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mstrens / oXs_on_RP2040

version of openXsensor to be used on raspberry pi pico RP2040 (more protocols, more functionalities)
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PWM output with FS-IA6B I-BUS protocol #89

Closed aeropic closed 1 year ago

aeropic commented 1 year ago

Hi, I'm not sure how to set up the configuration of OxS RP2040 and FlySky FS-IA6B. I already made it work with telemetry configured on the left "SENS" port of the Rx connected to pin 0 of RP2040.

I connected the right port "SERVO" to pin 9 as PRImary input of RP2040.

Now, having set my TX (TX16S) in mode PWM+IBUS, I do not see any change in PWM outputs (C1=8) PWM remains at (881 (...0)) .

What am I doing wrong ? Has the RP2040 already been tested with this RX for servos functions ?

thanks Alain

mstrens commented 1 year ago

When IBUS protocol is selected, oXs expect:

Are you sure that your receiver is generating a Sbus signal? I do not have Flysky hardware so I can't test it. Normally Sbus decoding to PWM has been tested and works.

aeropic commented 1 year ago

Ah OK, more complex set up I thought :-) I'm not sure my FS-IA6B is able to generate SBUS even if the configuration of the TX (TX16S 4in1 module) allows to select either

I successfully hooked an arduino nano to the IBUS "servo" port of my RX with the TX set in IBUS too and was able to receive "IBUS servo packets" with a very simple code (I join it) 10CHReceiver.zip

aeropic commented 1 year ago

What is fun is that when setting my TX in PWM+SBUS instead of PWM+IBUS, the above arduino code is still working fine, I get the correct servo values following the sticks inputs...

mstrens commented 1 year ago

I had a short look at the arduino code and it seems that it decodes only Ibus rc channels. It does not have code to read Sbus signal. So if you still get correct servo values, it means that you receiver is not generating Sbus signal but still Ibus when you change the setting on the TX. I do not know why.

aeropic commented 1 year ago

That's weird indeed that the Rx does not outpu SBUS when the Tx is supposed to be configured in this mode.

Would it be difficult to port the arduino code to RP, I can debug ? I tried to open SBUS.cpp but I got quickly lost ;-)

pierrotm777 commented 1 year ago

Is it possible that the receiver don't invert the Sbus signal as frsky does it on it's receivers?

mstrens commented 1 year ago

If the Ibus arduino project (see above) decodes the signal, it means that the signal is not a Sbus signal (inverted or not). Sbus has many more differences compared to Ibus.

mstrens commented 1 year ago

Do you know if it is possible to get 2 Ibus signals (on 2 different pins) on a Flysky receiver. If so, I can keep TLM pin to manage telemetry and then use PRI pin to decode the Rc channels. This would require less changes.

Otherwise (if there is only one pin to manage Ibus on rx), I would have to change more code (using a logic like for Fbus (frsky) or Exbus (jeti).

I did not find on the web a full documentation about Ibus (combining Rc channels frames and telemetry frames). Do you know a link to such a doc.

pierrotm777 commented 1 year ago

I have a fs-ia6b, I shall try the Sbus output as soon as possible.

pierrotm777 commented 1 year ago

May be this lib? https://github.com/bmellink/IBusBM

aeropic commented 1 year ago

Do you know if it is possible to get 2 Ibus signals (on 2 different pins) on a Flysky receiver. If so, I can keep TLM pin to manage telemetry and then use PRI pin to decode the Rc channels. This would require less changes.

Yes sure, FS-IA6B or FS-IA10B Rx get two ports, one for telemetry sensors called "SENS", one for servos serial called "SERVO"

I did not find on the web a full documentation about Ibus (combining Rc channels frames and telemetry frames). Do you know a link to such a doc.

Same for me... But I found the arduino code which shows the serial protocol used for IBUS servo part and does not seem to much complex ! My feeling is that telemetry is clearly separated from servos but I'm not sure. I'm sure that :

FSIA6B

aeropic commented 1 year ago

In the library link found by Pierrot I read this : The TGY-IA6B has 2 iBUS pins: one for the servos (only output) and one for the sensors/telemetry (which uses a half-duplex protocol to switch between output and input to poll for sensor data).

