Add FLYSKY IBUS support
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Candas1
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27
Inc/config.h
27
Inc/config.h
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@ -133,6 +133,21 @@
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// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
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#endif
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#ifdef VARIANT_IBUS
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// ###### CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL ######
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// left sensor board cable. Channel 1: steering, Channel 2: speed.
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#define CONTROL_IBUS // use IBUS as input
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#define IBUS_NUM_CHANNELS 14 // total number of IBUS channels to receive, even if they are not used.
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#define IBUS_LENGTH 0x20
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#define IBUS_COMMAND 0x40
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#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
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#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#undef USART2_BAUD
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#define USART2_BAUD 115200
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#endif
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#if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
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#define UART_DMA_CHANNEL DMA1_Channel7
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#endif
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@ -142,11 +157,11 @@
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#endif
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#ifdef VARIANT_PPM
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// ###### CONTROL VIA RC REMOTE ######
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// left sensor board cable. Channel 1: steering, Channel 2: speed.
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#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
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#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
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#endif
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// ###### CONTROL VIA RC REMOTE ######
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// left sensor board cable. Channel 1: steering, Channel 2: speed.
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#define CONTROL_PPM // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
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#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
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#endif
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// ###### CONTROL VIA TWO POTENTIOMETERS ######
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/* ADC-calibration to cover the full poti-range:
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@ -317,7 +332,7 @@
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// ############################### VALIDATE SETTINGS ###############################
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#if !defined(VARIANT_ADC) && !defined(VARIANT_USART3) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUCK) && !defined(VARIANT_PPM)
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#if !defined(VARIANT_ADC) && !defined(VARIANT_USART3) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUCK) && !defined(VARIANT_PPM)&& !defined(VARIANT_IBUS)
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#error Variant not defined! Please check platformio.ini or Inc/config.h for available variants.
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#endif
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45
Src/main.c
45
Src/main.c
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@ -106,12 +106,25 @@ static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection
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static uint8_t timeoutFlagADC = 0; // Timeout Flag for for ADC Protection: 0 = OK, 1 = Problem detected (line disconnected or wrong ADC data)
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#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
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typedef struct{
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uint16_t start;
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int16_t steer;
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int16_t speed;
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uint16_t checksum;
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} Serialcommand;
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#ifdef CONTROL_IBUS
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static uint16_t ibus_chksum;
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static uint16_t ibus_captured_value[IBUS_NUM_CHANNELS];
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typedef struct{
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uint8_t start;
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uint8_t type;
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uint8_t channels[IBUS_NUM_CHANNELS*2];
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uint8_t checksuml;
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uint8_t checksumh;
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} Serialcommand;
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#elif
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typedef struct{
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uint16_t start;
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int16_t steer;
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int16_t speed;
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uint16_t checksum;
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} Serialcommand;
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#endif
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static volatile Serialcommand command;
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static int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
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#endif
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@ -510,13 +523,29 @@ int main(void) {
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#if defined CONTROL_SERIAL_USART2 || defined CONTROL_SERIAL_USART3
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// Handle received data validity, timeout and fix out-of-sync if necessary
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if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) {
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#ifdef CONTROL_IBUS
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ibus_chksum = 0xFFFF - IBUS_LENGTH - IBUS_COMMAND;
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i ++) {
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ibus_chksum -= command.channels[i];
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}
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if (command.start == IBUS_LENGTH && command.type == IBUS_COMMAND && ibus_chksum == ( command.checksumh << 8) + command.checksuml ) {
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#elif
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if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) {
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#endif
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if (timeoutFlagSerial) { // Check for previous timeout flag
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if (timeoutCntSerial-- <= 0) // Timeout de-qualification
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timeoutFlagSerial = 0; // Timeout flag cleared
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} else {
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#ifdef CONTROL_IBUS
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i +=2) {
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ibus_captured_value[(i/2)] = CLAMP( command.channels[i] + (command.channels[i+1] << 8) - 1000, INPUT_MIN, INPUT_MAX);
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}
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cmd1 = CLAMP((ibus_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
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cmd2 = CLAMP((ibus_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
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#elif
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cmd1 = CLAMP((int16_t)command.steer, INPUT_MIN, INPUT_MAX);
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cmd2 = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX);
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cmd2 = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX);
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#endif
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command.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
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timeoutCntSerial = 0; // Reset the timeout counter
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}
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@ -13,6 +13,7 @@ src_dir = Src
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;default_envs = VARIANT_USART3 ; Variant for Serial control via USART3 input
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;default_envs = VARIANT_NUNCHUCK ; Variant for Nunchuck controlled vehicle build
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;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
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;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS
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;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build
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;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
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;================================================================
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@ -111,6 +112,27 @@ build_flags =
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;================================================================
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[env:VARIANT_IBUS]
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platform = ststm32
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framework = stm32cube
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board = genericSTM32F103RC
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debug_tool = stlink
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upload_protocol = stlink
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build_flags =
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-I${PROJECT_DIR}/inc/
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_IBUS
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-D PALTFORMIO
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;================================================================
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[env:VARIANT_HOVERCAR]
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platform = ststm32
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framework = stm32cube
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