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Code Issues Releases Activity

LP-298 Port Ibus Input driver from dRonin - Not tested

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This commit is contained in:
Laurent Lalanne 2016-08-03 17:31:41 +02:00
parent d7ebf30b22
commit 5895468f08
22 changed files with 694 additions and 10 deletions
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1
flight/make/apps-defs.mk
View File

@ -93,6 +93,7 @@ SRC += $(PIOSCOMMON)/pios_sbus.c
SRC += $(PIOSCOMMON)/pios_hott.c
SRC += $(PIOSCOMMON)/pios_srxl.c
SRC += $(PIOSCOMMON)/pios_exbus.c
SRC += $(PIOSCOMMON)/pios_ibus.c
SRC += $(PIOSCOMMON)/pios_sdcard.c
SRC += $(PIOSCOMMON)/pios_sensors.c
SRC += $(PIOSCOMMON)/pios_openlrs.c

3
flight/modules/Receiver/receiver.c
View File

@ -670,6 +670,9 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
case MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL:
group = RECEIVERACTIVITY_ACTIVEGROUP_SRXL;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_IBUS:
group = RECEIVERACTIVITY_ACTIVEGROUP_IBUS;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS:
group = RECEIVERACTIVITY_ACTIVEGROUP_GCS;
break;

256
flight/pios/common/pios_ibus.c Normal file
View File

@ -0,0 +1,256 @@
/**
******************************************************************************
* @file pios_ibus.c
* @author dRonin, http://dRonin.org/, Copyright (C) 2016
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_IBus PiOS IBus receiver driver
* @{
* @brief Receives and decodes IBus protocol reciever packets
*****************************************************************************/
/*
* 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
*
* Additional note on redistribution: The copyright and license notices above
* must be maintained in each individual source file that is a derivative work
* of this source file; otherwise redistribution is prohibited.
*/
#include "pios_ibus_priv.h"
#ifdef PIOS_INCLUDE_IBUS
// private
#define PIOS_IBUS_CHANNELS 10
// 1 sync byte, 1 unknown byte, 10x channels (uint16_t), 8 unknown bytes, 2 crc bytes
#define PIOS_IBUS_BUFLEN (1 + 1 + PIOS_IBUS_CHANNELS * 2 + 8 + 2)
#define PIOS_IBUS_SYNCBYTE 0x20
#define PIOS_IBUS_MAGIC 0x84fd9a39
/**
* @brief IBus receiver driver internal state data
*/
struct pios_ibus_dev {
uint32_t magic;
int buf_pos;
int rx_timer;
int failsafe_timer;
uint16_t checksum;
uint16_t channel_data[PIOS_IBUS_CHANNELS];
uint8_t rx_buf[PIOS_IBUS_BUFLEN];
};
/**
* @brief Allocates a driver instance
* @retval pios_ibus_dev pointer on success, NULL on failure
*/
static struct pios_ibus_dev *PIOS_IBUS_Alloc(void);
/**
* @brief Validate a driver instance
* @param[in] dev device driver instance pointer
* @retval true on success, false on failure
*/
static bool PIOS_IBUS_Validate(const struct pios_ibus_dev *ibus_dev);
/**
* @brief Read a channel from the last received frame
* @param[in] id Driver instance
* @param[in] channel 0-based channel index
* @retval raw channel value, or error value (see pios_rcvr.h)
*/
static int32_t PIOS_IBUS_Read(uint32_t id, uint8_t channel);
/**
* @brief Set all channels in the last frame buffer to a given value
* @param[in] dev Driver instance
* @param[in] value channel value
*/
static void PIOS_IBUS_SetAllChannels(struct pios_ibus_dev *ibus_dev, uint16_t value);
/**
* @brief Serial receive callback
* @param[in] context Driver instance handle
* @param[in] buf Receive buffer
* @param[in] buf_len Number of bytes available
* @param[out] headroom Number of bytes remaining in internal buffer
* @param[out] task_woken Did we awake a task?
* @retval Number of bytes consumed from the buffer
*/
