 +408,20 @@ TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementVbattPackV
TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementTemperature)
{
#ifdef BARO
//Given ibus command: Sensor at address 2, please send your measurement
//then we respond
baro.baroTemperature = 50;
checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x95\x01\xc1\xFE", 6);
gyroTemperature = 50;
checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x84\x03\xd0\xfe", 6);
//Given ibus command: Sensor at address 2, please send your measurement
//then we respond
baro.baroTemperature = 59; //test integer rounding
checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x96\x01\xc0\xFE", 6);
gyroTemperature = 59; //test integer rounding
checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\xde\x03\x76\xfe", 6);
//Given ibus command: Sensor at address 2, please send your measurement
//then we respond
baro.baroTemperature = 150;
checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x9f\x01\xb7\xFE", 6);
#else
#error not tested, may be obsolete
// //Given ibus command: Sensor at address 2, please send your measurement
// //then we respond with: I'm reading 0 degrees + constant offset 0x190
// telemTemperature1 = 0;
// checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x90\x01\xC6\xFE", 6);
// //Given ibus command: Sensor at address 2, please send your measurement
// //then we respond with: I'm reading 100 degrees + constant offset 0x190
// telemTemperature1 = 100;
// checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\xF4\x01\x62\xFE", 6);
#endif
gyroTemperature = 150;
checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x6c\x07\xe4\xfe", 6);
}
@ -468,19 +490,12 @@ TEST_F(IbusTelemteryProtocolUnitTestDaisyChained, Test_IbusRespondToGetMeasureme
//then we respond with: I'm reading 0.1 volts
batteryCellCount = 1;
vbat = 10;
checkResponseToCommand("\x04\xA3\x58\xff", 4, "\x06\xA3\x64\x00\xf2\xFe", 6);
checkResponseToCommand("\x04\xA3\x58\xff", 4, "\x06\xA3\x64\x00\xf2\xfe", 6);
#ifdef BARO
//Given ibus command: Sensor at address 4, please send your measurement
//then we respond
baro.baroTemperature = 150;
checkResponseToCommand("\x04\xA4\x57\xff", 4, "\x06\xA4\x9f\x01\xb5\xFE", 6);
#else
//Given ibus command: Sensor at address 4, please send your measurement
//then we respond with: I'm reading 100 degrees + constant offset 0x190
telemTemperature1 = 100;
checkResponseToCommand("\x04\xA4\x57\xff", 4, "\x06\xA4\xF4\x01\x60\xFE", 6);
#endif
gyroTemperature = 150;
checkResponseToCommand("\x04\xA4\x57\xff", 4, "\x06\xA4\x6c\x07\xe2\xfe", 6);
//Given ibus command: Sensor at address 5, please send your measurement
//then we respond with: I'm reading 100 rpm