From 32a6de6b79e7d34c14351a30fecfb13c2b265ab1 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh@free.fr>
Date: Sun, 1 May 2016 02:04:01 +0200
Subject: [PATCH] LP-233 Support OneShot42

---
 flight/modules/Actuator/actuator.c                     | 10 ++++++++++
 .../targets/boards/coptercontrol/firmware/pios_board.c |  6 ++++--
 flight/targets/boards/revonano/firmware/pios_board.c   |  3 ++-
 shared/uavobjectdefinition/actuatorsettings.xml        |  2 +-
 4 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/flight/modules/Actuator/actuator.c b/flight/modules/Actuator/actuator.c
index f3f77ca41..7276e27ef 100644
--- a/flight/modules/Actuator/actuator.c
+++ b/flight/modules/Actuator/actuator.c
@@ -77,6 +77,8 @@ static int8_t counter;
 
 #define ACTUATOR_ONESHOT125_CLOCK       2000000
 #define ACTUATOR_ONESHOT125_PULSE_SCALE 4
+#define ACTUATOR_ONESHOT42_CLOCK        6000000
+#define ACTUATOR_ONESHOT42_PULSE_SCALE  4
 #define ACTUATOR_PWM_CLOCK              1000000
 // Private types
 
@@ -941,6 +943,10 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value)
             // Remap 1000-2000 range to 125-250
             PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value / ACTUATOR_ONESHOT125_PULSE_SCALE);
             break;
+        case ACTUATORSETTINGS_BANKMODE_ONESHOT42:
+            // Remap 1000-2000 range to 41,666-83,333µs
+            PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value / ACTUATOR_ONESHOT42_PULSE_SCALE);
+            break;
         default:
             PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value);
             break;
@@ -994,6 +1000,10 @@ static void actuator_update_rate_if_changed(bool force_update)
                 freq[i]  = 100; // Value must be small enough so CCr isn't update until the PIOS_Servo_Update is triggered
                 clock[i] = ACTUATOR_ONESHOT125_CLOCK; // Setup an 2MHz timer clock
                 break;
+            case ACTUATORSETTINGS_BANKMODE_ONESHOT42:
+                freq[i]  = 100;
+                clock[i] = ACTUATOR_ONESHOT42_CLOCK;
+                break;
             case ACTUATORSETTINGS_BANKMODE_PWMSYNC:
                 freq[i]  = 100;
                 clock[i] = ACTUATOR_PWM_CLOCK;
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
index 90cbfa8b9..5145ca3da 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board.c
@@ -954,7 +954,8 @@ SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
         if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT ||
              flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
             (modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
-             modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125)) {
+             modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
+             modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT42)) {
             return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
         } else {
             return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
@@ -967,7 +968,8 @@ SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
     case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
         for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
             if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
-                modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
+                modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
+                modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42) {
                 return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
             }
 
diff --git a/flight/targets/boards/revonano/firmware/pios_board.c b/flight/targets/boards/revonano/firmware/pios_board.c
index 4cc6f58d9..c3f42ad0e 100644
--- a/flight/targets/boards/revonano/firmware/pios_board.c
+++ b/flight/targets/boards/revonano/firmware/pios_board.c
@@ -893,7 +893,8 @@ SystemAlarmsExtendedAlarmStatusOptions RevoNanoConfigHook()
     case HWSETTINGS_RM_RCVRPORT_PWM:
         for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
             if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
-                modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
+                modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
+                modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42) {
                 return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
             }
         }
diff --git a/shared/uavobjectdefinition/actuatorsettings.xml b/shared/uavobjectdefinition/actuatorsettings.xml
index 4890a0c60..e57633f67 100644
--- a/shared/uavobjectdefinition/actuatorsettings.xml
+++ b/shared/uavobjectdefinition/actuatorsettings.xml
@@ -2,7 +2,7 @@
     <object name="ActuatorSettings" singleinstance="true" settings="true" category="Control">
         <description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
         <field name="BankUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
-        <field name="BankMode" type="enum" units="" elements="6" options="PWM,PWMSync,OneShot125" defaultvalue="PWM"/>
+        <field name="BankMode" type="enum" units="" elements="6" options="PWM,PWMSync,OneShot125,OneShot42" defaultvalue="PWM"/>
         <field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
         <field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
         <field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>