Added iBUS schematic

README.md

@@ -16,6 +16,7 @@ Table of Contents
 * [Example Variants ](#example-variants)
 * [Flashing](#flashing)
 * [3D Visualization Demo](#3d-visualization-demo)
+* [Wiring iBUS Receiver](#wiring-ibus-receiver)
 * [Contributions](#contributions)
 
 ---
@@ -49,8 +50,9 @@ For more details see the [MPU-6050 datasheet](/docs/1_MPU-6000-Datasheet.pdf) an
 ## Example Variants 
 
 This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) or [config.h](/Inc/config.h)):
-- **VARIANT_DEBUG**: In this variant the user can interact with sideboard by sending commands via a Serial Monitor to observe and check the capabilities of the sideboard.
-- **VARIANT_HOVERBOARD**: In this variant the sideboard is communicating with the mainboard of a hoverboard using the [FOC firmware repository](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC).
+- **VARIANT_DEBUG**: In this variant the user can interact with sideboard by sending commands via a Serial Monitor to observe and check the capabilities of the sideboard
+- **VARIANT_HOVERCAR**: This variant can be used for Hovercar build. An RC receiver with iBUS protocol can be connected to the AUX serial Rx pin (see [schematic](#wiring-ibus-receiver))
+- **VARIANT_HOVERBOARD**: In this variant the sideboard is communicating with the mainboard of a hoverboard using the [FOC firmware repository](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC)
 
 Of course the firmware can be further customized for other needs or projects.
 
@@ -103,6 +105,14 @@ By [converting Quaternions to Euler angles](https://en.wikipedia.org/wiki/Conver
 ![sketch_pic](/docs/pictures/sketch_processing_pic.png)
 
 
+---
+## Wiring iBUS Receiver
+
+An RC transmitter (Flysky [FS-i6S](https://www.banggood.com/custlink/3KvdPnfDPc) or [FS-i6X](https://www.banggood.com/custlink/KmDy5swKPD)) can be connected to the sideboard using an [FS-iA6B](https://www.banggood.com/custlink/KD3RFswKcT) receiver as shown in the following schematic:
+
+![wiring_iBUS_pic](/docs/pictures/wiring_ibus_rc.png)
+
+
 ---
 ## Contributions
 

Src/mpu6050.c

@@ -3720,19 +3720,19 @@ void mpu_print_to_console(void)
 {
 #ifdef SERIAL_DEBUG
     if (hal.report & PRINT_ACCEL) {
-        log_i( "Accel[XYZ]: %d %d %d\r\n", mpu.accel.x, mpu.accel.y, mpu.accel.z);
+        log_i( "accX:%d accY:%d accZ:%d\r\n", mpu.accel.x, mpu.accel.y, mpu.accel.z);
     }
     if (hal.report & PRINT_GYRO) {
-        log_i( "Gyro[XYZ]: %d %d %d\r\n", mpu.gyro.x, mpu.gyro.y, mpu.gyro.z);
+        log_i( "gyrX:%d gyrY:%d gyrZ:%d\r\n", mpu.gyro.x, mpu.gyro.y, mpu.gyro.z);
     }
     if (hal.report & PRINT_QUAT) {
-        log_i( "Quat[WXYZ]: %ld %ld %ld %ld\r\n", (long)mpu.quat.w, (long)mpu.quat.x, (long)mpu.quat.y, (long)mpu.quat.z);
+        log_i( "qW:%ld qX:%ld qY:%ld qZ:%ld\r\n", (long)mpu.quat.w, (long)mpu.quat.x, (long)mpu.quat.y, (long)mpu.quat.z);
     }
     if (hal.report & PRINT_EULER) {
-        log_i( "Euler[RPY]: %d %d %d\r\n", mpu.euler.roll, mpu.euler.pitch, mpu.euler.yaw);
+        log_i( "Roll:%d Pitch:%d Yaw:%d\r\n", mpu.euler.roll, mpu.euler.pitch, mpu.euler.yaw);
     }
     if (hal.report & PRINT_TEMP) {
-        log_i( "Temp: %d\r\n", mpu.temp);
+        log_i( "Temp:%d\r\n", mpu.temp);
     }
     if (hal.report & PRINT_PEDO) {
         unsigned long timestamp;

Src/util.c

@@ -110,6 +110,7 @@ volatile  int8_t    i2c_aux_nRABytes;
 #endif
 
 
+
 /* =========================== General Functions =========================== */
 
 void consoleLog(char *message)
@@ -182,10 +183,10 @@ void intro_demo_led(uint32_t tDelay)
 
 
 uint8_t switch_check(uint16_t ch, uint8_t type) {
-    if (type) { // 3 position switch
-        if      (ch > 850) return 2;    // switch in position 2
-        else if (ch > 250) return 1;    // switch in position 1
-        else               return 0;    // switch in position 0
+    if (type) { // 3 positions switch
+        if      (ch < 250) return 0;    // switch in position 0
+        else if (ch < 850) return 1;    // switch in position 1
+        else               return 2;    // switch in position 2
     } else {    // 2 positions switch
         return  (ch > 850);
     }
@@ -376,7 +377,7 @@ void handle_usart(void) {
 /*
  * Handle of the sideboard LEDs
  */
-void handle_leds(void){
+void handle_leds(void) {
     #ifdef SERIAL_FEEDBACK
         if (!timeoutFlagSerial1) {
             if (Feedback.cmdLed & LED1_SET) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); } else { gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); }
@@ -463,7 +464,7 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
  */
 #ifdef SERIAL_FEEDBACK
 void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out)
-{	
+{
     uint16_t checksum;
     if (Feedback_in->start == SERIAL_START_FRAME) {
         checksum = (uint16_t)(Feedback_in->start ^ Feedback_in->cmd1 ^ Feedback_in->cmd2 ^ Feedback_in->speedR_meas ^ Feedback_in->speedL_meas