Merge pull request #18 from Witty-Wizard/17-bug-incorrect-channel-dec…

…oding-in-ibus

[FIXED]: IBus decoding Bug

examples/atmel/ibus_basic/ibus_basic.ino

@@ -3,7 +3,7 @@
  */
 #include <SerialIO.h>
 
-crsf_channels_t channelData;
+ibus_channels_t channelData;
 
 ibus receiver(&Serial);
 

examples/espresiff/ibus_basic/ibus_basic.ino

@@ -4,7 +4,7 @@
 #include <SerialIO.h>
 #define RX_PIN 16
 
-crsf_channels_t channelData;
+ibus_channels_t channelData;
 
 ibus receiver(&Serial1,RX_PIN);
 

examples/espresiff/sbus_basic/sbus_basic.ino

@@ -4,7 +4,7 @@
 #include <SerialIO.h>
 #define RX_PIN 16
 
-crsf_channels_t channelData;
+sbus_channels_t channelData;
 
 sbus receiver(&Serial1,RX_PIN);
 

src/SerialIO.h

@@ -43,19 +43,8 @@ class SerialIO {
   */
   /**************************************************************************/
   virtual void processIncoming() = 0;
-  /**************************************************************************/
-  /*!
-      @brief Gives the decoded rc channels
-      @param  channelData
-              A pointer to a crsf_channels_t struct where the decoded channel
-     data will be stored.
-
-  */
-  /**************************************************************************/
-  virtual void getChannel(crsf_channels_t *channelData) = 0;
 
 protected:
-crsf_channels_t channelData;
   Stream
       *_rxPort; // Pointer to the hardware serial port used for communication.
   bool _headerDetected; // Flag indicating whether a header has been detected

src/crsf.h

@@ -16,6 +16,7 @@
  */
 class crsf : public SerialIO {
 private:
+  crsf_channels_t channelData;
   uint8_t _rxData[CRSF_MAX_PACKET_SIZE];
 
 public:
@@ -45,7 +46,7 @@ class crsf : public SerialIO {
    * @param channelData Pointer to a crsf_channels_t struct where the decoded
    * channel data will be stored.
    */
-  void getChannel(crsf_channels_t *channelData) override;
+  void getChannel(crsf_channels_t *channelData);
 
   uint8_t crc8(uint8_t *data, uint8_t len);
 };

src/ibus.cpp

@@ -43,7 +43,8 @@ void ibus::processIncoming() {
     }
   }
 
-  if (ibus::checkSum()) {
+  if (checkSum()) {
+    channelData.header = (_rxData[2] << 8) | _rxData[0];
     channelData.channel1 = (_rxData[3] << 8) | _rxData[2];
     channelData.channel2 = (_rxData[5] << 8) | _rxData[4];
     channelData.channel3 = (_rxData[7] << 8) | _rxData[6];
@@ -58,10 +59,11 @@ void ibus::processIncoming() {
     channelData.channel12 = (_rxData[25] << 8) | _rxData[24];
     channelData.channel13 = (_rxData[27] << 8) | _rxData[26];
     channelData.channel14 = (_rxData[29] << 8) | _rxData[28];
+    channelData.checksum = (_rxData[31] << 8) | _rxData[30];
   }
 }
 
-void ibus::getChannel(crsf_channels_t *channelData) {
+void ibus::getChannel(ibus_channels_t *channelData) {
   *channelData = this->channelData;
 }
 

src/ibus.h

@@ -14,11 +14,31 @@
 #define IBUS_HEADER1 0x20
 #define IBUS_HEADER2 0x40
 
+typedef struct ibus_channels_s {
+  unsigned header : 16;
+  unsigned channel1 : 16;
+  unsigned channel2 : 16;
+  unsigned channel3 : 16;
+  unsigned channel4 : 16;
+  unsigned channel5 : 16;
+  unsigned channel6 : 16;
+  unsigned channel7 : 16;
+  unsigned channel8 : 16;
+  unsigned channel9 : 16;
+  unsigned channel10 : 16;
+  unsigned channel11 : 16;
+  unsigned channel12 : 16;
+  unsigned channel13 : 16;
+  unsigned channel14 : 16;
+  unsigned checksum : 16;
+} PACKED ibus_channels_t;
+
 /**
  * @brief A class for handling IBUS protocol communication.
  */
 class ibus : public SerialIO {
 private:
+  ibus_channels_t channelData;
   uint8_t _rxData[IBUS_MAX_PACKET_SIZE]; ///< Buffer to store received IBUS data
   bool checkSum();
 
@@ -49,7 +69,7 @@ class ibus : public SerialIO {
    * @param channelData Pointer to a crsf_channels_t struct where the decoded
    * channel data will be stored.
    */
-  void getChannel(crsf_channels_t *channelData) override;
+  void getChannel(ibus_channels_t *channelData);
 };
 
 #endif // IBUS_H

src/sbus.cpp

@@ -43,9 +43,9 @@ void sbus::processIncoming() {
       _headerDetected = false;
     }
   }
-  memcpy(&channelData, _rxData + 1, sizeof(channelData));
+  memcpy(&channelData, _rxData, sizeof(channelData));
 }
 
-void sbus::getChannel(crsf_channels_t *channelData) {
+void sbus::getChannel(sbus_channels_t *channelData) {
   *channelData = this->channelData;
 }

src/sbus.h

@@ -14,11 +14,38 @@
 #define SBUS_BAUDRATE 100000    ///< SBUS baudrate
 #define SBUS_MAX_PACKET_SIZE 25 ///< SBUS packet length
 
+typedef struct sbus_channels_s {
+  unsigned header : 8;
+  unsigned channel1 : 11;
+  unsigned channel2 : 11;
+  unsigned channel3 : 11;
+  unsigned channel4 : 11;
+  unsigned channel5 : 11;
+  unsigned channel6 : 11;
+  unsigned channel7 : 11;
+  unsigned channel8 : 11;
+  unsigned channel9 : 11;
+  unsigned channel10 : 11;
+  unsigned channel11 : 11;
+  unsigned channel12 : 11;
+  unsigned channel13 : 11;
+  unsigned channel14 : 11;
+  unsigned channel15 : 11;
+  unsigned channel16 : 11;
+  unsigned dummy : 4;
+  unsigned failsafe : 1;
+  unsigned framelost : 1;
+  unsigned channel17 : 1;
+  unsigned channel18 : 1;
+  unsigned footer : 8;
+} PACKED sbus_channels_t;
+
 /**
  * @brief A class for handling SBUS protocol communication.
  */
 class sbus : public SerialIO {
 private:
+  sbus_channels_t channelData;
   uint8_t _rxData[SBUS_MAX_PACKET_SIZE];
 
 public:
@@ -48,7 +75,7 @@ class sbus : public SerialIO {
    * @param channelData Pointer to a crsf_channels_t struct where the decoded
    * channel data will be stored.
    */
-  void getChannel(crsf_channels_t *channelData) override;
+  void getChannel(sbus_channels_t *channelData);
 };
 
 #endif // SBUS_H