This confirms that the 2 ports are available and that TLM and SERVO management are independant one of the other !

mstrens commented 1 year ago

I read it too now. I started writing some code to manage Rc channels form Ibus on a separate pin (so keeping telemetry on another pin)

aeropic commented 1 year ago

Whooahoo you're fast. Ready to test :-) Please keep me informed !

mstrens commented 1 year ago

I just put a version 2.6.2 on github in test branch. The signal on PRI pin is supposed to contains Rc channels. Telemetry is managed as before on TLM pin. I did not test it. If it does not work, I will have to add some debug messages

aeropic commented 1 year ago

You're very fast thanks for your support. I tested it and I have the feeling it's not (yet) working.

What I did:

Could it be a hardware issue ? Fried port on RP2040? (the Rx is OK and still working with arduino)

Note that when adding TLM=0 in the configuration I received a set of: sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error sbusQueue try add error

Version = 2.6.2 sbusQueue try add error Function Pin Change entering XXX=yyy (yyy=255 to disable) sbusQueue try add error sbusQueue try add error Primary channels input = 9 (PRI = 5, 9, 21, 25) sbusQueue try add error Secondary channels input = 255 (SEC = 1, 13, 17, 29) sbusQueue try add error sbusQueue try add error Telemetry . . . . . . . . = 0 (TLM = 0, 1, 2, ..., 29) sbusQueue try add error GPS Rx . . . . . . . . . = 255 (GPS_RX = 0, 1, 2, ..., 29) sbusQueue try add error GPS Tx . . . . . . . . . = 255 (GPS_TX = 0, 1, 2, ..., 29) sbusQueue try add error Sbus OUT . . . . . . . . = 255 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ...,

final config

Cmd to execute:

Version = 2.6.2 Function Pin Change entering XXX=yyy (yyy=255 to disable) Primary channels input = 9 (PRI = 5, 9, 21, 25) Secondary channels input = 255 (SEC = 1, 13, 17, 29) Telemetry . . . . . . . . = 0 (TLM = 0, 1, 2, ..., 29) GPS Rx . . . . . . . . . = 255 (GPS_RX = 0, 1, 2, ..., 29) GPS Tx . . . . . . . . . = 255 (GPS_TX = 0, 1, 2, ..., 29) Sbus OUT . . . . . . . . = 255 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ..., 29) SDA (I2C sensors) . . . . = 255 (SDA = 2, 6, 10, 14, 18, 22, 26) SCL (I2C sensors) . . . . = 255 (SCL = 3, 7, 11, 15, 19, 23, 27) PWM Channels 1, 2, 3 ,4 = 8 255 255 255 (C1 / C16= 0, 1, 2, ..., 15) PWM Channels 5, 6, 7 ,8 = 255 255 255 255 PWM Channels 9,10,11,12 = 255 255 255 255 PWM Channels 13,14,15,16 = 255 255 255 255 Voltage 1, 2, 3, 4 = 26 27 255 255 (V1 / V4 = 26, 27, 28, 29)

Protocol is ibus(Flysky) CRSF baudrate = 420000 Voltage parameters: Scales : 1.000000 , -15.150000 , 1.000000 , 1.000000 Offsets: 0.000000 , -38400.000000 , 0.000000 , 0.000000 No temperature sensors are connected on V3 and V4 RPM multiplier = 1.000000 Baro sensor is not detected Acc/Gyro is not detected Airspeed sensor is not detected No Vspeed compensation channel defined; oXs uses default settings First analog to digital sensor is not detected Second analog to digital sensor is not detected Foreseen GPS type is Ublox (configured by oXs) :GPS is not (yet) detected Led color is normal (not inverted) Failsafe type is HOLD

Config parameters are OK Press ? + Enter to get help about the commands

processing cmd

Cmd to execute: PWM PWM values us (sbus) 1... 8 881( 0) 881( 0) 881( 0) 881( 0) 881( 0) 881( 0) 881( 0) 881( 0) PWM values us (sbus) 9...16 881( 0) 881( 0) 881( 0) 881( 0) 881( 0) 881( 0) 881( 0) 881( 0)

mstrens commented 1 year ago

I do not see immediately the bug. I added some more debug messages. Please try version 2.6.3 to see the messages

aeropic commented 1 year ago

quite verbose :-)

