Added IBus to rcl gizmos

src/cfg/cfg.h

@@ -222,7 +222,7 @@ SOFTWARE.
   MF_PARAM( mag_lp,         1e10, float, 'f') /*Magnetometer Gyro Low Pass Filter cutoff frequency in Hz (default 1e10Hz, i.e. no filtering) */ \
 \
   /*RCL - Remote Control Link*/ \
-  MF_PARAM( rcl_gizmo,         0, int32_t, 'e', mf_NONE,mf_MAVLINK,mf_CRSF,mf_SBUS,mf_SBUS_NOT_INV,mf_DSM,mf_PPM) \
+  MF_PARAM( rcl_gizmo,         0, int32_t, 'e', mf_NONE,mf_MAVLINK,mf_CRSF,mf_SBUS,mf_SBUS_NOT_INV,mf_DSM,mf_PPM,mf_IBUS) \
   MF_PARAM( rcl_ser_bus,      -1, int32_t, 'i') \
   MF_PARAM( rcl_baud,          0, int32_t, 'i') \
   MF_PARAM( rcl_num_ch,        8, int32_t, 'i') /*max 20*/ \
@@ -250,12 +250,12 @@ namespace Cfg {
   #define MF_PARAM(name, defval, datatype, type, ...) + 1
     const uint16_t param_cnt = 0 MF_PARAM_LIST ;
   #undef MF_PARAM
-  
+
   //enums for madflight library parameters, generated from MF_PARAM_LIST
   #define MF_PARAM(name, defval, datatype, type, ...) enum class name##_enum { __VA_ARGS__ };
     MF_PARAM_LIST
   #undef MF_PARAM
-  
+
   //list of parameters (generate from MF_PARAM_LIST)
   #define MF_PARAM(name, defval, datatype, type, ...) {#name, defval, type, #__VA_ARGS__},
     struct param_list_t {

src/rcl/RclGizmoIbus.h

@@ -0,0 +1,40 @@
+#pragma once
+
+#include "../hal/MF_Serial.h"
+#include "../hal/hal.h"
+#include "rcl.h"
+#include "ibus/IBus.h"
+
+class RclGizmoIbus : public RclGizmo {
+  private:
+    RclGizmoIbus(MF_Serial *ser_bus) : ser_bus(ser_bus) {}
+    IBus ibus;
+    MF_Serial *ser_bus;
+    uint16_t *pwm;
+
+  public:
+    static RclGizmoIbus* create(int ser_bus_id, uint16_t *pwm, int baud) {
+      if(baud==0) baud = 115200;
+      MF_Serial* ser_bus = hal_get_ser_bus(ser_bus_id, baud);
+      if(!ser_bus) return nullptr;
+
+      auto gizmo = new RclGizmoIbus(ser_bus);
+      gizmo->ser_bus = ser_bus;
+      gizmo->pwm = pwm;
+      gizmo->ibus.begin(*ser_bus, IBus::NO_TIMER);
+      return gizmo;
+    }
+
+    int count = 0;
+    bool update() override {
+      ibus.process_events();
+      if (ibus.has_new_data()) {
+        for (uint8_t i=0; i<IBus::MAX_CHANNELS; i++) {
+          pwm[i] = ibus.get_channel_value(i);
+        }
+        count++;
+        return true;
+      }
+      return false;
+    }
+};