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Cherry pick d2d40ea8cf13d474b3fb64f946006b3b539c115e from atomiclama

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Squashed commit of the following:
commit ba4ef96
Author: atomiclama <atomiclama@somewhere.com>
Date:   Mon Oct 3 10:45:24 2016 +0100

rebased

commit b8780a6
Author: atomiclama <atomiclama@somewhere.com>
Date:   Mon Oct 3 10:19:07 2016 +0100

comment added

commit 2a7144c
Author: atomiclama <atomiclama@somewhere.com>
Date:   Fri Sep 30 16:21:07 2016 +0100

fixed interframe value of 500us for both protocols.
Setup variables on first occurance of correct sync byte.

commit 4c3a503
Author: atomiclama <atomiclama@somewhere.com>
Date:   Fri Sep 30 13:09:20 2016 +0100

First working point for autodetect

commit d947e5d
Author: atomiclama <atomiclama@somewhere.com>
Date:   Wed Sep 28 09:20:58 2016 +0100

Merge remote-tracking branch 'androck/development' into
vtx-betaflight-dev

Reworked so that it's based on serial provider instead of the extra
config entry.
This saves space but requires a change in the configurator.
This commit is contained in:
atomiclama 2016-10-03 14:31:17 +01:00 • committed by Jeff Wight
parent 82626de33a
commit b51c9e0c03
4 changed files with 39 additions and 36 deletions
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66
src/main/rx/ibus.c
View file

@ -46,15 +46,15 @@
#define IBUS_BUFFSIZE 32
#define IBUS_MODEL_IA6B 0
#define IBUS_MODEL_IA6 1
#define IBUS_FRAME_GAP 500
#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 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];
@ -64,19 +64,13 @@ static uint16_t ibusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
if (rxConfig->ibus_model == IBUS_MODEL_IA6) {
ibusModel = 1;
ibusSyncByte = 0x55;
ibusFrameSize = 31;
ibusInterframeGap = 500;
ibusChecksum = 0x0000;
ibusChannelOffset = 1;
}
UNUSED(rxConfig);
if (callback)
*callback = ibusReadRawRC;
ibusSyncByte = 0;
rxRuntimeConfig->channelCount = IBUS_MAX_CHANNEL;
serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
@ -112,13 +106,32 @@ static void ibusDataReceive(uint16_t c)
ibusTime = micros();
if ((ibusTime - ibusTimeLast) > ibusInterframeGap)
if ((ibusTime - ibusTimeLast) > IBUS_FRAME_GAP)
ibusFramePosition = 0;
ibusTimeLast = ibusTime;
if (ibusFramePosition == 0 && c != ibusSyncByte)
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;
@ -143,20 +156,19 @@ uint8_t ibusFrameStatus(void)
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];
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);
}
frameStatus = SERIAL_RX_FRAME_COMPLETE;
ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
}
frameStatus = SERIAL_RX_FRAME_COMPLETE;
}
return frameStatus;