static uint16_t PIOS_IBUS_Receive(uint32_t context, uint8_t *buf, uint16_t buf_len,
uint16_t *headroom, bool *task_woken);
/**
* @brief Reset the internal receive buffer state
* @param[in] ibus_dev device driver instance pointer
*/
static void PIOS_IBUS_ResetBuffer(struct pios_ibus_dev *ibus_dev);
/**
* @brief Unpack a frame from the internal receive buffer to the channel buffer
* @param[in] ibus_dev device driver instance pointer
*/
static void PIOS_IBUS_UnpackFrame(struct pios_ibus_dev *ibus_dev);
/**
* @brief RTC tick callback
* @param[in] context Driver instance handle
*/
static void PIOS_IBUS_Supervisor(uint32_t context);
// public
const struct pios_rcvr_driver pios_ibus_rcvr_driver = {
.read = PIOS_IBUS_Read,
};
static struct pios_ibus_dev *PIOS_IBUS_Alloc(void)
{
struct pios_ibus_dev *ibus_dev;
ibus_dev = (struct pios_ibus_dev *)pios_malloc(sizeof(*ibus_dev));
if (!ibus_dev) {
return NULL;
}
memset(ibus_dev, 0, sizeof(*ibus_dev));
ibus_dev->magic = PIOS_IBUS_MAGIC;
return ibus_dev;
}
static bool PIOS_IBUS_Validate(const struct pios_ibus_dev *ibus_dev)
{
return ibus_dev && ibus_dev->magic == PIOS_IBUS_MAGIC;
}
int32_t PIOS_IBUS_Init(uint32_t *ibus_id, const struct pios_com_driver *driver,
uint32_t lower_id)
{
struct pios_ibus_dev *ibus_dev = PIOS_IBUS_Alloc();
if (!ibus_dev) {
return -1;
}
*ibus_id = (uint32_t)ibus_dev;
PIOS_IBUS_SetAllChannels(ibus_dev, PIOS_RCVR_INVALID);
if (!PIOS_RTC_RegisterTickCallback(PIOS_IBUS_Supervisor, *ibus_id)) {
PIOS_Assert(0);
}
(driver->bind_rx_cb)(lower_id, PIOS_IBUS_Receive, *ibus_id);
return 0;
}
static int32_t PIOS_IBUS_Read(uint32_t context, uint8_t channel)
{
if (channel > PIOS_IBUS_CHANNELS) {
return PIOS_RCVR_INVALID;
}
struct pios_ibus_dev *ibus_dev = (struct pios_ibus_dev *)context;
if (!PIOS_IBUS_Validate(ibus_dev)) {
return PIOS_RCVR_NODRIVER;
}
return ibus_dev->channel_data[channel];
}
static void PIOS_IBUS_SetAllChannels(struct pios_ibus_dev *ibus_dev, uint16_t value)
{
for (int i = 0; i < PIOS_IBUS_CHANNELS; i++) {
ibus_dev->channel_data[i] = value;
}
}
static uint16_t PIOS_IBUS_Receive(uint32_t context, uint8_t *buf, uint16_t buf_len,
uint16_t *headroom, bool *task_woken)
{
struct pios_ibus_dev *ibus_dev = (struct pios_ibus_dev *)context;
if (!PIOS_IBUS_Validate(ibus_dev)) {
goto out_fail;
}
for (int i = 0; i < buf_len; i++) {
if (ibus_dev->buf_pos == 0 && buf[i] != PIOS_IBUS_SYNCBYTE) {
continue;
}
ibus_dev->rx_buf[ibus_dev->buf_pos++] = buf[i];
if (ibus_dev->buf_pos <= PIOS_IBUS_BUFLEN - 2) {
ibus_dev->checksum -= buf[i];
} else if (ibus_dev->buf_pos == PIOS_IBUS_BUFLEN) {
PIOS_IBUS_UnpackFrame(ibus_dev);
}
}
ibus_dev->rx_timer = 0;
*headroom = PIOS_IBUS_BUFLEN - ibus_dev->buf_pos;
*task_woken = false;
return buf_len;
out_fail:
*headroom = 0;
*task_woken = false;
return 0;
}
static void PIOS_IBUS_ResetBuffer(struct pios_ibus_dev *ibus_dev)
{
ibus_dev->checksum = 0xffff;
ibus_dev->buf_pos = 0;
}
static void PIOS_IBUS_UnpackFrame(struct pios_ibus_dev *ibus_dev)
{
uint16_t rxsum = ibus_dev->rx_buf[PIOS_IBUS_BUFLEN - 1] << 8 |
ibus_dev->rx_buf[PIOS_IBUS_BUFLEN - 2];
if (ibus_dev->checksum != rxsum) {
goto out_fail;
}
uint16_t *chan = (uint16_t *)&ibus_dev->rx_buf[2];
for (int i = 0; i < PIOS_IBUS_CHANNELS; i++) {
ibus_dev->channel_data[i] = *chan++;
}
ibus_dev->failsafe_timer = 0;
out_fail:
PIOS_IBUS_ResetBuffer(ibus_dev);
}
static void PIOS_IBUS_Supervisor(uint32_t context)
{
struct pios_ibus_dev *ibus_dev = (struct pios_ibus_dev *)context;
PIOS_Assert(PIOS_IBUS_Validate(ibus_dev));
if (++ibus_dev->rx_timer > 3) {
PIOS_IBUS_ResetBuffer(ibus_dev);
}
if (++ibus_dev->failsafe_timer > 32) {
PIOS_IBUS_SetAllChannels(ibus_dev, PIOS_RCVR_TIMEOUT);
}
}
#endif // PIOS_INCLUDE_IBUS
/**
* @}
* @}
*/

