LP-72 DSM PPM Voltage and Current sensors coded but not tested

flight/targets/boards/sparky2/board_hw_defs.c

@@ -56,6 +56,21 @@ static const struct pios_gpio pios_leds_v2[] = {
         },
         .active_low         = true
     },
+#if 0
+    // the other LED in the TL code is accessed this way
+    [PIOS_LED_LINK] = {
+        .pin = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_6,
+                .GPIO_Speed = GPIO_Speed_50MHz,
+                .GPIO_Mode  = GPIO_Mode_OUT,
+                .GPIO_OType = GPIO_OType_PP,
+                .GPIO_PuPd = GPIO_PuPd_UP
+            },
+        },
+    },
+#endif
 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM
     [PIOS_LED_D1] =        {
         .pin                =             {
@@ -254,7 +269,7 @@ void PIOS_OVERO_irq_handler(void)
 
 /*
  * SPI1 Interface
- * Used for MPU6000 gyro and accelerometer
+ * Used for MPU9250 gyro, accelerometer and mag
  */
 void PIOS_SPI_gyro_irq_handler(void);
 void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
@@ -609,7 +624,7 @@ static const struct flashfs_logfs_cfg flashfs_internal_cfg = {
 #ifdef PIOS_INCLUDE_COM_TELEM
 
 /*
- * MAIN USART
+ * MAIN PORT
  */
 static const struct pios_usart_cfg pios_usart_main_cfg = {
     .regs  = USART1,
@@ -722,6 +737,7 @@ static const struct pios_dsm_cfg pios_dsm_main_cfg = {
  */
 #include <pios_sbus_priv.h>
 
+#if 0
 static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
     .regs  = USART1,
     .remap = GPIO_AF_USART1,
@@ -762,71 +778,10 @@ 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
-static const struct pios_sbus_cfg pios_sbus_cfg = {
-    /* Inverter configuration */
-    .inv                = {
-        .gpio = GPIOC,
-        .init = {
-            .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,
-            .GPIO_PuPd  = GPIO_PuPd_UP
-        },
-    },
-    .gpio_inv_enable  = Bit_SET,
-    .gpio_inv_disable = Bit_RESET,
-    .gpio_clk_func    = RCC_AHB1PeriphClockCmd,
-    .gpio_clk_periph  = RCC_AHB1Periph_GPIOC,
-};
-
 #ifdef PIOS_INCLUDE_COM_FLEXI
 /*
  * FLEXI PORT
@@ -1067,7 +1022,11 @@ static const struct pios_usart_cfg pios_usart_hkosd_flexi_cfg = {
     },
 };
 
-static const struct pios_usart_cfg pios_usart_rcvrport_cfg = {
+
+/*
+ * RCVR PORT
+ */
+static const struct pios_usart_cfg pios_usart_rcvr_cfg = {
     .regs  = USART6,
     .remap = GPIO_AF_USART6,
     .init  = {
@@ -1125,6 +1084,131 @@ static const struct pios_usart_cfg pios_usart_rcvrport_cfg = {
     }
 };
 
+
+static const struct pios_usart_cfg pios_usart_sbus_rcvr_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
+        },
+    },
+#else
+    .tx = {
+        .gpio = NULL,
+    },
+#endif
+};
+
+
+static const struct pios_sbus_cfg pios_sbus_cfg = {
+    /* Inverter configuration */
+    .inv                = {
+        .gpio = GPIOC,
+        .init = {
+            // according to TL code, Sparky uses PC6 and Revo uses PC0
+            // according to the schematics, they both use PC0
+            .GPIO_Pin   = GPIO_Pin_6,  // GPIO_Pin_6 Sparky2 has external inverter connected to PC6, Revo=PC0
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+            .GPIO_PuPd  = GPIO_PuPd_UP
+        },
+    },
+    .gpio_inv_enable  = Bit_SET,
+    .gpio_inv_disable = Bit_RESET,
+// in TauLabs Revo code these exist
+// in TauLabs Sparky2 code these do not exist
+//    .gpio_clk_func    = RCC_AHB1PeriphClockCmd,
+//    .gpio_clk_periph  = RCC_AHB1Periph_GPIOC,
+};
+
+
+// It looks like TL notes originally came from OP's pios_dsm_main_cfg
+// (TL note) Because of the inverter on the main port this will not
+// (TL note) work.  Notice the mode is set to IN to maintain API
+// (TL note) compatibility but protect the pins
+static const struct pios_dsm_cfg pios_dsm_rcvr_cfg = {
+    .bind = {
+        .gpio = GPIOC,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_7,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL
+        },
+    },
+};
+
+
+static const struct pios_usart_cfg pios_usart_dsm_rcvr_cfg = {
+    .regs  = USART6,
+    .remap = GPIO_AF_USART6,
+    .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    = 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
+        },
+    },
+    .tx = {
+        .gpio = NULL,
+    },
+};
+
+
 #if defined(PIOS_INCLUDE_COM)
 
