Merge remote-tracking branch 'remotes/origin/stac/support-multiple-receivers' into GCS_ChangesToUI-RuntimeCFG

flight/CopterControl/Makefile

@@ -164,6 +164,8 @@ SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
 SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
 SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
 SRC += $(OPUAVSYNTHDIR)/hwsettings.c
+SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
+SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
 #${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}
 #SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c}
 # Cant use until i can automatically generate list of UAVObjects
@@ -207,6 +209,7 @@ SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/pios_rcvr.c
+SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c

flight/CopterControl/System/inc/pios_config.h

@@ -50,6 +50,7 @@
 #define PIOS_INCLUDE_SBUS
 //#define PIOS_INCLUDE_PPM
 #define PIOS_INCLUDE_PWM
+#define PIOS_INCLUDE_GCSRCVR
 
 /* Supported USART-based PIOS modules */
 #define PIOS_INCLUDE_TELEMETRY_RF

flight/CopterControl/System/pios_board.c

@@ -856,11 +856,19 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
 
 #endif /* PIOS_INCLUDE_I2C */
 
+#if defined(PIOS_INCLUDE_GCSRCVR)
+#include "pios_gcsrcvr_priv.h"
+#endif	/* PIOS_INCLUDE_GCSRCVR */
+
 #if defined(PIOS_INCLUDE_RCVR)
 #include "pios_rcvr_priv.h"
 
-struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
+/* One slot per selectable receiver group.
-uint32_t pios_rcvr_max_channel;
+ *  eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
+ * NOTE: No slot in this map for NONE.
+ */
+uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
+
 #endif /* PIOS_INCLUDE_RCVR */
 
 #if defined(PIOS_INCLUDE_USB_HID)
@@ -980,7 +988,8 @@ void PIOS_Board_Init(void) {
 		}
 #endif	/* PIOS_INCLUDE_GPS */
 		break;
-	case HWSETTINGS_CC_MAINPORT_SPEKTRUM:
+	case HWSETTINGS_CC_MAINPORT_SPEKTRUM1:
+	case HWSETTINGS_CC_MAINPORT_SPEKTRUM2:
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 		{
 			uint32_t pios_usart_spektrum_id;
@@ -992,6 +1001,16 @@ void PIOS_Board_Init(void) {
 			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
 				PIOS_Assert(0);
 			}
+
+			uint32_t pios_spektrum_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
+				PIOS_Assert(0);
+			}
+			if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM1) {
+				pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
+			} else {
+				pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
+			}
 		}
 #endif	/* PIOS_INCLUDE_SPEKTRUM */
 		break;
@@ -1042,7 +1061,8 @@ void PIOS_Board_Init(void) {
 		}
 #endif	/* PIOS_INCLUDE_GPS */
 		break;
-	case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM:
+	case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1:
+	case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM2:
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 		{
 			uint32_t pios_usart_spektrum_id;
@@ -1054,6 +1074,16 @@ void PIOS_Board_Init(void) {
 			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
 				PIOS_Assert(0);
 			}
+
+			uint32_t pios_spektrum_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
+				PIOS_Assert(0);
+			}
+			if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1) {
+				pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
+			} else {
+				pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
+			}
 		}
 #endif	/* PIOS_INCLUDE_SPEKTRUM */
 		break;
@@ -1070,79 +1100,43 @@ void PIOS_Board_Init(void) {
 		break;
 	}
 
-	/* Configure the selected receiver */
+	/* Configure the rcvr port */
-	uint8_t manualcontrolsettings_inputmode;
+	uint8_t hwsettings_rcvrport;
-	ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
+	HwSettingsRcvrPortGet(&hwsettings_rcvrport);
 
-	switch (manualcontrolsettings_inputmode) {
+	switch (hwsettings_rcvrport) {
-	case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
+	case HWSETTINGS_RCVRPORT_DISABLED:
+		break;
+	case HWSETTINGS_RCVRPORT_PWM:
 #if defined(PIOS_INCLUDE_PWM)
 		PIOS_PWM_Init();
 		uint32_t pios_pwm_rcvr_id;
 		if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
 			PIOS_Assert(0);
 		}
-		for (uint8_t i = 0;
+		pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
-		     i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
-		     i++) {
-			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
-			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
-			pios_rcvr_max_channel++;
-		}
 #endif	/* PIOS_INCLUDE_PWM */
 		break;
-	case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
+	case HWSETTINGS_RCVRPORT_PPM:
 #if defined(PIOS_INCLUDE_PPM)
 		PIOS_PPM_Init();
 		uint32_t pios_ppm_rcvr_id;
 		if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
 			PIOS_Assert(0);
 		}
-		for (uint8_t i = 0;
+		pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
-		     i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
-		     i++) {
-			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
-			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
-			pios_rcvr_max_channel++;
-		}
 #endif	/* PIOS_INCLUDE_PPM */
 		break;
-	case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
+	}
-#if defined(PIOS_INCLUDE_SPEKTRUM)
+
-		if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
+#if defined(PIOS_INCLUDE_GCSRCVR)
-		    hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
+	PIOS_GCSRCVR_Init();
-			uint32_t pios_spektrum_rcvr_id;
+	uint32_t pios_gcsrcvr_rcvr_id;
-			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
+	if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) {
 	  PIOS_Assert(0);
 	}
-			for (uint8_t i = 0;
+	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
-			     i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+#endif	/* PIOS_INCLUDE_GCSRCVR */
-			     i++) {
-				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
-				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
-				pios_rcvr_max_channel++;
-			}
-		}
-#endif	/* PIOS_INCLUDE_SPEKTRUM */
-		break;
-	case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
-#if defined(PIOS_INCLUDE_SBUS)
-		if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
-			uint32_t pios_sbus_rcvr_id;
-			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
-				PIOS_Assert(0);
-			}
-			for (uint8_t i = 0;
-			     i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
-			     i++) {
-				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
-				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
-				pios_rcvr_max_channel++;
-			}
-		}
-#endif  /* PIOS_INCLUDE_SBUS */
-		break;
-	}
 