38
flight/pios/inc/pios_ibus.h Normal file
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@ -0,0 +1,38 @@
/**
******************************************************************************
*
* @file pios_ibus.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* dRonin, http://dRonin.org/, Copyright (C) 2016
* @brief FlySky IBus functions header.
* @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_IBUS_H
#define PIOS_IBUS_H
/* Global Types */
/* Public Functions */
#endif /* PIOS_IBUS_H */
/**
* @}
* @}
*/

51
flight/pios/inc/pios_ibus_priv.h Normal file
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@ -0,0 +1,51 @@
/**
******************************************************************************
* @file pios_ibus_priv.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* dRonin, http://dRonin.org/, Copyright (C) 2016
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_IBus IBus receiver functions
* @{
* @brief Receives and decodes IBus protocol receiver packets
*****************************************************************************/
/*
* 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
*
* Additional note on redistribution: The copyright and license notices above
* must be maintained in each individual source file that is a derivative work
* of this source file; otherwise redistribution is prohibited.
*/
#ifndef PIOS_IBUS_PRIV_H
#define PIOS_IBUS_PRIV_H
#include <pios.h>
#include <pios_usart_priv.h>
/* IBUS receiver instance configuration */
extern const struct pios_rcvr_driver pios_ibus_rcvr_driver;
extern int32_t PIOS_IBUS_Init(uint32_t *ibus_id,
const struct pios_com_driver *driver,
uint32_t lower_id);
#endif // PIOS_IBUS_PRIV_H
/**
* @}
* @}
*/

4
flight/pios/pios.h
View File

@ -241,6 +241,10 @@ extern "C" {
#include <pios_srxl.h>
#endif
#ifdef PIOS_INCLUDE_IBUS
#include <pios_ibus.h>
#endif
/* PIOS abstract receiver interface */
#ifdef PIOS_INCLUDE_RCVR
#include <pios_rcvr.h>

44
flight/targets/boards/coptercontrol/board_hw_defs.c
View File

@ -1151,6 +1151,50 @@ static const struct pios_usart_cfg pios_usart_srxl_flexi_cfg = {
#endif /* PIOS_INCLUDE_SRXL */
#if defined(PIOS_INCLUDE_IBUS)
/*
* IBUS USART
*/
#include <pios_ibus_priv.h>
static const struct pios_usart_cfg pios_usart_ibus_flexi_cfg = {
.regs = 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_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
#endif /* PIOS_INCLUDE_IBUS */
#if defined(PIOS_INCLUDE_SBUS)
/*
* S.Bus USART

1
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -106,6 +106,7 @@
#define PIOS_INCLUDE_EXBUS
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_IBUS
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */

23
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -382,7 +382,6 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
@ -670,6 +669,28 @@ void PIOS_Board_Init(void)
#endif /* PIOS_INCLUDE_SRXL */
break;
case HWSETTINGS_CC_FLEXIPORT_IBUS:
#if defined(PIOS_INCLUDE_IBUS)
{
uint32_t pios_usart_ibus_id;
if (PIOS_USART_Init(&pios_usart_ibus_id, &pios_usart_ibus_flexi_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_ibus_id;
if (PIOS_IBUS_Init(&pios_ibus_id, &pios_usart_com_driver, pios_usart_ibus_id)) {
PIOS_Assert(0);
}
uint32_t pios_ibus_rcvr_id;
if (PIOS_RCVR_Init(&pios_ibus_rcvr_id, &pios_ibus_rcvr_driver, pios_ibus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_IBUS] = pios_ibus_rcvr_id;
}
#endif /* PIOS_INCLUDE_IBUS */
break;
case HWSETTINGS_CC_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)

6
flight/targets/boards/coptercontrol/pios_board.h
View File

@ -272,6 +272,12 @@ extern uint32_t pios_com_mavlink_id;
#define PIOS_SRXL_MAX_DEVS 1
#define PIOS_SRXL_NUM_INPUTS 16
// -------------------------
// Receiver FlySky IBus input
// -------------------------
#define PIOS_IBUS_MAX_DEVS 1
#define PIOS_IBUS_NUM_INPUTS 10
// -------------------------
// Servo outputs
// -------------------------

49
flight/targets/boards/revolution/board_hw_defs.c
View File

@ -1171,6 +1171,55 @@ static const struct pios_usart_cfg pios_usart_hott_flexi_cfg = {
#endif /* PIOS_INCLUDE_HOTT */
#if defined(PIOS_INCLUDE_IBUS)
/*
* IBUS USART
*/
#include <pios_ibus_priv.h>
static const struct pios_usart_cfg pios_usart_ibus_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_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_IBUS */
#if defined(PIOS_INCLUDE_EXBUS)
/*
* EXBUS USART

1
flight/targets/boards/revolution/firmware/inc/pios_config.h
View File

@ -107,6 +107,7 @@
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_EXBUS
#define PIOS_INCLUDE_IBUS
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
#define PIOS_INCLUDE_OPENLRS_RCVR

22
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -586,6 +586,28 @@ void PIOS_Board_Init(void)
#endif /* PIOS_INCLUDE_SRXL */
break;
case HWSETTINGS_RM_FLEXIPORT_IBUS:
#if defined(PIOS_INCLUDE_IBUS)
{
uint32_t pios_usart_ibus_id;
if (PIOS_USART_Init(&pios_usart_ibus_id, &pios_usart_ibus_flexi_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_ibus_id;
if (PIOS_IBUS_Init(&pios_ibus_id, &pios_usart_com_driver, pios_usart_ibus_id)) {
PIOS_Assert(0);
}
uint32_t pios_ibus_rcvr_id;
if (PIOS_RCVR_Init(&pios_ibus_rcvr_id, &pios_ibus_rcvr_driver, pios_ibus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_IBUS] = pios_ibus_rcvr_id;
}
#endif /* PIOS_INCLUDE_IBUS */
break;
case HWSETTINGS_RM_FLEXIPORT_HOTTSUMD:
case HWSETTINGS_RM_FLEXIPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HOTT)

51
flight/targets/boards/revonano/board_hw_defs.c
View File

@ -634,6 +634,55 @@ static const struct pios_usart_cfg pios_usart_srxl_flexi_cfg = {
#endif /* PIOS_INCLUDE_SRXL */
#if defined(PIOS_INCLUDE_IBUS)
/*
* IBUS USART
*/
#include <pios_ibus_priv.h>
static const struct pios_usart_cfg pios_usart_ibus_flexi_cfg = {
.regs = FLEXI_USART_REGS,
.remap = FLEXI_USART_REMAP,
.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 = FLEXI_USART_IRQ,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = FLEXI_USART_RX_GPIO,
.init = {
.GPIO_Pin = FLEXI_USART_RX_PIN,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = FLEXI_USART_TX_GPIO,
.init = {
.GPIO_Pin = FLEXI_USART_TX_PIN,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_IBUS */
#if defined(PIOS_INCLUDE_EXBUS)
/*
* EXBUS USART
@ -681,8 +730,8 @@ static const struct pios_usart_cfg pios_usart_exbus_flexi_cfg = {
},
};
#endif /* PIOS_INCLUDE_EXBUS */
/*
* HK OSD
*/

