LP-72 get sbus and maybe ppm working on rcvr input

flight/targets/boards/sparky2/board_hw_defs.c

@@ -878,6 +878,49 @@ static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
     },
 };
 
+static const struct pios_usart_cfg pios_usart_sbus_rcvrport_cfg = {
+    .regs  = USART6,
+    .remap = GPIO_AF_USART6,
+    .init  = {
+        .USART_BaudRate   = 100000,
+        .USART_WordLength = USART_WordLength_8b,
+        .USART_Parity     = USART_Parity_Even,
+        .USART_StopBits   = USART_StopBits_2,
+        .USART_HardwareFlowControl             = USART_HardwareFlowControl_None,
+        .USART_Mode                            = USART_Mode_Rx,
+    },
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USART6_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+            .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
+        },
+    },
+#if 0
+    .tx                                        = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_9,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL
+        },
+    },
+#endif
+};
+
 #endif /* PIOS_INCLUDE_SBUS */
 
 // Need this defined regardless to be able to turn it off
@@ -886,7 +929,7 @@ static const struct pios_sbus_cfg pios_sbus_cfg = {
     .inv                = {
         .gpio = GPIOC,
         .init = {
-            .GPIO_Pin   = GPIO_Pin_0,
+            .GPIO_Pin   = GPIO_Pin_6,  // GPIO_Pin_6 Sparky2 has external inverter on PC6, Revo=PC0
             .GPIO_Speed = GPIO_Speed_2MHz,
             .GPIO_Mode  = GPIO_Mode_OUT,
             .GPIO_OType = GPIO_OType_PP,
@@ -1814,6 +1857,7 @@ const struct pios_servo_cfg pios_servo_cfg_out_in = {
 #if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
 #include <pios_pwm_priv.h>
 static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
+#if 0
     {
         .timer = TIM12,
         .timer_chan = TIM_Channel_1,
@@ -1910,8 +1954,29 @@ static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
         },
         .remap = GPIO_AF_TIM8,
     },
+#else
+    // Sparky2 has one pin from RC receiver input and this is it
+    // Sparky2 will not do PWM from RC receiver
+    {
+        .timer = TIM8,
+        .timer_chan = TIM_Channel_2,
+        .pin   = {
+            .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
+            },
+            .pin_source     = GPIO_PinSource7,
+        },
+        .remap = GPIO_AF_TIM8,
+    },
+#endif
 };
 
+#if 0
 const struct pios_pwm_cfg pios_pwm_cfg = {
     .tim_ic_init         = {
         .TIM_ICPolarity  = TIM_ICPolarity_Rising,
@@ -1933,6 +1998,7 @@ const struct pios_pwm_cfg pios_pwm_ppm_cfg = {
     .channels     = &pios_tim_rcvrport_all_channels[1],
     .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
 };
+#endif
 
 #endif /* if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) */
 

flight/targets/boards/sparky2/firmware/pios_board.c

@@ -313,20 +313,6 @@ static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm
     pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id;
 }
 
-static void PIOS_Board_configure_pwm(const struct pios_pwm_cfg *pwm_cfg)
-{
-    /* Set up the receiver port.  Later this should be optional */
-    uint32_t pios_pwm_id;
-
-    PIOS_PWM_Init(&pios_pwm_id, pwm_cfg);
-
-    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;
-}
-
 static void PIOS_Board_configure_ppm(const struct pios_ppm_cfg *ppm_cfg)
 {
     uint32_t pios_ppm_id;
@@ -678,6 +664,7 @@ void PIOS_Board_Init(void)
     HwSettingsRM_MainPortGet(&hwsettings_mainport);
     switch (hwsettings_mainport) {
     case HWSETTINGS_RM_MAINPORT_DISABLED:
+    case HWSETTINGS_RM_MAINPORT_SBUS:
         break;
     case HWSETTINGS_RM_MAINPORT_TELEMETRY:
         PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
@@ -685,27 +672,6 @@ void PIOS_Board_Init(void)
     case HWSETTINGS_RM_MAINPORT_GPS:
         PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
         break;
-    case HWSETTINGS_RM_MAINPORT_SBUS:
-#if defined(PIOS_INCLUDE_SBUS)
-        {
-            uint32_t pios_usart_sbus_id;
-            if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
-                PIOS_Assert(0);
-            }
-
-            uint32_t pios_sbus_id;
-            if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
-                PIOS_Assert(0);
-            }
-
-            uint32_t pios_sbus_rcvr_id;
-            if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
-                PIOS_Assert(0);
-            }
-            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
-        }
-#endif
-        break;
     case HWSETTINGS_RM_MAINPORT_DSM:
         // Force binding to zero on the main port
         hwsettings_DSMxBind = 0;
@@ -729,11 +695,6 @@ void PIOS_Board_Init(void)
         break;
     } /*        hwsettings_rm_mainport */
 