 	/* Remap AFIO pin */
 	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);

flight/Modules/ManualControl/manualcontrol.c

@@ -43,6 +43,7 @@
 #include "flighttelemetrystats.h"
 #include "flightstatus.h"
 #include "accessorydesired.h"
+#include "receiveractivity.h"
 
 // Private constants
 #if defined(PIOS_MANUAL_STACK_SIZE)
@@ -87,6 +88,18 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
 static bool okToArm(void);
 static bool validInputRange(int16_t min, int16_t max, uint16_t value);
 
+#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
+#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 5
+struct rcvr_activity_fsm {
+	ManualControlSettingsChannelGroupsOptions group;
+	uint16_t prev[RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP];
+	uint8_t sample_count;
+};
+static struct rcvr_activity_fsm activity_fsm;
+
+static void resetRcvrActivity(struct rcvr_activity_fsm * fsm);
+static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm);
+
 #define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
 
 /**
@@ -138,10 +151,14 @@ static void manualControlTask(void *parameters)
 	flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
 	armState = ARM_STATE_DISARMED;
 
+	/* Initialize the RcvrActivty FSM */
+	portTickType lastActivityTime = xTaskGetTickCount();
+	resetRcvrActivity(&activity_fsm);
+
 	// Main task loop
 	lastSysTime = xTaskGetTickCount();
 	while (1) {
-		float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
+		float scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM];
 
 		// Wait until next update
 		vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
@@ -150,6 +167,18 @@ static void manualControlTask(void *parameters)
 		// Read settings
 		ManualControlSettingsGet(&settings);
 
+		/* Update channel activity monitor */
+		if (flightStatus.Armed == ARM_STATE_DISARMED) {
+			if (updateRcvrActivity(&activity_fsm)) {
+				/* Reset the aging timer because activity was detected */
+				lastActivityTime = lastSysTime;
+			}
+		}
+		if (timeDifferenceMs(lastActivityTime, lastSysTime) > 5000) {
+			resetRcvrActivity(&activity_fsm);
+			lastActivityTime = lastSysTime;
+		}
+
 		if (ManualControlCommandReadOnly(&cmd)) {
 			FlightTelemetryStatsData flightTelemStats;
 			FlightTelemetryStatsGet(&flightTelemStats);
@@ -165,22 +194,28 @@ static void manualControlTask(void *parameters)
 		if (!ManualControlCommandReadOnly(&cmd)) {
 
 			// Read channel values in us
-			for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
+			for (uint8_t n = 0; 
-				if (pios_rcvr_channel_to_id_map[n].id) {
+			     n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM;
-					cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id,
+			     ++n) {
-									pios_rcvr_channel_to_id_map[n].channel);
+				extern uint32_t pios_rcvr_group_map[];
-				} else {
+
+				if (settings.ChannelGroups[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
 					cmd.Channel[n] = -1;
+				} else if (!pios_rcvr_group_map[settings.ChannelGroups[n]]) {
+					cmd.Channel[n] = -2;
+				} else {
+					cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[settings.ChannelGroups[n]],
+									settings.ChannelNumber[n]);
 				}
 				scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n],	settings.ChannelMin[n], settings.ChannelNeutral[n]);
 			}
 
 			// Check settings, if error raise alarm
-			if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
+			if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
-			    settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
+				settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
-			    settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
+				settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
-			    settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
+				settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
-			    settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
+				settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
 				AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
 				cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
 				ManualControlCommandSet(&cmd);
@@ -188,10 +223,10 @@ static void manualControlTask(void *parameters)
 			}
 
 			// decide if we have valid manual input or not
-			bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) &&
+			bool valid_input_detected = validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) &&
-			     validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) &&
+			     validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]) &&
-			     validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) &&
+			     validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]) &&
-			     validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]);
+			     validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]);
 
 			// Implement hysteresis loop on connection status
 			if (valid_input_detected && (++connected_count > 10)) {
@@ -218,28 +253,31 @@ static void manualControlTask(void *parameters)
 				AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
 
 				// Scale channels to -1 -> +1 range
-				cmd.Roll           = scaledChannel[settings.Roll];
+				cmd.Roll           = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL];
-				cmd.Pitch          = scaledChannel[settings.Pitch];
+				cmd.Pitch          = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH];
-				cmd.Yaw            = scaledChannel[settings.Yaw];
+				cmd.Yaw            = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW];
-				cmd.Throttle       = scaledChannel[settings.Throttle];
+				cmd.Throttle       = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
-				flightMode         = scaledChannel[settings.FlightMode];
+				flightMode         = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE];
 
 				AccessoryDesiredData accessory;
 				// Set Accessory 0
-				if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
+				if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != 
-					accessory.AccessoryVal = scaledChannel[settings.Accessory0];
+					MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+					accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0];
 					if(AccessoryDesiredInstSet(0, &accessory) != 0)
 						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
 				}
 				// Set Accessory 1
-				if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) {
+				if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != 
-					accessory.AccessoryVal = scaledChannel[settings.Accessory1];
+					MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+					accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1];
 					if(AccessoryDesiredInstSet(1, &accessory) != 0)
 						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
 				}
-				// Set Accsesory 2
+				// Set Accessory 2
-				if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) {
+				if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != 
-					accessory.AccessoryVal = scaledChannel[settings.Accessory2];
+					MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+					accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2];
 					if(AccessoryDesiredInstSet(2, &accessory) != 0)
 						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
 				}
@@ -257,7 +295,6 @@ static void manualControlTask(void *parameters)
 			ManualControlCommandGet(&cmd);	/* Under GCS control */
 		}
 
