Does anyone have a hint as to how to get IBus working with a FlySky FS-i6X (FS-iA10B receiver) and an Arduino NANO RP2040 Connect using an IBus library?
With IBusBM, I get:
#include <IBusBM.h>
void setup() {}
void loop() {}
IBusBM Error:
'NRF_TIMER4' was not declared in this scope
if (NRF_TIMER4->EVENTS_COMPARE[0] == 1) {
^~~~~~~~~~
This code works to process IBus data from an RC receiver. There's no error checking though:
#include <string.h>
#define IBUS_BUFFSIZE 32
#define IBUS_MAXCHANNELS 10 // I am using only 10 channels because my TX (FlySky i6) supports max 10 channels
#include <Servo.h>
static uint8_t ibusIndex = 0;
static uint8_t ibus[IBUS_BUFFSIZE] = {0};
static uint16_t rcValue[IBUS_MAXCHANNELS];
static boolean rxFrameDone;
int ch_width_1;
int ch_width_2;
int ch_width_3;
int ch_width_4;
int ch_width_5;
int ch_width_6;
int ch_width_7;
int ch_width_8;
int ch_width_9;
int ch_width_10;
Servo ch1;
Servo ch2;
Servo ch3;
Servo ch4;
Servo ch5;
Servo ch6;
Servo ch7;
Servo ch8;
Servo ch9;
Servo ch10;
void setup()
{
Serial.begin(115200);
ch1.attach(2);
ch2.attach(3);
ch3.attach(4);
ch4.attach(5);
ch5.attach(6);
ch6.attach(7);
ch7.attach(8);
ch8.attach(9);
ch9.attach(10);
ch10.attach(11);
}
void loop()
{
readRx();
}
void readRx()
{
rxFrameDone = false;
if (Serial.available())
{
uint8_t val = Serial.read();
// Look for 0x2040 as start of packet
if (ibusIndex == 0 && val != 0x20)
{
ibusIndex = 0;
return;
}
if (ibusIndex == 1 && val != 0x40)
{
ibusIndex = 0;
return;
}
if (ibusIndex == IBUS_BUFFSIZE)
{
ibusIndex = 0;
int high=3;
int low=2;
for(int i=0;i<IBUS_MAXCHANNELS; i++)
{
rcValue[i] = (ibus[high] << 8) + ibus[low];
high += 2;
low += 2;
}
ch_width_1 = map(rcValue[0], 1000, 2000, 1000, 2000);
ch1.writeMicroseconds(ch_width_1);
//Serial.print(ch_width_1);
//Serial.print(" ");
ch_width_2 = map(rcValue[1], 1000, 2000, 1000, 2000);
ch2.writeMicroseconds(ch_width_2);
//Serial.print(ch_width_2);
//Serial.print(" ");
ch_width_3 = map(rcValue[2], 1000, 2000, 1000, 2000);
ch3.writeMicroseconds(ch_width_3);
//Serial.print(ch_width_3);
//Serial.print(" ");
ch_width_4 = map(rcValue[3], 1000, 2000, 1000, 2000);
ch4.writeMicroseconds(ch_width_4);
//Serial.print(ch_width_4);
//Serial.print(" ");
ch_width_5 = map(rcValue[4], 1000, 2000, 1000, 2000);
ch5.writeMicroseconds(ch_width_5);
//Serial.print(ch_width_5);
//Serial.print(" ");
ch_width_6 = map(rcValue[5], 1000, 2000, 1000, 2000);
ch6.writeMicroseconds(ch_width_6);
//Serial.print(ch_width_6);
//Serial.print(" ");
ch_width_7 = map(rcValue[6], 1000, 2000, 1000, 2000);
ch7.writeMicroseconds(ch_width_7);
//Serial.print(ch_width_7);
//Serial.print(" ");
ch_width_8 = map(rcValue[7], 1000, 2000, 1000, 2000);
ch8.writeMicroseconds(ch_width_8);
//Serial.print(ch_width_8);
//Serial.print(" ");
ch_width_9 = map(rcValue[8], 1000, 2000, 1000, 2000);
ch9.writeMicroseconds(ch_width_9);
//Serial.print(ch_width_9);
//Serial.print(" ");
ch_width_10 = map(rcValue[9], 1000, 2000, 1000, 2000);
ch10.writeMicroseconds(ch_width_10);
//Serial.print(ch_width_10);
//Serial.println(" ");
rxFrameDone = true;
return;
}
else
{
ibus[ibusIndex] = val;
ibusIndex++;
}
}
}
This library has some error checking, but I haven't tried it yet. Seems like it should work:
There's enough information there to get you started.
