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Add FLYSKY IBUS support

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Candas1
2020-01-07 21:01:17 +01:00
parent bdb3b00a6d
commit faca885c9a
3 changed files with 80 additions and 14 deletions
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45
Src/main.c
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@@ -106,12 +106,25 @@ static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection
static uint8_t timeoutFlagADC = 0; // Timeout Flag for for ADC Protection: 0 = OK, 1 = Problem detected (line disconnected or wrong ADC data)
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
typedef struct{
uint16_t start;
int16_t steer;
int16_t speed;
uint16_t checksum;
} Serialcommand;
#ifdef CONTROL_IBUS
static uint16_t ibus_chksum;
static uint16_t ibus_captured_value[IBUS_NUM_CHANNELS];
typedef struct{
uint8_t start;
uint8_t type;
uint8_t channels[IBUS_NUM_CHANNELS*2];
uint8_t checksuml;
uint8_t checksumh;
} Serialcommand;
#elif
typedef struct{
uint16_t start;
int16_t steer;
int16_t speed;
uint16_t checksum;
} Serialcommand;
#endif
static volatile Serialcommand command;
static int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
#endif
@@ -510,13 +523,29 @@ int main(void) {
#if defined CONTROL_SERIAL_USART2 || defined CONTROL_SERIAL_USART3
// Handle received data validity, timeout and fix out-of-sync if necessary
if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) {
#ifdef CONTROL_IBUS
ibus_chksum = 0xFFFF - IBUS_LENGTH - IBUS_COMMAND;
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i ++) {
ibus_chksum -= command.channels[i];
}
if (command.start == IBUS_LENGTH && command.type == IBUS_COMMAND && ibus_chksum == ( command.checksumh << 8) + command.checksuml ) {
#elif
if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) {
#endif
if (timeoutFlagSerial) { // Check for previous timeout flag
if (timeoutCntSerial-- <= 0) // Timeout de-qualification
timeoutFlagSerial = 0; // Timeout flag cleared
} else {
#ifdef CONTROL_IBUS
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i +=2) {
ibus_captured_value[(i/2)] = CLAMP( command.channels[i] + (command.channels[i+1] << 8) - 1000, INPUT_MIN, INPUT_MAX);
}
cmd1 = CLAMP((ibus_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP((ibus_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
#elif
cmd1 = CLAMP((int16_t)command.steer, INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX);
cmd2 = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX);
#endif
command.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
timeoutCntSerial = 0; // Reset the timeout counter
}