-
 		FlightStatusGet(&flightStatus);
 
 		// Depending on the mode update the Stabilization or Actuator objects
@@ -279,6 +316,122 @@ static void manualControlTask(void *parameters)
 	}
 }
 
+static void resetRcvrActivity(struct rcvr_activity_fsm * fsm)
+{
+	ReceiverActivityData data;
+	bool updated = false;
+
+	/* Clear all channel activity flags */
+	ReceiverActivityGet(&data);
+	if (data.ActiveGroup != RECEIVERACTIVITY_ACTIVEGROUP_NONE &&
+		data.ActiveChannel != 255) {
+		data.ActiveGroup = RECEIVERACTIVITY_ACTIVEGROUP_NONE;
+		data.ActiveChannel = 255;
+		updated = true;
+	}
+	if (updated) {
+		ReceiverActivitySet(&data);
+	}
+
+	/* Reset the FSM state */
+	fsm->group        = 0;
+	fsm->sample_count = 0;
+}
+
+static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm)
+{
+	bool activity_updated = false;
+
+	if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+		/* We're out of range, reset things */
+		resetRcvrActivity(fsm);
+	}
+
+	extern uint32_t pios_rcvr_group_map[];
+	if (!pios_rcvr_group_map[fsm->group]) {
+		/* Unbound group, skip it */
+		goto group_completed;
+	}
+
+	/* Sample the channel */
+	for (uint8_t channel = 0;
+	     channel < RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP;
+	     channel++) {
+		if (fsm->sample_count == 0) {
+			fsm->prev[channel] = PIOS_RCVR_Read(pios_rcvr_group_map[fsm->group], channel);
+		} else {
+			uint16_t delta;
+			uint16_t prev = fsm->prev[channel];
+			uint16_t curr = PIOS_RCVR_Read(pios_rcvr_group_map[fsm->group], channel);
+			if (curr > prev) {
+				delta = curr - prev;
+			} else {
+				delta = prev - curr;
+			}
+
+			if (delta > RCVR_ACTIVITY_MONITOR_MIN_RANGE) {
+				/* Mark this channel as active */
+				ReceiverActivityActiveGroupOptions group;
+
+				/* Don't assume manualcontrolsettings and receiveractivity are in the same order. */
+				switch (fsm->group) {
+				case MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM: 
+					group = RECEIVERACTIVITY_ACTIVEGROUP_PWM;
+					break;
+				case MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM:
+					group = RECEIVERACTIVITY_ACTIVEGROUP_PPM;
+					break;
+				case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1:
+					group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM1;
+					break;
+				case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2:
+					group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM2;
+					break;
+				case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS:
+					group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS;
+					break;
+				case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS:
+					group = RECEIVERACTIVITY_ACTIVEGROUP_GCS;
+					break;
+				default:
+					PIOS_Assert(0);
+					break;
+				}
+
+				ReceiverActivityActiveGroupSet(&group);
+				ReceiverActivityActiveChannelSet(&channel);
+				activity_updated = true;
+			}
+		}
+	}
+
+	if (++fsm->sample_count < 2) {
+		return (activity_updated);
+	}
+
+	/* Reset the sample counter */
+	fsm->sample_count = 0;
+
+	/*
+	 * Group Completed
+	 */
+
+group_completed:
+	/* Start over at channel zero */
+	if (++fsm->group < MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+		return (activity_updated);
+	}
+
+	/*
+	 * All groups completed
+	 */
+
+	/* Start over at group zero */
+	fsm->group = 0;
+
+	return (activity_updated);
+}
+
 static void updateActuatorDesired(ManualControlCommandData * cmd)
 {
 	ActuatorDesiredData actuator;

flight/OpenPilot/System/pios_board.c

@@ -30,6 +30,7 @@
 #include <pios.h>
 #include <openpilot.h>
 #include <uavobjectsinit.h>
+#include <hwsettings.h>
 #include "manualcontrolsettings.h"
 
 //#define I2C_DEBUG_PIN			0
@@ -496,7 +497,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
   },
 };
 
-#include <pios_spektrum_priv.h>
 static const struct pios_spektrum_cfg pios_spektrum_cfg = {
 	.bind = {
 		.gpio = GPIOA,
@@ -964,8 +964,12 @@ static const struct stm32_gpio pios_debug_pins[] = {
 #if defined(PIOS_INCLUDE_RCVR)
 #include "pios_rcvr_priv.h"
 
-struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
+/* One slot per selectable receiver group.
-uint32_t pios_rcvr_max_channel;
+ *  eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
+ * NOTE: No slot in this map for NONE.
+ */
+uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
+
 #endif /* PIOS_INCLUDE_RCVR */
 
 #if defined(PIOS_INCLUDE_USB_HID)
@@ -1047,8 +1051,14 @@ void PIOS_Board_Init(void) {
 	/* Bind the AHRS comms layer to the AHRS SPI link */
 	AhrsConnect(pios_spi_ahrs_id);
 
