LP-117 FRsky SPort: modifications to compile with current "next"

flight/libraries/frsky_packing.c

@@ -216,6 +216,7 @@ bool frsky_encode_t1(struct frsky_settings *frsky, uint32_t *value, bool test_pr
         t1 = 300;
         break;
     case GPSPOSITIONSENSOR_STATUS_FIX3D:
+    case GPSPOSITIONSENSOR_STATUS_FIX3DDGNSS:
         if (hl_set == HOMELOCATION_SET_TRUE) {
             t1 = 500;
         } else {

flight/modules/UAVOFrSKYSPortBridge/UAVOFrSKYSPortBridge.c

@@ -1,12 +1,13 @@
 /**
  ******************************************************************************
- * @addtogroup TauLabsModules TauLabs Modules
+ * @addtogroup OpenPilotModules OpenPilot Modules
  * @{
  * @addtogroup UAVOFrSKYSPortBridge UAVO to FrSKY S.PORT Bridge Module
  * @{
  *
  * @file       uavofrskysportbridge.c
- * @author     Tau Labs, http://taulabs.org, Copyright (C) 2014
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017-2019
+ *             Tau Labs, http://taulabs.org, Copyright (C) 2014
  * @brief      Bridges selected UAVObjects to FrSKY Smart Port bus
  *
  * Since there is no public documentation of SmartPort protocol available,
@@ -35,6 +36,8 @@
 
 #include "frsky_packing.h"
 
+#include "pios_board_io.h"
+
 #include "barosensor.h"
 #include "flightbatterysettings.h"
 #include "flightbatterystate.h"
@@ -277,7 +280,12 @@ static int32_t uavoFrSKYSPortBridgeInitialize(void)
             frsky->last_poll_time = PIOS_DELAY_GetuS();
             frsky->scheduled_item = -1;
             frsky->com   = PIOS_COM_FRSKY_SPORT;
-            frsky->ignore_echo = true; // This has to be true when RX & TX hw serial lines are connected. Otherwise false.
+            frsky->ignore_echo = true; // This has to be true when RX & TX hw serial lines are connected. Otherwise false. (enforced below by setting half duplex. this makes internal connection between rx and tx
+            // connect TX pin of flight controller to UNINVERTED SPort
+            // (F4 based controllers do not have TX inversion capability.
+            // Use external inverter or solder to uninverted receiver pin)
+            // TODO: Add code/PIOS driver to enable inversion for F3 based convertes
+            // TODO: implement FPORT driver
             frsky->schedule_nr = 1;
 
             uint8_t i;
@@ -290,6 +298,9 @@ static int32_t uavoFrSKYSPortBridgeInitialize(void)
             FrSKYSPortTelemetrySettingsUpdatedCb(0);
 
             PIOS_COM_ChangeBaud(frsky->com, FRSKY_SPORT_BAUDRATE);
+            bool param = true;
+            PIOS_COM_Ioctl(frsky->com, PIOS_IOCTL_USART_SET_HALFDUPLEX, &param);
+
 
             return 0;
         }

flight/pios/common/pios_board_io.c

@@ -108,6 +108,10 @@ uint32_t pios_com_debug_id; /* DebugConsole */
 uint32_t pios_com_hott_id;
 #endif
 
+#ifdef PIOS_INCLUDE_FRSKY_SPORT
+uint32_t pios_com_frsky_sport_id;
+#endif
+
 #ifdef PIOS_INCLUDE_USB
 
 uint32_t pios_com_telem_usb_id; /* USB telemetry */
@@ -433,6 +437,13 @@ static const struct uart_function uart_function_map[] = {
         .rcvr_group  = MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS,
     },
 # endif /* PIOS_INCLUDE_SBUS */
+# ifdef PIOS_INCLUDE_FRSKY_SPORT
+    [PIOS_BOARD_IO_UART_FRSKY_SPORT] =       {
+        .com_id         = &pios_com_frsky_sport_id,
+        .com_rx_buf_len = PIOS_COM_FRSKY_SPORT_RX_BUF_LEN,
+        .com_tx_buf_len = PIOS_COM_FRSKY_SPORT_TX_BUF_LEN,
+    },
+# endif
 #endif /* PIOS_INCLUDE_RCVR */
 };
 

flight/pios/inc/pios_board_io.h

@@ -173,16 +173,28 @@ extern uint32_t pios_com_frsky_sensorhub_id;
 # define PIOS_COM_FRSKY_SENSORHUB_TX_BUF_LEN 128
 #endif
 