I get this log

t= 5 get= 5 put= DC get= DC put= 5 get= 5 get= DC get= 5 get= DC put= DC get= 5 put= 5 get= DC get= 5 get= DC put= 43 get= 5 put= F3 get= 43 get= F3 put= 8020 put= 40 get= 8020 put= 5 get= 40 get= E8 get= 5 put= 5 get= E6 put= DC get= 5 get= DC get= 3 put= DC put= 5 get= DC get= 5 put= 5 get= C6 put= DC get= 5 put= 5 get= DC put= EE get= 5 get= EE get= 5 put= 3 get= DC get= 3 get= DC get= 5 put= DC put= 5 put= DC get= DC get= 5 put= DC get= DC get= 5 get= DC get= 5 get= DC get= 5 put= 5 get= DC put= 43 get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 put= 5 get= 8020 get= 40 put= 5 get= E8 get= 5 put= 3 get= E6 put= DC get= 5 put= 5 get= DC put= C6 get= 3 get= DC get= 5 put= DC get= C6 get= 5 put= EE get= DC put= 5 get= 5 get= EE put= 3 get= 5 put= DC get= DCput= 5

get= 3put= DC

get= DC put= 5 get= 5 put= DC get= DC put= 5 get= 5 get= DC get= 5 put= 5 get= DCput= DC

put= 5 get= 5put= DC

put= 5 get= DC get= 5 get= DC get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 put= 5 get= 40 get= E8 put= 5 get= 5 put= DC get= E6 get= 5 put= DC get= DC get= 3 get= DC get= 5 put= 5 get= C6 put= DC get= 5 put= 5 get= DC put= EE get= 5 put= 5 get= EE put= DC get= 5 get= DC get= 3 put= 5 get= DC get= 5 get= DC get= 5 get= DC get= 5 put= DC put= 5 get= DC get= 5 get= DC get= 5 get= DC put= 43 get= 5 put= F3 get= 43 get= F3 put= 8020 put= 40 put= E8 put= 5 get= 8020 get= 40 put= 5 get= E8 get= 5 put= 3 get= E6 put= DC get= 5 put= 5 get= DC put= C6 get= 3 put= 5 get= DC get= 5 get= C6 put= 5 get= 5 get= DC get= 5 get= EE get= 5 put= 3 get= DC get= 3 get= DC put= 5 get= 5 get= DCput= 5

put= DC get= 5 put= 5 put= DC get= DC put= 5 get= 5put= DC

get= DC put= 5 get= 5 put= DC get= DC get= 5 put= 43 get= DC get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 put= 5 get= 40 put= E6 get= E8 put= 5 get= 5 get= E6 get= 5 put= 3 get= DC put= DC get= 3 put= 5 get= DC put= C6 get= 5 get= C6 get= 5 put= DC get= DC put= 5 get= 5 put= EE put= 5 get= EE get= 5put= 3

