Merge pull request #12 from Candas1/master

Add FLYSKY IBUS protocol for RC remotes

Inc/config.h

@@ -10,6 +10,7 @@
   //#define VARIANT_USART3      // Variant for Serial control via USART3 input
   //#define VARIANT_NUNCHUCK    // Variant for Nunchuck controlled vehicle build
   //#define VARIANT_PPM         // Variant for RC-Remote with PPM-Sum Signal
+  //#define VARIANT_IBUS        // Variant for RC-Remotes with FLYSKY IBUS
   //#define VARIANT_HOVERCAR    // Variant for HOVERCAR build
   //#define VARIANT_TRANSPOTTER // Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng
 #endif
@@ -61,7 +62,7 @@
  * Then you can verify voltage on value 6 (to get calibrated voltage multiplied by 100).
  */
 #define BAT_FILT_COEF           655       // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
-#define BAT_CALIB_REAL_VOLTAGE  3970      // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
+#define BAT_CALIB_REAL_VOLTAGE  3970      // input voltage measured by multimeter (multiplied by 100). For example 43.00 V * 100 = 4300
 #define BAT_CALIB_ADC           1492      // adc-value measured by mainboard (value nr 5 on UART debug output)
 
 #define BAT_CELLS               10        // battery number of cells. Normal Hoverboard battery: 10s
@@ -133,6 +134,21 @@
   // #define DEBUG_SERIAL_USART3                        // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
 #endif
 
+// ###### CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL ######
+/* Connected to Left sensor board cable. Channel 1: steering, Channel 2: speed. */
+#ifdef VARIANT_IBUS     
+  #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
+
+  #undef  USART2_BAUD
+  #define USART2_BAUD         115200
+  #define CONTROL_SERIAL_USART2                         // left sensor board cable, disable if ADC or PPM is used!
+  #define FEEDBACK_SERIAL_USART2                        // left sensor board cable, disable if ADC or PPM is used!
+#endif
+
+
 #if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
   #define UART_DMA_CHANNEL DMA1_Channel7
 #endif
@@ -141,12 +157,12 @@
   #define UART_DMA_CHANNEL DMA1_Channel2
 #endif
 
-#ifdef VARIANT_PPM
 // ###### CONTROL VIA RC REMOTE ######
-// left sensor board cable. Channel 1: steering, Channel 2: speed.
+#ifdef VARIANT_PPM
-#define CONTROL_PPM                 // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
+  // left sensor board cable. Channel 1: steering, Channel 2: speed.
-#define PPM_NUM_CHANNELS 6          // total number of PPM channels to receive, even if they are not used.
+  #define CONTROL_PPM                 // use PPM-Sum as input. disable CONTROL_SERIAL_USART2!
-#endif 
+  #define PPM_NUM_CHANNELS 6          // total number of PPM channels to receive, even if they are not used.
+#endif
 
 // ###### CONTROL VIA TWO POTENTIOMETERS ######
 /* ADC-calibration to cover the full poti-range:
@@ -317,7 +333,7 @@
 
 // ############################### 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
 

README.md

@@ -156,10 +156,11 @@ Most robust way for input is to use the ADC and potis. It works well even on 1m
 This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) and / or [/Inc/config.h](/Inc/config.h)):
 - **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
 - **VARIANT_USART3**: In this variant the motors are controlled via serial protocol on USART3 right sensor cable (short wired). The commands can be sent from an Arduino. Check out the [hoverserial.ino](/02_Arduino/hoverserial) as an example sketch.
+- **VARIANT_NUNCHUCK**: Wii Nunchuck offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
+- **VARIANT_PPM**: This is when you want to use a RC remote control with PPM Sum signal
+- **VARIANT_IBUS**: This is when you want to use a RC remote control with Flysky IBUS protocol connected to the Left sensor cable.
 - **VARIANT_HOVERCAR**: In this variant the motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill.
 - **VARIANT_TRANSPOTTER**: This build is for transpotter which is a hoverboard based transportation system. For more details on how to build it check [here](https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter) and [here](https://hackaday.io/project/161891-transpotter-ng).
-- **VARIANT_NUNCHUCK**: Wii Nunchuck offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
-- **VARIANT_PPM**: This is when you want to use a RC remote control with PPM Sum singnal 
 
 Of course the firmware can be further customized for other needs or projects.
 