24
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -733,7 +733,29 @@ void PIOS_Board_Init(void)
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id;
}
#endif
#endif /* PIOS_INCLUDE_SRXL */
break;
case HWSETTINGS_RM_FLEXIPORT_IBUS:
#if defined(PIOS_INCLUDE_IBUS)
{
uint32_t pios_usart_ibus_id;
if (PIOS_USART_Init(&pios_usart_ibus_id, &pios_usart_ibus_flexi_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_ibus_id;
if (PIOS_IBUS_Init(&pios_ibus_id, &pios_usart_com_driver, pios_usart_ibus_id)) {
PIOS_Assert(0);
}
uint32_t pios_ibus_rcvr_id;
if (PIOS_RCVR_Init(&pios_ibus_rcvr_id, &pios_ibus_rcvr_driver, pios_ibus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_IBUS] = pios_ibus_rcvr_id;
}
#endif /* PIOS_INCLUDE_IBUS */
break;
case HWSETTINGS_RM_FLEXIPORT_HOTTSUMD:

80
flight/targets/boards/sparky2/board_hw_defs.c
View File

@ -838,6 +838,86 @@ static const struct pios_usart_cfg pios_usart_srxl_rcvr_cfg = {
#endif /* PIOS_INCLUDE_SRXL */
#if defined(PIOS_INCLUDE_IBUS)
/*
* IBUS USART
*/
#include <pios_ibus_priv.h>
static const struct pios_usart_cfg pios_usart_ibus_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_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
static const struct pios_usart_cfg pios_usart_ibus_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
},
},
};
#endif /* PIOS_INCLUDE_IBUS */
// these were copied from Revo support
// they might need to be further modified for Sparky2 support
#if defined(PIOS_INCLUDE_HOTT)

1
flight/targets/boards/sparky2/firmware/inc/pios_config.h
View File

@ -111,6 +111,7 @@
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_EXBUS
#define PIOS_INCLUDE_IBUS
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
#define PIOS_INCLUDE_OPENLRS_RCVR

34
flight/targets/boards/sparky2/firmware/pios_board.c
View File

@ -327,6 +327,27 @@ static void PIOS_Board_configure_srxl(const struct pios_usart_cfg *usart_cfg)
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id;
}
static void PIOS_Board_configure_ibus(const struct pios_usart_cfg *usart_cfg)
{
uint32_t pios_usart_ibus_id;
if (PIOS_USART_Init(&pios_usart_ibus_id, usart_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_ibus_id;
if (PIOS_IBUS_Init(&pios_ibus_id, &pios_usart_com_driver, pios_usart_ibus_id)) {
PIOS_Assert(0);
}
uint32_t pios_ibus_rcvr_id;
if (PIOS_RCVR_Init(&pios_ibus_rcvr_id, &pios_ibus_rcvr_driver, pios_ibus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_IBUS] = pios_ibus_rcvr_id;
}
static void PIOS_Board_configure_exbus(const struct pios_usart_cfg *usart_cfg)
{
@ -582,6 +603,12 @@ void PIOS_Board_Init(void)
#endif /* PIOS_INCLUDE_SRXL */
break;
case HWSETTINGS_SPK2_FLEXIPORT_IBUS:
#if defined(PIOS_INCLUDE_IBUS)
PIOS_Board_configure_ibus(&pios_usart_ibus_flexi_cfg);
#endif /* PIOS_INCLUDE_IBUS */
break;
case HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD:
case HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HOTT)
@ -926,7 +953,7 @@ void PIOS_Board_Init(void)
// Configure the receiver port
// Sparky2 receiver input on PC7 TIM8 CH2
// include PPM,S.Bus,DSM,SRXL,EX.Bus,HoTT SUMD,HoTT SUMH
// include PPM,S.Bus,DSM,SRXL,IBus,EX.Bus,HoTT SUMD,HoTT SUMH
uint8_t hwsettings_rcvrport;
HwSettingsSPK2_RcvrPortGet(&hwsettings_rcvrport);
@ -962,6 +989,11 @@ void PIOS_Board_Init(void)
PIOS_Board_configure_srxl(&pios_usart_srxl_rcvr_cfg);
#endif /* PIOS_INCLUDE_SRXL */
break;
case HWSETTINGS_SPK2_RCVRPORT_IBUS:
#if defined(PIOS_INCLUDE_IBUS)
PIOS_Board_configure_ibus(&pios_usart_ibus_rcvr_cfg);
#endif /* PIOS_INCLUDE_IBUS */
break;
case HWSETTINGS_SPK2_RCVRPORT_HOTTSUMD:
case HWSETTINGS_SPK2_RCVRPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HOTT)

