diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index ee3deaf5c..d125e1cf6 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -921,6 +921,8 @@ void PIOS_Board_Init(void) { TaskMonitorInitialize(); /* Configure the main IO port */ + uint8_t hwsettings_DSMxBind; + HwSettingsDSMxBindGet(&hwsettings_DSMxBind); uint8_t hwsettings_cc_mainport; HwSettingsCC_MainPortGet(&hwsettings_cc_mainport); @@ -989,7 +991,7 @@ void PIOS_Board_Init(void) { } uint32_t pios_spektrum_id; - if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { + if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) { PIOS_Assert(0); } } @@ -1051,7 +1053,7 @@ void PIOS_Board_Init(void) { } uint32_t pios_spektrum_id; - if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { + if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) { PIOS_Assert(0); } } diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 4206d80d7..9c81b6131 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -58,7 +58,7 @@ uint8_t sync_of = 0; uint16_t supv_timer=0; static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id); -static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg); +static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind); static int32_t PIOS_SPEKTRUM_Decode(uint8_t b); static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield) @@ -84,11 +84,11 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint /** * Bind and Initialise Spektrum satellite receiver */ -int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind) +int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind) { // TODO: need setting flag for bind on next powerup if (bind) { - PIOS_SPEKTRUM_Bind(cfg); + PIOS_SPEKTRUM_Bind(cfg,bind); } (driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0); @@ -120,9 +120,10 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel) * \output true Successful bind * \output false Bind failed */ -static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) +static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind) { -#define BIND_PULSES 5 + /* just to limit bind pulses */ + bind=(bind<=10)?bind:10; GPIO_Init(cfg->bind.gpio, &cfg->bind.init); /* RX line, set high */ @@ -131,7 +132,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) /* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */ PIOS_DELAY_WaitmS(60); - for (int i = 0; i < BIND_PULSES ; i++) { + for (int i = 0; i < bind ; i++) { /* RX line, drive low for 120us */ GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); diff --git a/flight/PiOS/inc/pios_spektrum_priv.h b/flight/PiOS/inc/pios_spektrum_priv.h index 2d31a8027..ffd224e40 100644 --- a/flight/PiOS/inc/pios_spektrum_priv.h +++ b/flight/PiOS/inc/pios_spektrum_priv.h @@ -42,7 +42,7 @@ struct pios_spektrum_cfg { extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver; -extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind); +extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind); #endif /* PIOS_PWM_PRIV_H */ diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index a3494f820..d8facecd9 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -1,8 +1,9 @@ Selection of optional hardware configurations. - - + + +