-	/* Initialize the PiOS library */
+	/* Configure the main IO port */
-#if defined(PIOS_INCLUDE_COM)
+	uint8_t hwsettings_op_mainport;
+	HwSettingsOP_MainPortGet(&hwsettings_op_mainport);
+
+	switch (hwsettings_op_mainport) {
+	case HWSETTINGS_OP_MAINPORT_DISABLED:
+		break;
+	case HWSETTINGS_OP_MAINPORT_TELEMETRY:
 #if defined(PIOS_INCLUDE_TELEMETRY_RF)
 		{
 			uint32_t pios_usart_telem_rf_id;
@@ -1067,7 +1077,17 @@ void PIOS_Board_Init(void) {
 			}
 		}
 #endif /* PIOS_INCLUDE_TELEMETRY_RF */
+		break;
+	}
 
+	/* Configure the flexi port */
+	uint8_t hwsettings_op_flexiport;
+	HwSettingsOP_FlexiPortGet(&hwsettings_op_flexiport);
+
+	switch (hwsettings_op_flexiport) {
+	case HWSETTINGS_OP_FLEXIPORT_DISABLED:
+		break;
+	case HWSETTINGS_OP_FLEXIPORT_GPS:
 #if defined(PIOS_INCLUDE_GPS)
 		{
 			uint32_t pios_usart_gps_id;
@@ -1083,60 +1103,25 @@ void PIOS_Board_Init(void) {
 			}
 		}
 #endif	/* PIOS_INCLUDE_GPS */
-#endif
+		break;
+	}
 
 	PIOS_Servo_Init();
 	PIOS_ADC_Init();
 	PIOS_GPIO_Init();
 
-	/* Configure the selected receiver */
+	/* Configure the aux port */
-	uint8_t manualcontrolsettings_inputmode;
+	uint8_t hwsettings_op_auxport;
-	ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
+	HwSettingsOP_AuxPortGet(&hwsettings_op_auxport);
 
-	switch (manualcontrolsettings_inputmode) {
+	switch (hwsettings_op_auxport) {
-		case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
+	case HWSETTINGS_OP_AUXPORT_DISABLED:
-#if defined(PIOS_INCLUDE_PWM)
-#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
-#error More receiver inputs than available devices
-#endif
-			PIOS_PWM_Init();
-			uint32_t pios_pwm_rcvr_id;
-			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
-			  PIOS_Assert(0);
-			}
-			for (uint8_t i = 0;
-			     i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
-			     i++) {
-				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
-				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
-				pios_rcvr_max_channel++;
-			}
-#endif  /* PIOS_INCLUDE_PWM */
 		break;
-		case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
+	case HWSETTINGS_OP_AUXPORT_DEBUG:
-#if defined(PIOS_INCLUDE_PPM)
+		/* Not supported yet */
-#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
-#error More receiver inputs than available devices
-#endif
-			PIOS_PPM_Init();
-			uint32_t pios_ppm_rcvr_id;
-			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
-			  PIOS_Assert(0);
-			}
-			for (uint8_t i = 0;
-			     i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
-			     i++) {
-				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
-				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
-				pios_rcvr_max_channel++;
-			}
-#endif	/* PIOS_INCLUDE_PPM */
 		break;
-		case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
+	case HWSETTINGS_OP_AUXPORT_SPEKTRUM1:
 #if defined(PIOS_INCLUDE_SPEKTRUM)
-#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
-#error More receiver inputs than available devices
-#endif
 		{
 			uint32_t pios_usart_spektrum_id;
 			if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
@@ -1149,23 +1134,41 @@ void PIOS_Board_Init(void) {
 			}
 
 			uint32_t pios_spektrum_rcvr_id;
-				if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
+			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
 				PIOS_Assert(0);
 			}
-				for (uint8_t i = 0;
+			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
-				     i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
-				     i++) {
-					pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
-					pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
-					pios_rcvr_max_channel++;
-				}
 		}
 #endif
 		break;
-		case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
+	}
-#if defined(PIOS_INCLUDE_SBUS)
+
-#error SBUS NOT ON OP YET
+	/* Configure the rcvr port */
-#endif  /* PIOS_INCLUDE_SBUS */
+	uint8_t hwsettings_rcvrport;
+	HwSettingsRcvrPortGet(&hwsettings_rcvrport);
+
+	switch (hwsettings_rcvrport) {
+	case HWSETTINGS_RCVRPORT_DISABLED:
+		break;
+	case HWSETTINGS_RCVRPORT_PWM:
+#if defined(PIOS_INCLUDE_PWM)
+		PIOS_PWM_Init();
+		uint32_t pios_pwm_rcvr_id;
+		if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
+			PIOS_Assert(0);
+		}
+		pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
+#endif	/* PIOS_INCLUDE_PWM */
+		break;
+	case HWSETTINGS_RCVRPORT_PPM:
+#if defined(PIOS_INCLUDE_PPM)
+		PIOS_PPM_Init();
+		uint32_t pios_ppm_rcvr_id;
+		if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
+			PIOS_Assert(0);
+		}
+		pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
+#endif	/* PIOS_INCLUDE_PPM */
 		break;
 	}
 

flight/OpenPilot/UAVObjects.inc

@@ -69,6 +69,8 @@ UAVOBJSRCFILENAMES += velocityactual
 UAVOBJSRCFILENAMES += velocitydesired
 UAVOBJSRCFILENAMES += watchdogstatus
 UAVOBJSRCFILENAMES += flightstatus
+UAVOBJSRCFILENAMES += hwsettings
+UAVOBJSRCFILENAMES += receiveractivity
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

flight/PiOS/Boards/STM32103CB_CC_Rev1.h

@@ -206,7 +206,7 @@ extern uint32_t pios_com_telem_usb_id;
 // PIOS_RCVR
 // See also pios_board.c
 //------------------------
-#define PIOS_RCVR_MAX_DEVS                      1
+#define PIOS_RCVR_MAX_DEVS                      3
 #define PIOS_RCVR_MAX_CHANNELS			12
 