-    if (hwsettings_mainport != HWSETTINGS_RM_MAINPORT_SBUS) {
-        GPIO_Init(pios_sbus_cfg.inv.gpio, &pios_sbus_cfg.inv.init);
-        GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
-    }
-
 
     /* Initalize the RFM22B radio COM device. */
 #if defined(PIOS_INCLUDE_RFM22B)
@@ -855,53 +816,59 @@ void PIOS_Board_Init(void)
 #endif
 
     /* Configure the receiver port*/
+    // Revo Flex-IO Port Functions
+    // 1: GND
+    // 2: VCC_UNREG
+    // 3: PB12 = SPI2 NSS, CAN2 RX
+    // 4: PB13 = SPI2 SCK, CAN2 TX, USART3 CTS
+    // 5: PB14 = SPI2 MISO, TIM12 CH1, USART3 RTS
+    // 6: PB15 = SPI2 MOSI, TIM12 CH2
+    // 7: PC6 = TIM8 CH1, USART6 TX
+    // 8: PC7 = TIM8 CH2, USART6 RX
+    // 9: PC8 = TIM8 CH3
+    // 10: PC9 = TIM8 CH4
+    //
+    // Sparky2 receiver input on PC7 TIM8 CH2
+    // that appears to include PPM, DSM, DSM-HSUM, SBUS
     uint8_t hwsettings_rcvrport;
     HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);
     //
     switch (hwsettings_rcvrport) {
-    case HWSETTINGS_RM_RCVRPORT_DISABLED:
-        break;
-    case HWSETTINGS_RM_RCVRPORT_PWM:
-#if defined(PIOS_INCLUDE_PWM)
-        /* Set up the receiver port.  Later this should be optional */
-        PIOS_Board_configure_pwm(&pios_pwm_cfg);
-#endif /* PIOS_INCLUDE_PWM */
-        break;
     case HWSETTINGS_RM_RCVRPORT_PPM:
-    case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
-    case HWSETTINGS_RM_RCVRPORT_PPMPWM:
-    case HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY:
 #if defined(PIOS_INCLUDE_PPM)
         PIOS_Board_configure_ppm(&pios_ppm_cfg);
-
-        if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) {
-            // configure servo outputs and the remaining 5 inputs as outputs
-            pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
-        }
-
-        // enable pwm on the remaining channels
-        if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM) {
-            PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg);
-        }
-
-        if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY) {
-            PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
-        }
-
         break;
 #endif /* PIOS_INCLUDE_PPM */
-    case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
+    case HWSETTINGS_RM_RCVRPORT_SBUS:
-        // configure only the servo outputs
+#if defined(PIOS_INCLUDE_SBUS)
-        pios_servo_cfg = &pios_servo_cfg_out_in;
+        {
+            uint32_t pios_usart_sbus_id;
+            if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvrport_cfg)) {
+                PIOS_Assert(0);
+            }
+
+            uint32_t pios_sbus_id;
+            if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
+                PIOS_Assert(0);
+            }
+
+            uint32_t pios_sbus_rcvr_id;
+            if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
+                PIOS_Assert(0);
+            }
+            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
+        }
+#endif
         break;
-    case HWSETTINGS_RM_RCVRPORT_TELEMETRY:
+    default:
-        PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
-        break;
-    case HWSETTINGS_RM_RCVRPORT_COMBRIDGE:
-        PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
         break;
     }
 
+    if (hwsettings_rcvrport != HWSETTINGS_RM_RCVRPORT_SBUS) {
+        GPIO_Init(pios_sbus_cfg.inv.gpio, &pios_sbus_cfg.inv.init);
+        GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
+    }
+
 #if defined(PIOS_INCLUDE_GCSRCVR)
     GCSReceiverInitialize();
     uint32_t pios_gcsrcvr_id;
@@ -954,8 +921,13 @@ void PIOS_Board_Init(void)
     PIOS_MPU9250_MagRegister();
 #endif
 
+    PIOS_WDG_Clear();
+
 #if defined(PIOS_INCLUDE_HMC5X83)
+    // on board mag is in the MPU9250
+    // this hmc5x83 mag is an external mag
     i2c_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
+    PIOS_WDG_Clear();
     PIOS_HMC5x83_Register(i2c_port_mag);
 #endif
 

shared/uavobjectdefinition/hwsettings.xml

@@ -11,7 +11,7 @@
 		<field name="RV_TelemetryPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,ComAux,ComBridge,MSP" defaultvalue="Telemetry"/>
 		<field name="RV_GPSPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,ComAux,ComBridge,MSP" defaultvalue="GPS"/>
 
-		<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Telemetry,PPM+Outputs,Outputs,Telemetry,ComBridge,MSP"
+		<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Telemetry,PPM+Outputs,Outputs,S.Bus,Telemetry,ComBridge,MSP"
 			defaultvalue="PWM"
                         limits="%0905NE:PPM+PWM:PPM+Telemetry:Telemetry:ComBridge;"/>
 		<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>