3
ground/gcs/src/plugins/config/inputchannelform.cpp
View File

@ -146,6 +146,9 @@ void InputChannelForm::groupUpdated()
case ManualControlSettings::CHANNELGROUPS_OPLINK:
count = 8; // Need to make this 6 for CC
break;
case ManualControlSettings::CHANNELGROUPS_IBUS:
count = 10;
break;
case ManualControlSettings::CHANNELGROUPS_DSMMAINPORT:
case ManualControlSettings::CHANNELGROUPS_DSMFLEXIPORT:
case ManualControlSettings::CHANNELGROUPS_DSMRCVRPORT:

8
shared/uavobjectdefinition/hwsettings.xml
View File

@ -3,7 +3,7 @@
<description>Selection of optional hardware configurations.</description>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled+OneShot,PWM+NoOneShot,PPM+NoOneShot,PPM+PWM+NoOneShot,PPM+Outputs+NoOneShot,PPM_PIN8+OneShot, Outputs+OneShot" defaultvalue="PWM+NoOneShot"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Telemetry"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,PPM,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,PPM,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
<field name="RV_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
<field name="RV_AuxPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,DSM,ComAux,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
<field name="RV_AuxSBusPort" units="function" type="enum" elements="1" options="Disabled,S.Bus,DSM,ComAux,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
@ -15,11 +15,11 @@
defaultvalue="PWM"
limits="%0905NE:PPM+PWM:PPM+Telemetry:Telemetry:ComBridge:MSP:MAVLink;"/>
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
<field name="SPK2_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PPM,S.Bus,DSM,SRXL,EX.Bus,HoTT SUMD,HoTT SUMH" defaultvalue="PPM"/>
<field name="SPK2_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PPM,S.Bus,DSM,SRXL,IBus,EX.Bus,HoTT SUMD,HoTT SUMH" defaultvalue="PPM"/>
<field name="SPK2_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,DSM,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
<field name="SPK2_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
<field name="SPK2_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
<field name="SPK2_I2CPort" units="function" type="enum" elements="1" options="Disabled,I2C" defaultvalue="Disabled"/>
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -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),DSM (RcvrPort),S.Bus,EX.Bus,HoTT,SRXL,GCS,OPLink,OpenLRS,None" defaultvalue="None"/>
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),DSM (RcvrPort),S.Bus,EX.Bus,HoTT,SRXL,IBus,GCS,OPLink,OpenLRS,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"

2
shared/uavobjectdefinition/receiveractivity.xml
View File

@ -2,7 +2,7 @@
<object name="ReceiverActivity" singleinstance="true" settings="false" category="System">
<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,DSM (MainPort),DSM (FlexiPort),DSM (RcvrPort),S.Bus,EX.Bus,HoTT,SRXL,GCS,OPLink,OpenLRS,None"
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),DSM (RcvrPort),S.Bus,EX.Bus,HoTT,SRXL,IBus,GCS,OPLink,OpenLRS,None"
defaultvalue="None"/>
<field name="ActiveChannel" units="channel" type="uint8" elements="1"
defaultvalue="255"/>