 //-------------------------
@@ -222,6 +222,7 @@ extern uint32_t pios_com_telem_usb_id;
 //-------------------------
 // Receiver SPEKTRUM input
 //-------------------------
+#define PIOS_SPEKTRUM_MAX_DEVS			2
 #define PIOS_SPEKTRUM_NUM_INPUTS                12
 
 //-------------------------

flight/PiOS/Boards/STM3210E_OP.h

@@ -195,6 +195,7 @@ extern uint32_t pios_com_aux_id;
 //-------------------------
 // Receiver SPEKTRUM input
 //-------------------------
+#define PIOS_SPEKTRUM_MAX_DEVS			1
 #define PIOS_SPEKTRUM_NUM_INPUTS                12
 
 //-------------------------

flight/PiOS/Common/pios_gcsrcvr.c

@@ -0,0 +1,75 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_GCSRCVR GCS Receiver Input Functions
+ * @brief		Code to read the channels within the GCS Receiver UAVObject
+ * @{
+ *
+ * @file       pios_gcsrcvr.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      GCS Input functions (STM32 dependent)
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_GCSRCVR)
+
+#include "pios_gcsrcvr_priv.h"
+
+static GCSReceiverData gcsreceiverdata;
+
+/* Provide a RCVR driver */
+static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel);
+
+const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = {
+	.read = PIOS_GCSRCVR_Get,
+};
+
+static void gcsreceiver_updated(UAVObjEvent * ev)
+{
+	if (ev->obj == GCSReceiverHandle()) {
+		GCSReceiverGet(&gcsreceiverdata);
+	}
+}
+
+void PIOS_GCSRCVR_Init(void)
+{
+	/* Register uavobj callback */
+	GCSReceiverConnectCallback (gcsreceiver_updated);
+}
+
+static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
+{
+	if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
+		/* channel is out of range */
+		return -1;
+	}
+
+	return (gcsreceiverdata.Channel[channel]);
+}
+
+#endif	/* PIOS_INCLUDE_GCSRCVR */
+
+/** 
+  * @}
+  * @}
+  */

flight/PiOS/STM32F10x/pios_spektrum.c

@@ -31,10 +31,11 @@
 
 /* Project Includes */
 #include "pios.h"
-#include "pios_spektrum_priv.h"
 
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 
+#include "pios_spektrum_priv.h"
+
 /**
  * @Note Framesyncing:
  * The code resets the watchdog timer whenever a single byte is received, so what watchdog code
@@ -52,22 +53,80 @@ const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
 	.read = PIOS_SPEKTRUM_Get,
 };
 
-/* Local Variables */
+enum pios_spektrum_dev_magic {
-static uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS],CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
+	PIOS_SPEKTRUM_DEV_MAGIC = 0xa9b9c9d9,
-static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
+};
-uint8_t sync_of = 0;
+
-uint16_t supv_timer=0;
+struct pios_spektrum_fsm {
+	uint16_t channel;
+	uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS];
+	uint16_t CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
+	uint8_t prev_byte;
+	uint8_t sync;
+	uint8_t bytecount;
+	uint8_t datalength;
+	uint8_t frame_error;
+	uint8_t sync_of;
+};
+
+struct pios_spektrum_dev {
+	enum pios_spektrum_dev_magic     magic;
+	const struct pios_spektrum_cfg * cfg;
+
+	struct pios_spektrum_fsm fsm;
+
+	uint16_t supv_timer;
+};
+
+static bool PIOS_SPEKTRUM_validate(struct pios_spektrum_dev * spektrum_dev)
+{
+	return (spektrum_dev->magic == PIOS_SPEKTRUM_DEV_MAGIC);
+}
+
+#if defined(PIOS_INCLUDE_FREERTOS) && 0
+static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void)
+{
+	struct pios_spektrum_dev * spektrum_dev;
+
+	spektrum_dev = (struct pios_spektrum_dev *)malloc(sizeof(*spektrum_dev));
+	if (!spektrum_dev) return(NULL);
+
+	spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC;
+	return(spektrum_dev);
+}
+#else
+static struct pios_spektrum_dev pios_spektrum_devs[PIOS_SPEKTRUM_MAX_DEVS];
+static uint8_t pios_spektrum_num_devs;
+static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void)
+{
+	struct pios_spektrum_dev * spektrum_dev;
+
+	if (pios_spektrum_num_devs >= PIOS_SPEKTRUM_MAX_DEVS) {
+		return (NULL);
+	}
+
+	spektrum_dev = &pios_spektrum_devs[pios_spektrum_num_devs++];
+	spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC;
+
+	return (spektrum_dev);
+}
+#endif
 
 static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
 static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
-static int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
+static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, 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)
 {
+	struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)context;
+
+	bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
+	PIOS_Assert(valid);
+
 	/* process byte(s) and clear receive timer */
 	for (uint8_t i = 0; i < buf_len; i++) {
-		PIOS_SPEKTRUM_Decode(buf[i]);
+		PIOS_SPEKTRUM_UpdateFSM(&(spektrum_dev->fsm), buf[i]);
-		supv_timer = 0;
+		spektrum_dev->supv_timer = 0;
 	}
 
 	/* Always signal that we can accept another byte */
@@ -82,23 +141,118 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint
 	return (buf_len);
 }
 
