Spektrum support for Revolution

flight/PiOS/Boards/STM32F4xx_Revolution.h

@@ -117,7 +117,7 @@ extern uint32_t pios_i2c_mag_adapter_id;
 //
 // See also pios_board.c
 //-------------------------
-#define PIOS_USART_MAX_DEVS             2
+#define PIOS_USART_MAX_DEVS             5
 
 //-------------------------
 // PIOS_COM
@@ -185,6 +185,12 @@ extern uint32_t pios_com_telem_usb_id;
 #define PIOS_SBUS_MAX_DEVS           1
 #define PIOS_SBUS_NUM_INPUTS         (16+2)
 
+//-------------------------
+// Receiver DSM input
+//-------------------------
+#define PIOS_DSM_MAX_DEVS			2
+#define PIOS_DSM_NUM_INPUTS			12
+
 //-------------------------
 // Servo outputs
 //-------------------------

flight/PiOS/STM32F4xx/pios_dsm.c

@@ -34,6 +34,10 @@
 
 #if defined(PIOS_INCLUDE_DSM)
 
+#if !defined(PIOS_INCLUDE_RTC)
+#error PIOS_INCLUDE_RTC must be used to use DSM
+#endif
+
 /* Forward Declarations */
 static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel);
 static uint16_t PIOS_DSM_RxInCallback(uint32_t context,
@@ -113,10 +117,8 @@ static void PIOS_DSM_Bind(struct pios_dsm_dev *dsm_dev, uint8_t bind)
 {
 	const struct pios_dsm_cfg *cfg = dsm_dev->cfg;
 
-	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitTypeDef GPIO_InitStructure = cfg->bind.init;
-	GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin;
+	GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
-	GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed;
-	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
 
 	/* just to limit bind pulses */
 	if (bind > 10)

flight/PiOS/STM32F4xx/pios_usart.c

@@ -74,14 +74,18 @@ static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev)
 	return (usart_dev->magic == PIOS_USART_DEV_MAGIC);
 }
 
-#if defined(PIOS_INCLUDE_FREERTOS) && 0
+#if defined(PIOS_INCLUDE_FREERTOS)
 static struct pios_usart_dev * PIOS_USART_alloc(void)
 {
 	struct pios_usart_dev * usart_dev;
 
-	usart_dev = (struct pios_usart_dev *)malloc(sizeof(*usart_dev));
+	usart_dev = (struct pios_usart_dev *)pvPortMalloc(sizeof(*usart_dev));
 	if (!usart_dev) return(NULL);
 
+	usart_dev->rx_in_cb = 0;
+	usart_dev->rx_in_context = 0;
+	usart_dev->tx_out_cb = 0;
+	usart_dev->tx_out_context = 0;
 	usart_dev->magic = PIOS_USART_DEV_MAGIC;
 	return(usart_dev);
 }
@@ -111,21 +115,47 @@ static struct pios_usart_dev * PIOS_USART_alloc(void)
  */
 static void PIOS_USART_generic_irq_handler(uint32_t usart_id);
 
-#define USART_HANDLER(_n)									\
+static uint32_t PIOS_USART_1_id;
-	static uint32_t PIOS_USART_ ## _n ## _id;				\
+void USART1_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_1_irq_handler")));
-	void USART ## _n ## _IRQHandler(void) __attribute__ ((alias ("PIOS_USART_" #_n "_irq_handler"))); \
+static void PIOS_USART_1_irq_handler (void)
-	static void PIOS_USART_ ## _n ## _irq_handler (void)	\
+{
-	{														\
+	PIOS_USART_generic_irq_handler (PIOS_USART_1_id);
-		PIOS_USART_generic_irq_handler (PIOS_USART_ ## _n ## _id); \
+}
-	}														\
-	struct hack
 
