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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
Download patch file Download diff file Expand all files Collapse all files

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

@ -523,7 +523,6 @@ 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

@ -429,10 +429,6 @@ static const char * const lookupTableSerialRX[] = {
};
#endif
static const char * const lookupTableIbusModel[] = {
"IA6B", "IA6"
};
static const char * const lookupTableGyroLpf[] = {
"OFF",
"188HZ",
@ -550,7 +546,6 @@ typedef enum {
#ifdef SERIAL_RX
TABLE_SERIAL_RX,
#endif
TABLE_IBUS_MODEL,
TABLE_GYRO_LPF,
TABLE_ACC_HARDWARE,
#ifdef BARO
@ -590,7 +585,6 @@ 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
@ -736,7 +730,6 @@ 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} },

48
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)
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;
@ -143,7 +156,6 @@ 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);

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

@ -112,7 +112,6 @@ 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