get= DC get= 3 put= 5 get= DC put= DC get= 5 get= DC get= 5 put= DC put= 5 get= DC get= 5 get= DC put= DC get= 5 put= 5 get= DC get= 5 get= DC get= 5 put= 43 put= F3 get= 43 get= F3 put= 8020 put= 40 put= E8 put= 5 get= 8020 get= 40 put= E6 put= 5 get= E8 get= 5 get= E6 put= 3 get= 5 put= DC get= DC put= 5 get= 3 put= C6 get= DC put= 5 get= 5 get= C6 get= 5 put= 5 get= DC put= EE get= 5 put= 5 get= EE get= 5 get= DC get= 3 put= DC put= 5 get= DC put= DC get= 5 put= 5 get= DC put= DC get= 5 get= DC get= 5 get= DC put= 5 put= DC get= 5 get= DC get= 5 get= DC put= 5 put= 43 get= 5 put= F3 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 get= 40 get= E8 get= 5 put= 5 get= E6 put= DC get= 5 get= DC get= 3 put= DC put= 5 get= DC put= C6 get= 5 put= 5 get= C6 get= 5 get= DC put= 5 put= EE get= 5 put= 5 get= EE put= DC get= 5 put= 3 get= DC put= DC get= 3 put= 5 get= DC get= 5 get= DC put= 5 put= DC get= 5 put= 5 get= DC put= DC get= 5 put= 5 get= DC put= DC get= 5 put= 5 get= DC put= DC get= 5 put= 5 get= DC put= 43 get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 get= 40 get= E8 put= 5 get= 5 put= DC get= E6 put= 3 get= 5 get= DC put= 5 get= 3 get= DC get= 5 put= 5 get= C6 put= DC get= 5 put= 5 get= DC put= EE get= 5 get= EE put= DC get= 5 put= 3 get= DC get= 3 get= DC put= 5 put= DC get= 5 put= 5 get= DC put= DC get= 5 put= 5 get= DC get= 5 get= DC put= 5 put= DC get= 5 put= 5 get= DC get= 5 put= 5 get= DC put= 43 get= 5 put= F3 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 get= 40 get= E8 get= 5 get= E6 get= 5 get= DC get= 3 get= DC get= 5 get= C6 put= 5 put= DC get= 5 put= 5 get= DC get= 5 get= EEput= DC

get= 5 get= DC get= 3 get= DCput= DC

get= 5 get= DC get= 5 get= DC get= 5 put= DC put= 5 put= DC get= DC put= 5 get= 5 get= DC put= 5 get= 5 put= 43 get= DC get= 5 get= 43 get= F3 put= 8020 put= 40 get= 8020 get= 40 get= E8 put= E6 get= 5 get= E6 get= 5 put= DC get= DC get= 3 put= DC get= DC get= 5 get= C6 put= 5 put= DC put= 5 get= 5 put= EE get= DC get= 5 get= EE get= 5 get= DC get= 3 put= DC put= 5 put= DC get= DC put= 5 get= 5 put= DC get= DC get= 5 put= DC get= DC get= 5 get= DC get= 5 get= DC get= 5 get= DC put= 5 get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 put= 5 get= 40 put= E6 get= E8 put= 5 get= 5 put= DC get= E6 put= 3 get= 5 put= DC get= DC put= 5 get= 3 get= DC get= 5 put= 5 get= C6 put= DC get= 5 put= 5 get= DC get= 5 put= 5 get= EE put= DC get= 5 put= 3 get= DC get= 3 get= DC get= 5 get= DC put= 5 put= DC get= 5 get= DC get= 5 put= 5 get= DC get= 5 get= DC get= 5 get= DC get= 5 put= 43 put= F3 get= 43 get= F3 put= 8020 put= 40 get= 8020 get= 40 get= E8 put= E6 get= 5 put= 5 get= E6 get= 5 get= DC get= 3 put= DC get= DC get= 5 put= C6 get= C6 get= 5 get= DC get= 5 put= EE put= 5 get= EE get= 5 get= DC put= DC get= 3 put= 5 get= DC put= DC get= 5 put= 5 get= DC get= 5 get= DC put= 5 put= DC get= 5 get= DC put= DC get= 5 put= 5 get= DC get= 5 put= 5 get= DC get= 5 put= F3 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 get= 40 get= E8 put= 5 get= 5 put= DC get= E6 put= 3 get= 5 get= DC put= 5 get= 3 put= C6 get= DC get= 5 get= C6 get= 5 get= DC put= EE get= 5 put= 5 get= EE get= 5 get= DC get= 3 put= 5 get= DC put= DC get= 5 put= 5 get= DC put= DC get= 5 put= 5 get= DC get= 5 get= DC get= 5 put= DC put= 5 put= DC put= 5 get= DC put= 43 get= 5 get= DC get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 put= 5 get= 8020 put= E6 get= 40 put= 5 get= E8 get= 5 get= E6put= 3