+static void PIOS_SPEKTRUM_ResetFSM(struct pios_spektrum_fsm * fsm)
+{
+	fsm->channel = 0;
+	fsm->prev_byte = 0xFF;
+	fsm->sync = 0;
+	fsm->bytecount = 0;
+	fsm->datalength = 0;
+	fsm->frame_error = 0;
+	fsm->sync_of = 0;
+}
+
+/**
+* Decodes a byte
+* \param[in] b byte which should be spektrum decoded
+* \return 0 if no error
+* \return -1 if USART not available
+* \return -2 if buffer full (retry)
+*/
+static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b)
+{
+	fsm->bytecount++;
+	if (fsm->sync == 0) {
+		/* Known sync bytes, 0x01, 0x02, 0x12 */
+		if (fsm->bytecount == 2) {
+			if (b == 0x01) {
+				fsm->datalength=0; // 10bit
+				fsm->sync = 1;
+				fsm->bytecount = 2;
+			}
+			else if(b == 0x02) {
+				fsm->datalength=0; // 10bit
+				fsm->sync = 1;
+				fsm->bytecount = 2;
+			}
+			else if(b == 0x12) {
+				fsm->datalength=1; // 11bit
+				fsm->sync = 1;
+				fsm->bytecount = 2;
+			}
+			else
+			{
+				fsm->bytecount = 0;
+			}
+		}
+	} else {
+		if ((fsm->bytecount % 2) == 0) {
+			uint16_t data;
+			uint8_t channeln;
+
+			fsm->channel = (fsm->prev_byte << 8) + b;
+			channeln = (fsm->channel >> (10+fsm->datalength)) & 0x0F;
+			data = fsm->channel & (0x03FF+(0x0400*fsm->datalength));
+			if(channeln==0 && data<10) // discard frame if throttle misbehaves
+			{
+				fsm->frame_error=1;
+			}
+			if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !fsm->frame_error)
+				fsm->CaptureValueTemp[channeln] = data;
+		}
+	}
+	if (fsm->bytecount == 16) {
+		fsm->bytecount = 0;
+		fsm->sync = 0;
+		fsm->sync_of = 0;
+		if (!fsm->frame_error)
+		{
+			for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
+			{
+				fsm->CaptureValue[i] = fsm->CaptureValueTemp[i];
+			}
+		}
+		fsm->frame_error=0;
+	}
+	fsm->prev_byte = b;
+	return 0;
+}
+
 /**
 * 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)
 {
-	// TODO: need setting flag for bind on next powerup
+	PIOS_DEBUG_Assert(spektrum_id);
+	PIOS_DEBUG_Assert(cfg);
+	PIOS_DEBUG_Assert(driver);
+
+	struct pios_spektrum_dev * spektrum_dev;
+
+	spektrum_dev = (struct pios_spektrum_dev *) PIOS_SPEKTRUM_alloc();
+	if (!spektrum_dev) goto out_fail;
+
+	/* Bind the configuration to the device instance */
+	spektrum_dev->cfg = cfg;
+
 	if (bind) {
 		PIOS_SPEKTRUM_Bind(cfg);
 	}
 
-	(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
+	PIOS_SPEKTRUM_ResetFSM(&(spektrum_dev->fsm));
 
-	if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) {
+	*spektrum_id = (uint32_t)spektrum_dev;
+
+	(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, *spektrum_id);
+
+	if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, *spektrum_id)) {
 		PIOS_DEBUG_Assert(0);
 	}
 
 	return (0);
+
+out_fail:
+	return(-1);
 }
 
 /**
@@ -109,11 +263,16 @@ int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cf
 */
 static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
 {
+	struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)rcvr_id;
+
+	bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
+	PIOS_Assert(valid);
+
 	/* Return error if channel not available */
 	if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
 		return -1;
 	}
-	return CaptureValue[channel];
+	return spektrum_dev->fsm.CaptureValue[channel];
 }
 
 /**
@@ -145,114 +304,38 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
 	return true;
 }
 