 #include <pios_com_priv.h>
@@ -1746,7 +1830,7 @@ 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[] = {
+static const struct pios_tim_channel pios_tim_rcvr_all_channels[] = {
 #if 0
     {
         .timer = TIM12,
@@ -1874,8 +1958,8 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
         .TIM_ICPrescaler = TIM_ICPSC_DIV1,
         .TIM_ICFilter    = 0x0,
     },
-    .channels     = pios_tim_rcvrport_all_channels,
+    .channels     = pios_tim_rcvr_all_channels,
-    .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
+    .num_channels = NELEMENTS(pios_tim_rcvr_all_channels),
 };
 // this configures outputs 2-6 as pwm inputs
 const struct pios_pwm_cfg pios_pwm_ppm_cfg = {
@@ -1885,8 +1969,8 @@ const struct pios_pwm_cfg pios_pwm_ppm_cfg = {
         .TIM_ICPrescaler = TIM_ICPSC_DIV1,
         .TIM_ICFilter    = 0x0,
     },
-    .channels     = &pios_tim_rcvrport_all_channels[1],
+    .channels     = &pios_tim_rcvr_all_channels[1],
-    .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
+    .num_channels = NELEMENTS(pios_tim_rcvr_all_channels) - 1,
 };
 #endif
 
@@ -1906,7 +1990,7 @@ static const struct pios_ppm_cfg pios_ppm_cfg = {
         .TIM_Channel     = TIM_Channel_2,
     },
     /* Use only the first channel for ppm */
-    .channels     = &pios_tim_rcvrport_all_channels[0],
+    .channels     = &pios_tim_rcvr_all_channels[0],
     .num_channels = 1,
 };
 

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

@@ -438,6 +438,9 @@ void PIOS_Board_Init(void)
     OPLinkSettingsInitialize();
     OPLinkStatusInitialize();
 #endif /* PIOS_INCLUDE_RFM22B */
+#if defined(PIOS_INCLUDE_HMC5X83)
+    AuxMagSettingsInitialize();
+#endif /* PIOS_INCLUDE_HMC5X83 */
 
     /* Initialize the alarms library */
     AlarmsInitialize();
@@ -477,52 +480,43 @@ void PIOS_Board_Init(void)
         PIOS_Board_configure_com(&pios_usart_flexi_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_FLEXIPORT_I2C:
-#if 0
 #if defined(PIOS_INCLUDE_I2C)
-        {
-            if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
-                PIOS_Assert(0);
-            }
-        }
-#endif /* PIOS_INCLUDE_I2C */
-#else
-#if defined(PIOS_INCLUDE_I2C)
-        if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
-            PIOS_Assert(0);
-        }
-        PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
-#ifdef PIOS_INCLUDE_WDG
-        // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
-        // this is not in a loop, so it is safe
-        // leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
-        // to avoid making something else fail when HMC5X83 is removed
-        PIOS_WDG_Clear();
-#endif /* PIOS_INCLUDE_WDG */
 #if defined(PIOS_INCLUDE_HMC5X83)
-        // get auxmag type
+        {
-        AuxMagSettingsTypeOptions option;
+            // get auxmag type
-        AuxMagSettingsInitialize();
+            AuxMagSettingsTypeOptions option;
-        AuxMagSettingsTypeGet(&option);
+            AuxMagSettingsTypeGet(&option);
-        // if the aux mag type is FlexiPort then set it up
+            // the FlexiPort type is I2C, so if the AuxMag type is Flexi(Port) then set it up
-        if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
+            if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
-            // attach the 5x83 mag to the previously inited I2C2
+                if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
-            flexi_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_flexiport_adapter_id, 0);
+                    PIOS_Assert(0);
+                }
+                PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
 #ifdef PIOS_INCLUDE_WDG
-            // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+                // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
-            // this is not in a loop, so it is safe
+                // this is not in a loop, so it is safe
-            PIOS_WDG_Clear();
+                // leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
+                // to avoid making something else fail when HMC5X83 is removed
+                PIOS_WDG_Clear();
 #endif /* PIOS_INCLUDE_WDG */
-            // add this sensor to the sensor task's list
+                // attach the 5x83 mag to the previously inited I2C2
-            // be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
+                flexi_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_flexiport_adapter_id, 0);
-            // and before registering some other fast and important sensor
+#ifdef PIOS_INCLUDE_WDG
-            // as that would cause delay and time jitter for the second fast sensor
+                // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
-            PIOS_HMC5x83_Register(flexi_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+                // this is not in a loop, so it is safe
-            // mag alarm is cleared later, so use I2C
+                PIOS_WDG_Clear();
-            AlarmsSet(SYSTEMALARMS_ALARM_I2C, (flexi_port_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
+#endif /* PIOS_INCLUDE_WDG */
+                // add this sensor to the sensor task's list
+                // be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
+                // and before registering some other fast and important sensor
+                // as that would cause delay and time jitter for the second fast sensor
+                PIOS_HMC5x83_Register(flexi_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+                // mag alarm is cleared later, so use I2C
+                AlarmsSet(SYSTEMALARMS_ALARM_I2C, (flexi_port_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
+            }
         }
 #endif /* PIOS_INCLUDE_HMC5X83 */
 #endif /* PIOS_INCLUDE_I2C */
-#endif /* 0 */
         break;
     case HWSETTINGS_RM_FLEXIPORT_GPS:
         PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
@@ -893,7 +887,7 @@ void PIOS_Board_Init(void)
 #if defined(PIOS_INCLUDE_SBUS)
         {
             uint32_t pios_usart_sbus_id;
-            if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvrport_cfg)) {
+            if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvr_cfg)) {
                 PIOS_Assert(0);
             }
 