get= 5 get= DC put= 5 get= 3 put= C6 get= DC get= 5 put= DC get= C6 put= 5 get= 5 get= DC get= 5 put= DC get= EE put= 3 get= 5 put= DC get= DC get= 3 put= DC get= DC get= 5 get= DC put= 5 get= 5 put= DC get= DC put= 5 get= 5 put= DC get= DC put= 5 get= 5 get= DC put= 5 get= 5 put= 43 get= DC get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 put= 5 get= 40 put= E6 get= E8 put= 5 get= 5 put= DC get= E6 get= 5 put= DC get= DC get= 3 get= DC get= 5 put= 5 get= C6 put= DC get= 5 put= 5 get= DC put= EE get= 5 get= EE put= DC get= 5 put= 3 get= DC get= 3 get= DC get= 5 put= DC put= 5 get= DC get= 5 get= DC get= 5 put= DC get= DC put= 5 get= 5 get= DC get= 5 get= DC get= 5 put= F3 get= 43 get= F3 put= 8020 put= 40 put= E8 put= 5 get= 8020 put= E6 get= 40 put= 5 get= E8 put= DC get= 5 put= 3 get= E6 put= DC get= 5 get= DC put= C6 get= 3 put= 5 get= DC get= 5 get= C6 put= 5 get= 5 put= EE get= DC put= 5 get= 5 get= EE get= 5 get= DC get= 3 get= DC get= 5 put= DC get= DC get= 5 get= DC put= DC get= 5 get= DC put= DC get= 5 get= DC get= 5 get= DC put= 5 put= 43 put= F3 get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 get= 40 get= E8 put= 5 get= 5 get= E6 put= 3 get= 5 put= DC get= DC put= 5 get= 3 put= C6 get= DC get= 5 get= C6 get= 5 put= 5 get= DC get= 5 put= 5 get= EE get= 5 get= DC put= 3 put= DC get= 3 get= DC get= 5 get= DC get= 5 put= 5 get= DC get= 5 put= 5 get= DC get= 5 get= DC put= 5 put= DC put= 5 get= 5 get= DC get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 get= 40 get= E8 put= 5 get= 5 put= DC get= E6 get= 5 put= DC get= DC get= 3 get= DC put= C6 get= 5 put= 5 get= C6 put= DC get= 5 get= DC get= 5 put= 5 get= EE put= DC put= 3 get= 5 get= DC get= 3 put= 5 get= DC put= DC get= 5 put= 5 get= DC get= 5 get= DC put= DC put= 5 get= 5 put= DC get= DC put= 5 get= 5 put= DC get= DC get= 5 put= 43 get= DC get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 put= 5 get= 40 put= E6 get= E8 get= 5 get= E6 get= 5 put= 3 get= DC put= DC get= 3 put= 5 get= DC get= 5 get= C6 put= 5 put= DC get= 5 put= 5 get= DCput= EE

get= 5 get= EE get= 5 get= DC get= 3 put= 5 get= DC put= DC get= 5 put= 5 get= DC get= 5 get= DC get= 5 get= DC put= 5 put= DC get= 5 get= DC put= DC get= 5 get= DC put= 43 get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 get= 40 get= E8 put= 5 get= 5 get= E6 get= 5 get= DC put= DC get= 3 put= 5 get= DC put= C6 get= 5 put= 5 get= C6 put= DC get= 5 put= 5 get= DC get= 5 get= EE get= 5 get= DC put= 3 put= DC get= 3 get= DC get= 5 get= DC put= DC get= 5 put= 5 get= DC put= DC get= 5 get= DC get= 5 get= DC put= 5 put= DC get= 5put= 5

put= 43 get= DCput= F3

get= 5 get= 43 get= F3 put= 8020 put= 40 put= E8 get= 8020 put= 5 get= 40 put= E6 get= E8 get= 5 get= E6 put= 3 get= 5 put= DC get= DC put= 5 get= 3 put= C6 get= DC get= 5 get= C6 put= DC get= 5 put= 5 get= DC get= 5 get= EE put= 5 put= DC get= 5put= 3

get= DC put= DC get= 3 get= DC get= 5 get= DC put= 5 put= DC get= 5 get= DC get= 5 put= 5 get= DC put= DC get= 5 put= 5 get= DC get= 5 get= DC get= 5 put= 43 put= F3 get= 43 get= F3 put= 8020 put= 40 get= 8020 get= 40 get= E8 put= E6 get= 5 put= 5 get= E6 put= DC get= 5 put= 3 get= DC put= DC get= 3 put= 5 get= DC put= C6 get= 5 put= 5 get= C6 get= 5 get= DC get= 5 put= EE put= 5 get= EE get= 5 put= 3 get= DC put= DC get= 3 put= 5 get= DC get= 5 get= DC put= 5 get= 5