Src/control.c

@@ -112,8 +112,6 @@ void Nunchuck_Read(void) {
   HAL_Delay(3);
   if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 10) == HAL_OK) {
     timeout = 0;
-  } else {
-    timeout++;
   }
 
 #ifndef TRANSPOTTER

Src/main.c

@@ -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{
+  #ifdef CONTROL_IBUS
-  uint16_t  start;
+    static uint16_t ibus_chksum;
-  int16_t   steer;
+    static uint16_t ibus_captured_value[IBUS_NUM_CHANNELS];
-  int16_t   speed;
+    
-  uint16_t  checksum;
+    typedef struct{
-} Serialcommand;
+      uint8_t  start;
+      uint8_t  type; 
+      uint8_t  channels[IBUS_NUM_CHANNELS*2];
+      uint8_t  checksuml;
+      uint8_t  checksumh;    
+    } Serialcommand;
+  #else
+    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
@@ -132,7 +145,6 @@ typedef struct{
 } SerialFeedback;
 static SerialFeedback Feedback;
 #endif
-static uint8_t serialSendCnt;           // serial send counter
 
 #if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
 static uint8_t button1, button2;
@@ -168,6 +180,7 @@ extern volatile uint32_t timeout;       // global variable for timeout
 extern int16_t batVoltage;              // global variable for battery voltage
 
 static uint32_t inactivity_timeout_counter;
+static uint32_t main_loop_counter;
 
 extern uint8_t nunchuck_data[6];
 #ifdef CONTROL_PPM
@@ -510,35 +523,65 @@ 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
-        if (timeoutFlagSerial) {                      // Check for previous timeout flag  
+        ibus_chksum = 0xFFFF - IBUS_LENGTH - IBUS_COMMAND;
-          if (timeoutCntSerial-- <= 0)                // Timeout de-qualification
+        for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i++) {
-            timeoutFlagSerial   = 0;                  // Timeout flag cleared           
+          ibus_chksum -= command.channels[i];
+        }
+        if (command.start == IBUS_LENGTH && command.type == IBUS_COMMAND && ibus_chksum == (uint16_t)((command.checksumh << 8) + command.checksuml)) {
+          if (timeoutFlagSerial) {                      // Check for previous timeout flag  
+            if (timeoutCntSerial-- <= 0)                // Timeout de-qualification
+              timeoutFlagSerial = 0;                    // Timeout flag cleared           
+          } else {         
+            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, 0, INPUT_MAX); // 1000-2000 -> 0-1000
+            }
+            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);
+            command.start     = 0xFF;                   // Change the Start Frame for timeout detection in the next cycle
+            timeoutCntSerial  = 0;                      // Reset the timeout counter
+          }
         } else {
-          cmd1            = CLAMP((int16_t)command.steer, INPUT_MIN, INPUT_MAX);
+          if (timeoutCntSerial++ >= SERIAL_TIMEOUT) {   // Timeout qualification
-          cmd2            = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX);         
+            timeoutFlagSerial = 1;                      // Timeout detected
-          command.start   = 0xFFFF;                   // Change the Start Frame for timeout detection in the next cycle
+            timeoutCntSerial  = SERIAL_TIMEOUT;         // Limit timout counter value
-          timeoutCntSerial      = 0;                  // Reset the timeout counter         
+          }
+          // Check periodically the received Start Frame. If it is NOT OK, most probably we are out-of-sync. Try to re-sync by reseting the DMA
+          if (main_loop_counter % 25 == 0 && command.start != IBUS_LENGTH && command.start != 0xFF) {
+            HAL_UART_DMAStop(&huart);                
+            HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command));
+          }
+        }  
+      #else
+        if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) {
+          if (timeoutFlagSerial) {                      // Check for previous timeout flag  
+            if (timeoutCntSerial-- <= 0)                // Timeout de-qualification
+              timeoutFlagSerial = 0;                    // Timeout flag cleared           
+          } else {
+            cmd1              = CLAMP((int16_t)command.steer, INPUT_MIN, INPUT_MAX);
+            cmd2              = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX);
+            command.start     = 0xFFFF;                 // Change the Start Frame for timeout detection in the next cycle
+            timeoutCntSerial  = 0;                      // Reset the timeout counter         
+          }
+        } else {
+          if (timeoutCntSerial++ >= SERIAL_TIMEOUT) {   // Timeout qualification
+            timeoutFlagSerial = 1;                      // Timeout detected
+            timeoutCntSerial  = SERIAL_TIMEOUT;         // Limit timout counter value
+          }
+          // Check periodically the received Start Frame. If it is NOT OK, most probably we are out-of-sync. Try to re-sync by reseting the DMA
+          if (main_loop_counter % 25 == 0 && command.start != START_FRAME && command.start != 0xFFFF) {
+            HAL_UART_DMAStop(&huart);                
+            HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command));
+          }
         }
-      } else {
+      #endif     
-        if (timeoutCntSerial++ >= SERIAL_TIMEOUT) {   // Timeout qualification
-          timeoutFlagSerial     = 1;                  // Timeout detected
-          timeoutCntSerial      = SERIAL_TIMEOUT;     // Limit timout counter value
-        }
-        // Check the received Start Frame. If it is NOT OK, most probably we are out-of-sync.
-        // Try to re-sync by reseting the DMA
-        if (command.start != START_FRAME && command.start != 0xFFFF) {
-          HAL_UART_DMAStop(&huart);                
-          HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command));
-        }
-      }       
 
