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add support for flysky and turnigy ibus receiver ia6 #1279

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merged 2 commits into from
Oct 14, 2016
Merged

add support for flysky and turnigy ibus receiver ia6 #1279

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82626de
add support for flysky and turnigy ibus receiver ia6
Aug 16, 2016
b51c9e0
Cherry pick d2d40ea8cf13d474b3fb64f946006b3b539c115e from atomiclama
invalid-email-address Oct 3, 2016
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57 changes: 45 additions & 12 deletions src/main/rx/ibus.c
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Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,20 @@
#include "rx/rx.h"
#include "rx/ibus.h"

#define IBUS_MAX_CHANNEL 10
#define IBUS_MAX_CHANNEL 14
#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

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];

Expand All @@ -61,6 +69,8 @@ bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
if (callback)
*callback = ibusReadRawRC;

ibusSyncByte = 0;

rxRuntimeConfig->channelCount = IBUS_MAX_CHANNEL;

serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
Expand Down Expand Up @@ -96,17 +106,36 @@ static void ibusDataReceive(uint16_t c)

ibusTime = micros();

if ((ibusTime - ibusTimeLast) > 3000)
if ((ibusTime - ibusTimeLast) > IBUS_FRAME_GAP)
ibusFramePosition = 0;

ibusTimeLast = ibusTime;

if (ibusFramePosition == 0 && c != IBUS_SYNCBYTE)
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;

if (ibusFramePosition == IBUS_BUFFSIZE - 1) {
if (ibusFramePosition == ibusFrameSize - 1) {
ibusFrameDone = true;
} else {
ibusFramePosition++;
Expand All @@ -125,14 +154,18 @@ uint8_t ibusFrameStatus(void)

ibusFrameDone = false;

chksum = 0xFFFF;
for (i = 0; i < 30; i++)
chksum -= ibus[i];

rxsum = ibus[30] + (ibus[31] << 8);
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];
}

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);
}
frameStatus = SERIAL_RX_FRAME_COMPLETE;
Expand Down