mstrens commented 1 year ago

I put other messages (version 2.6.4) It is supposed to display the PWM values contained in the Rc channel frame

aeropic commented 1 year ago

weird, I do not get any log... Even after RETURN

Version = 2.6.4 Function Pin Change entering XXX=yyy (yyy=255 to disable) Primary channels input = 9 (PRI = 5, 9, 21, 25) Secondary channels input = 255 (SEC = 1, 13, 17, 29) Telemetry . . . . . . . . = 0 (TLM = 0, 1, 2, ..., 29) GPS Rx . . . . . . . . . = 255 (GPS_RX = 0, 1, 2, ..., 29) GPS Tx . . . . . . . . . = 255 (GPS_TX = 0, 1, 2, ..., 29) Sbus OUT . . . . . . . . = 255 (SBUS_OUT= 0, 1, 2, ..., 29) RPM . . . . . . . . . . = 255 (RPM = 0, 1, 2, ..., 29) SDA (I2C sensors) . . . . = 255 (SDA = 2, 6, 10, 14, 18, 22, 26) SCL (I2C sensors) . . . . = 255 (SCL = 3, 7, 11, 15, 19, 23, 27) PWM Channels 1, 2, 3 ,4 = 8 255 255 255 (C1 / C16= 0, 1, 2, ..., 15) PWM Channels 5, 6, 7 ,8 = 255 255 255 255 PWM Channels 9,10,11,12 = 255 255 255 255 PWM Channels 13,14,15,16 = 255 255 255 255 Voltage 1, 2, 3, 4 = 26 27 255 255 (V1 / V4 = 26, 27, 28, 29)

Protocol is ibus(Flysky) CRSF baudrate = 420000 Voltage parameters: Scales : 1.000000 , -15.150000 , 1.000000 , 1.000000 Offsets: 0.000000 , -38400.000000 , 0.000000 , 0.000000 No temperature sensors are connected on V3 and V4 RPM multiplier = 1.000000 Baro sensor is not detected Acc/Gyro is not detected Airspeed sensor is not detected No Vspeed compensation channel defined; oXs uses default settings First analog to digital sensor is not detected Second analog to digital sensor is not detected Foreseen GPS type is Ublox (configured by oXs) :GPS is not (yet) detected Led color is normal (not inverted) Failsafe type is HOLD

Config parameters are OK Press ? + Enter to get help about the commands

mstrens commented 1 year ago

I printed the message only if a check sum was OK I now made a version 2.6.5 where I print before checking the checksum. I hope it will help

aeropic commented 1 year ago

cool, frames are received. I placed logs into the txt file. I tried to move some sticks to see values changing... log.txt

aeropic commented 1 year ago

I've to stop now, resuming tomorrow !!!! Good night

aeropic commented 1 year ago

The checksum is indeed blocking the RcChannels decoding. I suppressed the checksum verification: // >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> if ( runningIbusFrame[1] = 0X40 ) // byte 1 must be 0X40 for a RC channel frame { ibusDecodeRcChannels(); } I made a test this morning and I get this : Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323 Frame= 20 40 e7 5 dc 5 dc 3 dc 5 c6 5 dc 5 e8 5 dc 3 dc 5 dc 5 dc 5 dc 5 dc 5 dc 5 54 f3 Rc= 1511 56325 1500 56325 988 56323 1500 50693 1478 56325 1500 59397 1512 56325 988 56323

one value over 2 seems reflecting a stick position, C1, ?? C2 ?? C3 ?? C4 ?? C5 ?? C6 ?? C7 ?? C8 ??

Sticks are well decoded neutral is around 1500, min value around 988 (see C8)

I hope this helps !

aeropic commented 1 year ago

Look it seems the other values (??) are just big endians reversed: 56325 = 0xDC05 while 0x5DC = 1500 ==> neutral value for other channels !!!!