+/* Frsky Sport */
+#ifdef PIOS_INCLUDE_FRSKY_SPORT
+extern uint32_t pios_com_frsky_sport_id;
+# define PIOS_COM_FRSKY_SPORT             (pios_com_frsky_sport_id)
+# ifndef PIOS_COM_FRSKY_SPORT_RX_BUF_LEN
+#  define PIOS_COM_FRSKY_SPORT_RX_BUF_LEN 16
+# endif
+# ifndef PIOS_COM_FRSKY_SPORT_TX_BUF_LEN
+#  define PIOS_COM_FRSKY_SPORT_TX_BUF_LEN 16
+# endif
+#endif
+
 /* USB VCP */
 extern uint32_t pios_com_vcp_id;
-#define PIOS_COM_VCP                         (pios_com_vcp_id)
+#define PIOS_COM_VCP                      (pios_com_vcp_id)
 
 
 #ifdef PIOS_INCLUDE_DEBUG_CONSOLE
 extern uint32_t pios_com_debug_id;
-#define PIOS_COM_DEBUG                       (pios_com_debug_id)
+#define PIOS_COM_DEBUG                    (pios_com_debug_id)
 #ifndef PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN
-# define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN    40
+# define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
 #endif
 #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
 
@@ -215,9 +227,9 @@ typedef enum {
     PIOS_BOARD_IO_UART_SRXL, /* rcvr */
     PIOS_BOARD_IO_UART_IBUS, /* rcvr */
     PIOS_BOARD_IO_UART_EXBUS, /* rcvr */
-// PIOS_BOARD_IO_UART_FRSKY_SPORT_TELEMETRY, /* com */
     PIOS_BOARD_IO_UART_HOTT_BRIDGE, /* com */
     PIOS_BOARD_IO_UART_FRSKY_SENSORHUB, /* com */
+    PIOS_BOARD_IO_UART_FRSKY_SPORT, /* com */
 } PIOS_BOARD_IO_UART_Function;
 
 

flight/targets/boards/revolution/firmware/inc/pios_config.h

@@ -162,6 +162,7 @@
 #define PIOS_INCLUDE_GPS_DJI_PARSER
 #define PIOS_GPS_SETS_HOMELOCATION
 #define PIOS_INCLUDE_FRSKY_SENSORHUB
+#define PIOS_INCLUDE_FRSKY_SPORT
 
 /* Stabilization options */
 #define PIOS_QUATERNION_STABILIZATION

flight/targets/boards/revolution/firmware/pios_board.c

@@ -75,6 +75,7 @@ static const PIOS_BOARD_IO_UART_Function flexiio_function_map[] = {
     [HWSETTINGS_RM_RCVRPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
     [HWSETTINGS_RM_RCVRPORT_FRSKYSENSORHUB]   = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
     [HWSETTINGS_RM_RCVRPORT_HOTTTELEMETRY]    = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
+    [HWSETTINGS_RM_RCVRPORT_FRSKYSPORT]       = PIOS_BOARD_IO_UART_FRSKY_SPORT,
 };
 
 static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
@@ -89,6 +90,7 @@ static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
     [HWSETTINGS_RM_MAINPORT_MAVLINK]        = PIOS_BOARD_IO_UART_MAVLINK,
     [HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
     [HWSETTINGS_RM_MAINPORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
+    [HWSETTINGS_RM_MAINPORT_FRSKYSPORT]     = PIOS_BOARD_IO_UART_FRSKY_SPORT,
 };
 
 static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
@@ -107,6 +109,7 @@ static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
     [HWSETTINGS_RM_FLEXIPORT_MAVLINK]        = PIOS_BOARD_IO_UART_MAVLINK,
     [HWSETTINGS_RM_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
     [HWSETTINGS_RM_FLEXIPORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
+    [HWSETTINGS_RM_FLEXIPORT_FRSKYSPORT]     = PIOS_BOARD_IO_UART_FRSKY_SPORT,
 };
 
 /**