-/**
-* Decodes a byte
-* \param[in] b byte which should be spektrum decoded
-* \return 0 if no error
-* \return -1 if USART not available
-* \return -2 if buffer full (retry)
-* \note Applications shouldn't call these functions directly
-*/
-static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
-{
-	static uint16_t channel = 0; /*, sync_word = 0;*/
-	uint8_t channeln = 0, frame = 0;
-	uint16_t data = 0;
-	byte_array[bytecount] = b;
-	bytecount++;
-	if (sync == 0) {
-		//sync_word = (prev_byte << 8) + b;
-#if 0
-		/* maybe create object to show this  data */
-		if(bytecount==1)
-		{
-			/* record losscounter into channel8 */
-			CaptureValueTemp[7]=b;
-			/* instant write */
-			CaptureValue[7]=b;
-		}
-#endif
-		/* Known sync bytes, 0x01, 0x02, 0x12 */
-		if (bytecount == 2) {
-			if (b == 0x01) {
-				datalength=0; // 10bit
-				//frames=1;
-				sync = 1;
-				bytecount = 2;
-			}
-			else if(b == 0x02) {
-				datalength=0; // 10bit
-				//frames=2;
-				sync = 1;
-				bytecount = 2;
-			}
-			else if(b == 0x12) {
-				datalength=1; // 11bit
-				//frames=2;
-				sync = 1;
-				bytecount = 2;
-			}
-			else
-			{
-				bytecount = 0;
-			}
-		}
-	} else {
-		if ((bytecount % 2) == 0) {
-			channel = (prev_byte << 8) + b;
-			frame = channel >> 15;
-			channeln = (channel >> (10+datalength)) & 0x0F;
-			data = channel & (0x03FF+(0x0400*datalength));
-			if(channeln==0 && data<10) // discard frame if throttle misbehaves
-			{
-				frame_error=1;
-			}
-			if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !frame_error)
-				CaptureValueTemp[channeln] = data;
-		}
-	}
-	if (bytecount == 16) {
-		//PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16); //00 2c 58 84 b0 dc ff
-		bytecount = 0;
-		sync = 0;
-		sync_of = 0;
-		if (!frame_error)
-		{
-			for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
-			{
-				CaptureValue[i] = CaptureValueTemp[i];
-			}
-		}
-		frame_error=0;
-	}
-	prev_byte = b;
-	return 0;
-}
-
 /**
  *@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
  *@brief clears the channel values
  */
-static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
+static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id)
+{
+	struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)spektrum_id;
+
+	bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
+	PIOS_Assert(valid);
+
 	/* 125hz */
-	supv_timer++;
+	spektrum_dev->supv_timer++;
-	if(supv_timer > 5) {
+	if(spektrum_dev->supv_timer > 5) {
 		/* sync between frames */
-		sync = 0;
+		struct pios_spektrum_fsm * fsm = &(spektrum_dev->fsm);
-		bytecount = 0;
+
-		prev_byte = 0xFF;
+		fsm->sync = 0;
-		frame_error = 0;
+		fsm->bytecount = 0;
-		sync_of++;
+		fsm->prev_byte = 0xFF;
+		fsm->frame_error = 0;
+		fsm->sync_of++;
 		/* watchdog activated after 100ms silence */
-		if (sync_of > 12) {
+		if (fsm->sync_of > 12) {
 			/* signal lost */
-			sync_of = 0;
+			fsm->sync_of = 0;
 			for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
-				CaptureValue[i] = 0;
+				fsm->CaptureValue[i] = 0;
-				CaptureValueTemp[i] = 0;
+				fsm->CaptureValueTemp[i] = 0;
 			}
 		}
-		supv_timer = 0;
+		spektrum_dev->supv_timer = 0;
 	}
 }
 

flight/PiOS/inc/pios_gcsrcvr_priv.h

@@ -0,0 +1,47 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_GCSRCVR GCS Receiver Functions
+ * @brief PIOS interface to read from GCS receiver port
+ * @{
+ *
+ * @file       pios_gcsrcvr_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      GCS receiver private functions
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_GCSRCVR_PRIV_H
+#define PIOS_GCSRCVR_PRIV_H
+
+#include <pios.h>
+
+#include "gcsreceiver.h"
+
+extern const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver;
+
+extern void PIOS_GCSRCVR_Init(void);
+
+#endif /* PIOS_GCSRCVR_PRIV_H */
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS/inc/pios_rcvr.h

@@ -31,13 +31,6 @@
 #ifndef PIOS_RCVR_H
 #define PIOS_RCVR_H
 
-struct pios_rcvr_channel_map {
-	uint32_t id;
-	uint8_t  channel;
-};
-
-extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
-
 struct pios_rcvr_driver {
 	void    (*init)(uint32_t id);
 	int32_t (*read)(uint32_t id, uint8_t channel);

flight/PiOS/inc/pios_spektrum_priv.h

@@ -44,7 +44,7 @@ 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);
 
-#endif /* PIOS_PWM_PRIV_H */
+#endif /* PIOS_SPEKTRUM_PRIV_H */
 
 /**
  * @}

ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui

@@ -87,7 +87,7 @@
         <item row="0" column="1">
          <widget class="QLabel" name="label_7">
           <property name="text">
-           <string>Receiver type</string>
+           <string>RcvrPort</string>
           </property>
           <property name="alignment">
            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -95,7 +95,7 @@
          </widget>
         </item>
         <item row="0" column="2">
-         <widget class="QComboBox" name="receiverType"/>
+         <widget class="QComboBox" name="cbRcvr"/>
         </item>
        </layout>
       </item>

ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp

@@ -42,7 +42,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed);
     addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi);
     addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele);
-    addUAVObjectToWidgetRelation("ManualControlSettings","InputMode",m_telemetry->receiverType);
+    addUAVObjectToWidgetRelation("HwSettings","RcvrPort",m_telemetry->cbRcvr);
     enableControls(false);
     populateWidgets();
     refreshWidgetsValues();
@@ -65,22 +65,6 @@ void ConfigCCHWWidget::widgetsContentsChanged()
     {
         m_telemetry->problems->setText("Warning: you have configured the MainPort and the FlexiPort for the same function, this is currently not suported");
     }
-    else if((m_telemetry->cbTele->currentText()=="Spektrum" ||m_telemetry->cbFlexi->currentText()=="Spektrum") && m_telemetry->receiverType->currentText()!="Spektrum")
-    {
-        m_telemetry->problems->setText("Warning: you have a port configured as 'Spektrum' however that is not your selected receiver type");
-    }
-    else if(m_telemetry->cbTele->currentText()=="S.Bus"  && m_telemetry->receiverType->currentText()!="S.Bus")
-    {
-        m_telemetry->problems->setText("Warning: you have a port configured as 'S.Bus' however that is not your selected receiver type");
-    }
-    else if(m_telemetry->cbTele->currentText()!="S.Bus"  && m_telemetry->receiverType->currentText()=="S.Bus")
-    {
-        m_telemetry->problems->setText("Warning: you have selected 'S.Bus' as your receiver type however you have no port configured for that protocol");
-    }
-    else if((m_telemetry->cbTele->currentText()!="Spektrum" && m_telemetry->cbFlexi->currentText()!="Spektrum") && m_telemetry->receiverType->currentText()=="Spektrum")
-    {
-        m_telemetry->problems->setText("Warning: you have selected 'Spektrum' as your receiver type however you have no port configured for that protocol");
-    }
     else
     {
         m_telemetry->problems->setText("");

