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Merge pull request #1279 from JeffyW/ibus

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add support for flysky and turnigy ibus receiver ia6
This commit is contained in:
J Blackman 2016-10-15 06:31:08 +11:00 • committed by GitHub
commit f68364fc33
1 changed files with 45 additions and 12 deletions
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57
src/main/rx/ibus.c
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@ -42,12 +42,20 @@
#include "rx/rx.h" #include "rx/rx.h"
#include "rx/ibus.h" #include "rx/ibus.h"
#define IBUS_MAX_CHANNEL 10 #define IBUS_MAX_CHANNEL 14
#define IBUS_BUFFSIZE 32 #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 #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 bool ibusFrameDone = false;
static uint32_t ibusChannelData[IBUS_MAX_CHANNEL]; static uint32_t ibusChannelData[IBUS_MAX_CHANNEL];
@ -61,6 +69,8 @@ bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
if (callback) if (callback)
*callback = ibusReadRawRC; *callback = ibusReadRawRC;
ibusSyncByte = 0;
rxRuntimeConfig->channelCount = IBUS_MAX_CHANNEL; rxRuntimeConfig->channelCount = IBUS_MAX_CHANNEL;
serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
@ -96,17 +106,36 @@ static void ibusDataReceive(uint16_t c)
ibusTime = micros(); ibusTime = micros();
if ((ibusTime - ibusTimeLast) > 3000) if ((ibusTime - ibusTimeLast) > IBUS_FRAME_GAP)
ibusFramePosition = 0; ibusFramePosition = 0;
ibusTimeLast = ibusTime; ibusTimeLast = ibusTime;
if (ibusFramePosition == 0 && c != IBUS_SYNCBYTE) if (ibusFramePosition == 0) {
return; 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; ibus[ibusFramePosition] = (uint8_t)c;
if (ibusFramePosition == IBUS_BUFFSIZE - 1) { if (ibusFramePosition == ibusFrameSize - 1) {
ibusFrameDone = true; ibusFrameDone = true;
} else { } else {
ibusFramePosition++; ibusFramePosition++;
@ -125,14 +154,18 @@ uint8_t ibusFrameStatus(void)
ibusFrameDone = false; ibusFrameDone = false;
chksum = 0xFFFF; chksum = ibusChecksum;
for (i = 0; i < 30; i++) rxsum = ibus[ibusFrameSize - 2] + (ibus[ibusFrameSize - 1] << 8);
chksum -= ibus[i]; if (ibusModel == IBUS_MODEL_IA6) {
for (i = 0, offset = ibusChannelOffset; i < IBUS_MAX_CHANNEL; i++, offset += 2)
rxsum = ibus[30] + (ibus[31] << 8); chksum += ibus[offset] + (ibus[offset + 1] << 8);
} else {
for (i = 0; i < 30; i++)
chksum -= ibus[i];
}
if (chksum == rxsum) { 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); ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
} }
frameStatus = SERIAL_RX_FRAME_COMPLETE; frameStatus = SERIAL_RX_FRAME_COMPLETE;