RC receivers usually put out 5 volts, so make sure to use a level converter to bring the signal down to 3.3 volts for the NANO RP2040 CONNECT.
Happy New Year!
Hi @jhaytera ,
I have some trouble to get this with my RPI Pico working.
I watched the whole video. I also "uncommented" the Serial.Print stuff.
So far, so good. But I don't know how to use this code on the RPI Pico.(Better: I get no output at the serial monitor)
I think I need to add a definiton for the RX Pin but I don't know how. I'll be very thankfull if you (or someone) could help me.
Thanks! Jakob
Edit: I disconnectet the pins before every upload.
From my knowledge, I don't know. I did a search and found this:
Seems like some good information there. Hope it helps.
And, welcome aboard! 
Big big Thanks for this 
. Btw this GitHub - VICLER/iBus: Arduino library for decoding iBus receiver signals small library worked also for me. But cause of an limit for new users, I wasn't able to write this as answer 
I'm incorporating 10 channel RC control for my robot and made a few changes to say the least. This should work for you. It's what I'm using. Just change your UART Serial communication initialization to a serial port that works with your board, and you should be good to go. The code below works with the Portenta H7. Cheers!
#include <Arduino.h>
//--put in seperate file--------------------------------------------------------
#define IBUS_BUFFSIZE 32
#define IBUS_MAXCHANNELS 10 // Supports 10 channel (FlySky i6)
static uint8_t ibusIndex = 0;
static uint8_t ibus[IBUS_BUFFSIZE] = {0};
static uint16_t rcValue[IBUS_MAXCHANNELS];
static boolean rxFrameDone;
//--Serial Comm Setup
UART myUART3(PJ_8, PJ_9, NC, NC);
void Setup_10CH_Receiver()
{
myUART3.begin(115200);
myUART3.setTimeout(10);
}
void read_10CH()
{
rxFrameDone = false;
while (myUART3.available()) {
uint8_t val = myUART3.read();
// Look for 0x2040 as start of packet
if (ibusIndex == 0 && val != 0x20)
{
ibusIndex = 0;
}
if (ibusIndex == 1 && val != 0x40)
{
ibusIndex = 0;
}
if (ibusIndex >= IBUS_BUFFSIZE)
{
int high=3;
int low=2;
for(uint8_t i=0;i<IBUS_MAXCHANNELS; i++)
{
uint16_t tmpValue = (ibus[high] << 8) + ibus[low];
if (tmpValue >= 1000 && tmpValue <= 2000)
{
rcValue[i] = tmpValue;
}
high += 2;
low += 2;
}
rxFrameDone = true;
ibusIndex = 0;
}
else
{
ibus[ibusIndex] = val;
ibusIndex++;
}
}
}
unsigned long delay_Check_10CH_Receiver = 0;
#define CHECK_10CH_RECEIVER_DELAY_MS 10
unsigned long check_10CH_Receiver = 0;
void Check_10CH_Receiver(unsigned long current_MS)
{
if (current_MS - check_10CH_Receiver > CHECK_10CH_RECEIVER_DELAY_MS) {
check_10CH_Receiver = current_MS;
delay_Check_10CH_Receiver = millis();
read_10CH();
delay_Check_10CH_Receiver = millis() - delay_Check_10CH_Receiver;
}
}
//--put in seperate file--------------------------------------------------------
unsigned long current_MS = 0;
#define TRANSMIT_DATA_DELAY_MS 10
unsigned long transmit_Data_MS = 0;
void setup() {
// pinMode(LEDR, OUTPUT);
// pinMode(LEDG, OUTPUT);
// pinMode(LEDB, OUTPUT);
// digitalWrite(LEDR, HIGH);
// digitalWrite(LEDG, HIGH);
// digitalWrite(LEDB, HIGH);
Serial.begin(1000000); //115200);
while (!Serial) delay(10);
Serial.println("Initializing 10Channel RX"); Serial.flush();
Setup_10CH_Receiver();
}
void loop() {
current_MS = millis();
Check_10CH_Receiver(current_MS);
if (current_MS - transmit_Data_MS >= TRANSMIT_DATA_DELAY_MS) {
transmit_Data_MS = current_MS;
Serial.print("10CH_RX " + String(delay_Check_10CH_Receiver) + "ms ");
for (byte rx_10CH_Channel = 0; rx_10CH_Channel < IBUS_MAXCHANNELS; rx_10CH_Channel++)
{
Serial.print("," + String(rcValue[rx_10CH_Channel]));
}
Serial.println("");
}
}
Big big Thanks for this. Btw this GitHub - VICLER/iBus: Arduino library for decoding iBus receiver signals small library worked also for me. But cause of an limit for new users, I wasn't able to write this earlier haha.
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