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -69,6 +69,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/sonaraltitude.h \
     $$UAVOBJECT_SYNTHETICS/flightstatus.h \
     $$UAVOBJECT_SYNTHETICS/hwsettings.h \
+    $$UAVOBJECT_SYNTHETICS/gcsreceiver.h \
+    $$UAVOBJECT_SYNTHETICS/receiveractivity.h \
     $$UAVOBJECT_SYNTHETICS/attitudesettings.h
 
 SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
@@ -118,4 +120,6 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \
     $$UAVOBJECT_SYNTHETICS/flightstatus.cpp \
     $$UAVOBJECT_SYNTHETICS/hwsettings.cpp \
+    $$UAVOBJECT_SYNTHETICS/gcsreceiver.cpp \
+    $$UAVOBJECT_SYNTHETICS/receiveractivity.cpp \
     $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp

package/osx/package

@@ -20,7 +20,8 @@ device=$(hdiutil attach  "${TEMP_FILE}" | \
 
 # packaging goes here
 cp -r "${APP_PATH}" "/Volumes/${VOL_NAME}"
-cp -r "${FW_DIR}" "/Volumes/${VOL_NAME}/firmware"
+#cp -r "${FW_DIR}" "/Volumes/${VOL_NAME}/firmware"
+cp "${FW_DIR}/fw_coptercontrol-${PACKAGE_LBL}.opfw" "/Volumes/${VOL_NAME}/firmware"
 
 "${ROOT_DIR}/package/osx/libraries" \
 	"/Volumes/${VOL_NAME}/OpenPilot GCS.app" || exit 1

package/winx86/openpilotgcs.nsi

@@ -185,8 +185,10 @@ Section "Localization" InSecLocalization
 SectionEnd
 
 Section "Firmware" InSecFirmware
-  SetOutPath "$INSTDIR\firmware\${FIRMWARE_DIR}"
+; SetOutPath "$INSTDIR\firmware\${FIRMWARE_DIR}"
-  File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\*"
+; File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\*"
+  SetOutPath "$INSTDIR\firmware"
+  File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\fw_coptercontrol-${PACKAGE_LBL}.opfw"
 SectionEnd
 
 Section "Shortcuts" InSecShortcuts

shared/uavobjectdefinition/gcsreceiver.xml

@@ -0,0 +1,10 @@
+<xml>
+    <object name="GCSReceiver" singleinstance="true" settings="false">
+        <description>A receiver channel group carried over the telemetry link.</description>
+	<field name="Channel" units="us" type="uint16" elements="6"/>
+        <access gcs="readwrite" flight="readonly"/>
+        <telemetrygcs acked="false" updatemode="onchange" period="0"/>
+        <telemetryflight acked="false" updatemode="never" period="0"/>
+        <logging updatemode="never" period="0"/>
+    </object>
+</xml>

shared/uavobjectdefinition/hwsettings.xml

@@ -1,8 +1,14 @@
 <xml>
     <object name="HwSettings" singleinstance="true" settings="true">
         <description>Selection of optional hardware configurations.</description>
-	<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum,ComAux,I2C" defaultvalue="Disabled"/>
+	<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum1,Spektrum2,ComAux,I2C" defaultvalue="Disabled"/>
-	<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum,ComAux" defaultvalue="Telemetry"/>
+	<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum1,Spektrum2,ComAux" defaultvalue="Telemetry"/>
+
+	<field name="OP_FlexiPort" units="function" type="enum" elements="1" options="Disabled,GPS" defaultvalue="GPS"/>
+	<field name="OP_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Telemetry"/>
+	<field name="OP_AuxPort" units="function" type="enum" elements="1" options="Disabled,Debug,Spektrum1" defaultvalue="Disabled"/>
+
+	<field name="RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM" defaultvalue="PWM"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -1,15 +1,18 @@
 <xml>
     <object name="ManualControlSettings" singleinstance="true" settings="true">
         <description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
-        <field name="InputMode" units="" type="enum" elements="1" options="PWM,PPM,Spektrum,S.Bus" defaultvalue="PWM"/>
+        <field name="ChannelGroups" units="Channel Group" type="enum" 
-        <field name="Roll" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+	       elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"
-        <field name="Pitch" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+	       options="PWM,PPM,Spektrum1,Spektrum2,S.Bus,GCS,None" defaultvalue="None"/>
-        <field name="Yaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+	<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="255"
-        <field name="Throttle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+	       elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
-        <field name="FlightMode" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+	<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"
-        <field name="Accessory0" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+	       elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
-        <field name="Accessory1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+	<field name="ChannelNeutral" units="us" type="int16" defaultvalue="1500"
-        <field name="Accessory2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+	       elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
+	<field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
+	       elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
+	       
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
@@ -20,9 +23,6 @@
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>
 
-        <field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
-        <field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
-        <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/receiveractivity.xml

@@ -0,0 +1,14 @@
+<xml>
+    <object name="ReceiverActivity" singleinstance="true" settings="false">
+        <description>Monitors which receiver channels have been active within the last second.</description>
+	<field name="ActiveGroup" units="Channel Group" type="enum" elements="1"
+	       options="PWM,PPM,Spektrum1,Spektrum2,SBus,GCS,None"
+	       defaultvalue="None"/>
+	<field name="ActiveChannel" units="channel" type="uint8" elements="1"
+	       defaultvalue="255"/>
+        <access gcs="readonly" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="onchange" period="0"/>
+        <logging updatemode="never" period="0"/>
+    </object>
+</xml>