@@ -910,6 +904,11 @@ void PIOS_Board_Init(void)
         }
 #endif
         break;
+    case HWSETTINGS_SPK2_RCVRPORT_DSM:
+        // TODO: Define the various Channelgroup for Revo dsm inputs and handle here
+        PIOS_Board_configure_dsm(&pios_usart_dsm_rcvr_cfg, &pios_dsm_rcvr_cfg,
+                                 &pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMRCVRPORT, &hwsettings_DSMxBind);
+        break;
     default:
         break;
     }
@@ -1006,11 +1005,12 @@ void PIOS_Board_Init(void)
 #endif /* PIOS_INCLUDE_WDG */
 #if defined(PIOS_INCLUDE_HMC5X83)
         // get auxmag type
+        HwSettingsSPK2_I2CPortOptions i2cOption;
         AuxMagSettingsTypeOptions option;
-        AuxMagSettingsInitialize();
+        HwSettingsSPK2_I2CPortGet(&i2cOption);
         AuxMagSettingsTypeGet(&option);
-        // if the aux mag type is FlexiPort then set it up
+        // if the I2CPort type is I2C(Port) and the AuxMag type is I2C(Port) then set it up
-        if (option == AUXMAGSETTINGS_TYPE_I2C) {
+        if (i2cOption == HWSETTINGS_SPK2_I2CPORT_I2C && option == AUXMAGSETTINGS_TYPE_I2C) {
             // attach the 5x83 mag to the previously inited I2C2
             i2c_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
 #ifdef PIOS_INCLUDE_WDG

flight/targets/boards/sparky2/pios_board.h

@@ -289,7 +289,7 @@ extern uint32_t pios_packet_handler;
 // -------------------------
 #define PIOS_DMA_PIN_CONFIG                            \
     {                                                  \
-        { GPIOC, GPIO_Pin_1, ADC_Channel_11, false }, /* batt/sonar pin 3   */  \
+        { GPIOC, GPIO_Pin_3, ADC_Channel_13, false }, /* batt/sonar pin 3   */  \
         { GPIOC, GPIO_Pin_2, ADC_Channel_12, false }, /* batt/sonar pin 4   */  \
         { GPIOA, GPIO_Pin_3, ADC_Channel_3, false }, /* Servo pin 3        */  \
         { GPIOA, GPIO_Pin_2, ADC_Channel_2, false }, /* Servo pin 4        */  \

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -3,7 +3,7 @@
         <description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
         <field name="ChannelGroups" units="Channel Group" type="enum" 
 	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2,Accessory3"
-           options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,EX.Bus,HoTT,SRXL,GCS,OPLink,None" defaultvalue="None"/>
+           options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),DSM (RcvrPort),S.Bus,EX.Bus,HoTT,SRXL,GCS,OPLink,None" defaultvalue="None"/>
 	<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
 	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2,Accessory3"/>
 	<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"