-USART_HANDLER(1);
+static uint32_t PIOS_USART_2_id;
-USART_HANDLER(2);
+void USART2_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_2_irq_handler")));
-USART_HANDLER(3);
+static void PIOS_USART_2_irq_handler (void)
-USART_HANDLER(4);
+{
-USART_HANDLER(5);
+	PIOS_USART_generic_irq_handler (PIOS_USART_2_id);
-USART_HANDLER(6);
+}
+
+static uint32_t PIOS_USART_3_id;
+void USART3_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_3_irq_handler")));
+static void PIOS_USART_3_irq_handler (void)
+{
+	PIOS_USART_generic_irq_handler (PIOS_USART_3_id);
+}
+
+static uint32_t PIOS_USART_4_id;
+void USART4_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_4_irq_handler")));
+static void PIOS_USART_4_irq_handler (void)
+{
+	PIOS_USART_generic_irq_handler (PIOS_USART_4_id);
+}
+
+static uint32_t PIOS_USART_5_id;
+void USART5_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_5_irq_handler")));
+static void PIOS_USART_5_irq_handler (void)
+{
+	PIOS_USART_generic_irq_handler (PIOS_USART_5_id);
+}
+
+static uint32_t PIOS_USART_6_id;
+void USART6_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_6_irq_handler")));
+static void PIOS_USART_6_irq_handler (void)
+{
+	PIOS_USART_generic_irq_handler (PIOS_USART_6_id);
+}
 
 /**
 * Initialise a single USART device
@@ -185,6 +215,8 @@ int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
 		break;
 	}
 	NVIC_Init((NVIC_InitTypeDef *)&(usart_dev->cfg->irq.init));
+	USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
+	USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE,  ENABLE);
 
 	// FIXME XXX Clear / reset uart here - sends NUL char else
 

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -3340,6 +3340,7 @@
 		65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; };
 		65FAB8FC1480DA19000FF8B2 /* pios_dsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_dsm.c; sourceTree = "<group>"; };
 		65FAB8FD1480DA19000FF8B2 /* pios_pwm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_pwm.c; sourceTree = "<group>"; };
+		65FAB8FE1481A5C5000FF8B2 /* pios_rtc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rtc.c; sourceTree = "<group>"; };
 		65FBE14412E7C98100176B5A /* pios_servo_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_servo_priv.h; sourceTree = "<group>"; };
 		65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
 		65FC66AB123F312A00B04F74 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
@@ -3862,8 +3863,6 @@
 		65904E5D14613B6100FD9482 /* STM32F4xx */ = {
 			isa = PBXGroup;
 			children = (
-				65FAB8FC1480DA19000FF8B2 /* pios_dsm.c */,
-				65FAB8FD1480DA19000FF8B2 /* pios_pwm.c */,
 				65904E5E14613B6100FD9482 /* inc */,
 				65904E6214613B6100FD9482 /* Libraries */,
 				65904EC114613B6100FD9482 /* library.mk */,
@@ -3875,6 +3874,7 @@
 				65904EC714613B6100FD9482 /* pios_bmp085.c */,
 				65904EC814613B6100FD9482 /* pios_debug.c */,
 				65904EC914613B6100FD9482 /* pios_delay.c */,
+				65FAB8FC1480DA19000FF8B2 /* pios_dsm.c */,
 				65904ECA14613B6100FD9482 /* pios_exti.c */,
 				65904ECB14613B6100FD9482 /* pios_gpio.c */,
 				65904ECC14613B6100FD9482 /* pios_hmc5883.c */,
@@ -3886,6 +3886,8 @@
 				6534B5581474F7B1003DF47C /* pios_mpu6000.c */,
 				65FA9B7A14709E700019A260 /* pios_mpu6050.c */,
 				65904ED214613B6100FD9482 /* pios_ppm.c */,
+				65FAB8FD1480DA19000FF8B2 /* pios_pwm.c */,
+				65FAB8FE1481A5C5000FF8B2 /* pios_rtc.c */,
 				65904ED314613B6100FD9482 /* pios_servo.c */,
 				65904ED414613B6100FD9482 /* pios_spi.c */,
 				65904ED514613B6100FD9482 /* pios_sys.c */,