Could it be that the checksum too is reversed ?

mstrens commented 1 year ago

No. I just forgot to increase low and high variable by 2 instead of 1 at each iteration. But there where another error. The loop must be 14X instead of 16X. I will soon put a new version. I make a kind of simulation first.

mstrens commented 1 year ago

I put version 2.6.6 on github (test branch) I think that it is OK at least up to the check about the checksum.

aeropic commented 1 year ago

Amazing: V266 is working perfectly (nearly) I get only 14 channels Rc= 1511 1500 1034 1500 1478 1500 1512 988 988 2011 1500 1500 1500 1500 Rc= 1511 1500 1034 1500 1478 1500 1512 988 988 2011 1500 1500 1500 1500 Rc= 1511 1500 1034 1500 1478 1500 1512 988 988 2011 1500 1500 1500 1500 Rc= 1511 1500 1034 1500 1478 1500 1512 988 988 2011 1500 1500 1500 1500

All of them working fine

mstrens commented 1 year ago

It is normal : the ibus frame contains only 14 channels. Do you get the PWM signal now? If so I can remove the last debug message.

aeropic commented 1 year ago

I get 14 PWM values Cmd to execute: PWM PWM values us (sbus) 1... 8 991( 177) 991( 177) 991( 177) 991( 177) 991( 177) 991( 177) 991( 177) 988( 172) PWM values us (sbus) 9...16 988( 172) 994( 182) 991( 177) 991( 177) 991( 177) 994( 181) 881( 0) 881( 0)

I plugged a servo did C1=8 as my servo pin is 8 and I don't see it moving even if the displayed values are OK.

I think you can remove the debug line, it will be easier to check the PWM

aeropic commented 1 year ago

I removed the debug print... the PWM channels don't change with stick motion. They are stuck to this :

Cmd to execute: PWM PWM values us (sbus) 1... 8 991( 177) 991( 177) 991( 177) 991( 177) 991( 177) 991( 177) 991( 177) 988( 172) PWM values us (sbus) 9...16 988( 172) 994( 182) 991( 177) 991( 177) 991( 177) 994( 181) 881( 0) 881( 0) processing cmd

Cmd to execute: PWM PWM values us (sbus) 1... 8 991( 177) 994( 182) 991( 177) 988( 172) 991( 177) 991( 177) 991( 177) 988( 172) PWM values us (sbus) 9...16 988( 172) 994( 182) 991( 177) 991( 177) 991( 177) 994( 181) 881( 0) 881( 0)

aeropic commented 1 year ago

If Idebug print ibusRCChannels // printf("%i ", (int) temp ); ibusRcChannels[i] = (uint16_t) ((((float) (temp - TO_PWM_MIN)) * ratioPwmToSbus)+0.5) + FROM_SBUS_MIN ; // convert in Sbus value 16 bits) printf("%i ", (int) ibusRcChannels[i] );

I get a very limited range from 172 to 182 for the full stick motion which is consistent with the values between () in the PWM command result. So the mechanics to trasfer Ibus to Sbus then PWM seems OK maybe the transfer function to convert in Sbus value 16bits ?

Rc= 177 177 182 177 177 177 177 182 172 182 177 177 177 182 Rc= 177 177 182 177 177 177 177 182 172 182 177 177 177 182 Rc= 177 177 182 177 177 177 177 182 172 182 177 177 177 182

mstrens commented 1 year ago

There is a typo fout in the way ratioPwmToSbus is calculated. There must be a - instead of a /. I will fix it in a few min

mstrens commented 1 year ago

version 2.6.7 is uploaded

aeropic commented 1 year ago

Yeah Michel you did it, the servo is moving ! Huge thanks

Please insert too the fix of negative currents in IBUS (if not already done) (see issue #88) so that we will get a perfect I-BUS version.

That's really great, you're awesome

mstrens commented 1 year ago

The change for the negative currents was already done. I now just added (for safety) some checks on the Rc channels PWM values received in ibus frame (in order to avoid dummy sbus values during the PWM to Sbus conversion)

aeropic commented 1 year ago

perfect ! I'll close both issues... thanks again