-      if (timeoutFlagSerial) {                        // In case of timeout bring the system to a Safe State
+      if (timeoutFlagSerial) {                          // In case of timeout bring the system to a Safe State
-        ctrlModReq  = 0;                        // OPEN_MODE request. This will bring the motor power to 0 in a controlled way
+        ctrlModReq  = 0;                                // OPEN_MODE request. This will bring the motor power to 0 in a controlled way
         cmd1        = 0;
         cmd2        = 0;
       } else {
-        ctrlModReq  = ctrlModReqRaw;            // Follow the Mode request
+        ctrlModReq  = ctrlModReqRaw;                    // Follow the Mode request
       }
       timeout = 0;
 
@@ -717,9 +760,7 @@ int main(void) {
     board_temp_adcFilt  = (int16_t)(board_temp_adcFixdt >> 20);  // convert fixed-point to integer
     board_temp_deg_c    = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C;
 
-    serialSendCnt++;              // Increment the counter
+    if (main_loop_counter % 25 == 0) {    // Send data periodically
-    if (serialSendCnt > 20) {     // Send data every 100 ms = 20 * 5 ms, where 5 ms is approximately the main loop duration
-      serialSendCnt = 0;          // Reset the counter
 
       // ####### DEBUG SERIAL OUT #######
       #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
@@ -808,6 +849,9 @@ int main(void) {
     if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) {  // rest of main loop needs maybe 1ms
       poweroff();
     }
+
+    main_loop_counter++;
+    timeout++;
   }
 }
 
@@ -1011,4 +1055,4 @@ void SystemClock_Config(void) {
 
   /* SysTick_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
-}
+}

platformio.ini

@@ -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
 ;================================================================
@@ -40,7 +41,7 @@ build_flags =
     -g -ggdb        ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
 #    -Wl,-lnosys
     -D VARIANT_ADC
-    -D PALTFORMIO
+    -D PLATFORMIO
 
 ;================================================================
 
@@ -65,7 +66,7 @@ build_flags =
     -g -ggdb        ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
 #    -Wl,-lnosys
     -D VARIANT_USART3
-    -D PALTFORMIO
+    -D PLATFORMIO
 
 ;================================================================
 
@@ -86,7 +87,7 @@ build_flags =
     -g -ggdb        ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
 #    -Wl,-lnosys
     -D VARIANT_NUNCHUCK
-    -D PALTFORMIO
+    -D PLATFORMIO
 
 ;================================================================
 
@@ -107,7 +108,28 @@ build_flags =
     -g -ggdb        ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
 #    -Wl,-lnosys
     -D VARIANT_PPM
-    -D PALTFORMIO
+    -D PLATFORMIO
+
+;================================================================
+
+[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 PLATFORMIO
 
 ;================================================================
 
@@ -132,7 +154,7 @@ build_flags =
     -g -ggdb        ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
 #    -Wl,-lnosys
     -D VARIANT_HOVERCAR
-    -D PALTFORMIO
+    -D PLATFORMIO
 
 ;================================================================
 
@@ -153,6 +175,6 @@ build_flags =
     -g -ggdb        ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
 #    -Wl,-lnosys
     -D VARIANT_TRANSPOTTER
-    -D PALTFORMIO
+    -D PLATFORMIO
     
 ;================================================================