flight/Revolution/System/pios_board.c

@@ -517,8 +517,7 @@ static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
  */
 static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
 	.regs = USART6,
-	.regs = USART1,
+	.remap = GPIO_AF_USART6,
-	.remap = GPIO_AF_USART1,
 	.init = {
 		.USART_BaudRate = 57600,
 		.USART_WordLength = USART_WordLength_8b,
@@ -530,12 +529,64 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
 	},
 	.irq = {
 		.init = {
-			.NVIC_IRQChannel = USART1_IRQn,
+			.NVIC_IRQChannel = USART6_IRQn,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority = 0,
 			.NVIC_IRQChannelCmd = ENABLE,
 		},
 	},
+	.rx = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_7,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_6,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
+#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
+
+#endif /* PIOS_COM_TELEM */
+
+#if defined(PIOS_INCLUDE_DSM)
+/*
+ * Spektrum/JR DSM USART
+ */
+#include <pios_dsm_priv.h>
+
+static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
+	.regs = USART1,
+	.remap = GPIO_AF_USART1,
+	.init = {
+		.USART_BaudRate            = 115200,
+		.USART_WordLength          = USART_WordLength_8b,
+		.USART_Parity              = USART_Parity_No,
+		.USART_StopBits            = USART_StopBits_1,
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+		.USART_Mode                = USART_Mode_Rx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = USART1_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
 	.rx = {
 		.gpio = GPIOA,
 		.init = {
@@ -558,10 +609,76 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
 	},
 };
 
-#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
+static const struct pios_dsm_cfg pios_dsm_main_cfg = {
-#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
+	.bind = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_NOPULL
+		},
+	},
+};
 
-#endif /* PIOS_COM_TELEM */
+
+static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
+	.regs = USART3,
+	.remap = GPIO_AF_USART3,
+	.init = {
+		.USART_BaudRate            = 115200,
+		.USART_WordLength          = USART_WordLength_8b,
+		.USART_Parity              = USART_Parity_No,
+		.USART_StopBits            = USART_StopBits_1,
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+		.USART_Mode                = USART_Mode_Rx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = USART3_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.rx = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+	.tx = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_UP
+		},
+	},
+};
+
+static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
+	.bind = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd  = GPIO_PuPd_NOPULL
+		},
+	},
+};
+
+
+#endif	/* PIOS_INCLUDE_DSM */
 
 
 #if defined(PIOS_INCLUDE_COM)
@@ -1388,10 +1505,6 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
  * initializes all the core subsystems on this specific hardware
  * called from System/openpilot.c
  */
-int32_t test_val;
-uint8_t buf[4];
-uint8_t rec[4];
-struct pios_mpu6000_data test_gyro_data;
 void PIOS_Board_Init(void) {
 	
 	/* Delay system */
@@ -1486,16 +1599,39 @@ void PIOS_Board_Init(void) {
 
 #endif	/* PIOS_INCLUDE_COM */
 	
+	// Set up spektrum receiver
+	enum pios_dsm_proto proto;
+	proto = PIOS_DSM_PROTO_DSM2;
 	
+	uint32_t pios_usart_dsm_id;
+	if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_main_cfg)) {
+		PIOS_Assert(0);
+	}
+
+	uint32_t pios_dsm_id;
+	if (PIOS_DSM_Init(&pios_dsm_id,
+					  &pios_dsm_main_cfg,
+					  &pios_usart_com_driver,
+					  pios_usart_dsm_id,
+					  proto, 0)) {
+		PIOS_Assert(0);
+	}
+	
+	uint32_t pios_dsm_rcvr_id;
+	if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
+		PIOS_Assert(0);
+	}
+	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
+
 	/* Set up the receiver port.  Later this should be optional */
-	uint32_t pios_pwm_id;
+	//uint32_t pios_pwm_id;
-	PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
+	//PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
 	
-	uint32_t pios_pwm_rcvr_id;
+	/*uint32_t pios_pwm_rcvr_id;
 	if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
 		PIOS_Assert(0);
 	}
-	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
+	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;*/
 
 	/* Set up the servo outputs */
 	PIOS_Servo_Init(&pios_servo_cfg);
@@ -1517,7 +1653,6 @@ void PIOS_Board_Init(void) {
 		PIOS_DEBUG_Assert(0);
 	}
 
-
 	PIOS_MPU6000_Attach(pios_spi_gyro_id);
 	PIOS_MPU6000_Init(&pios_mpu6000_cfg);
 
@@ -1525,9 +1660,6 @@ void PIOS_Board_Init(void) {
 	PIOS_BMA180_Init(&pios_bma180_cfg);
 
 	PIOS_HMC5883_Init(&pios_hmc5883_cfg);
-
-	
-
 }
 
 /**