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Add FLYSKY IBUS support

This commit is contained in:
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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25
Inc/config.h
View File

@ -133,6 +133,21 @@
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
#endif
#ifdef VARIANT_IBUS
// ###### CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL ######
// left sensor board cable. Channel 1: steering, Channel 2: speed.
#define CONTROL_IBUS // use IBUS as input
#define IBUS_NUM_CHANNELS 14 // total number of IBUS channels to receive, even if they are not used.
#define IBUS_LENGTH 0x20
#define IBUS_COMMAND 0x40
#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
#undef USART2_BAUD
#define USART2_BAUD 115200
#endif
#if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
#define UART_DMA_CHANNEL DMA1_Channel7
#endif
@ -142,10 +157,10 @@
#endif
#ifdef VARIANT_PPM
// ###### CONTROL VIA RC REMOTE ######
// left sensor board cable. Channel 1: steering, Channel 2: speed.
#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
// ###### CONTROL VIA RC REMOTE ######
// left sensor board cable. Channel 1: steering, Channel 2: speed.
#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
#endif
// ###### CONTROL VIA TWO POTENTIOMETERS ######
@ -317,7 +332,7 @@
// ############################### VALIDATE SETTINGS ###############################
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART3) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUCK) && !defined(VARIANT_PPM)
#if !defined(VARIANT_ADC) && !defined(VARIANT_USART3) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUCK) && !defined(VARIANT_PPM)&& !defined(VARIANT_IBUS)
#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
#endif

41
Src/main.c
View File

@ -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
#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);
#endif
command.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
timeoutCntSerial = 0; // Reset the timeout counter
}

22
platformio.ini
View File

@ -13,6 +13,7 @@ src_dir = Src
;default_envs = VARIANT_USART3 ; Variant for Serial control via USART3 input
;default_envs = VARIANT_NUNCHUCK ; Variant for Nunchuck controlled vehicle build
;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS
;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build
;default_envs = VARIANT_TRANSPOTTER ; Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
;================================================================
@ -111,6 +112,27 @@ build_flags =
;================================================================
[env:VARIANT_IBUS]
platform = ststm32
framework = stm32cube
board = genericSTM32F103RC
debug_tool = stlink
upload_protocol = stlink
build_flags =
-I${PROJECT_DIR}/inc/
-DUSE_HAL_DRIVER
-DSTM32F103xE
-Wl,-T./STM32F103RCTx_FLASH.ld
-Wl,-lc
-Wl,-lm
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
# -Wl,-lnosys
-D VARIANT_IBUS
-D PALTFORMIO
;================================================================
[env:VARIANT_HOVERCAR]
platform = ststm32
framework = stm32cube