rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR

All receivers now fall under the same driver API provided
by pios_rcvr.c.

This is part of a larger sequence of commits that will
switch the receiver selection over to boot time dynamic
configuration via UAVObjects.

flight/CopterControl/Makefile

@@ -211,6 +211,7 @@ SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
+SRC += $(PIOSCOMMON)/pios_rcvr.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c

flight/CopterControl/System/inc/pios_config.h

@@ -43,6 +43,8 @@
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
 
+#define PIOS_INCLUDE_RCVR
+
 /* Receiver interfaces - only one allowed */
 #if !defined(USE_SPEKTRUM) && !defined(USE_SBUS)
 //#define PIOS_INCLUDE_PPM

flight/CopterControl/System/pios_board.c

@@ -469,13 +469,13 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
 	},
 };
 
+#include <pios_spektrum_priv.h>
 static uint32_t pios_usart_spektrum_id;
 void PIOS_USART_spektrum_irq_handler(void)
 {
-	SPEKTRUM_IRQHandler(pios_usart_spektrum_id);
+	PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
 }
 
-#include <pios_spektrum_priv.h>
 void RTC_IRQHandler();
 void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
 const struct pios_spektrum_cfg pios_spektrum_cfg = {
@@ -501,7 +501,7 @@ void PIOS_SUPV_irq_handler() {
 	if (RTC_GetITStatus(RTC_IT_SEC))
 	{
 		/* Call the right handler */
-		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
+		PIOS_SPEKTRUMSV_irq_handler(pios_usart_spektrum_id);
 
 		/* Wait until last write operation on RTC registers has finished */
 		RTC_WaitForLastTask();
@@ -561,7 +561,7 @@ const struct pios_usart_cfg pios_usart_sbus_cfg = {
 static uint32_t pios_usart_sbus_id;
 void PIOS_USART_sbus_irq_handler(void)
 {
-	SBUS_IRQHandler(pios_usart_sbus_id);
+	PIOS_SBUS_irq_handler(pios_usart_sbus_id);
 }
 
 #include <pios_sbus_priv.h>
@@ -587,7 +587,7 @@ void PIOS_SUPV_irq_handler() {
 	if (RTC_GetITStatus(RTC_IT_SEC))
 	{
 		/* Call the right handler */
-		PIOS_SBUS_irq_handler(pios_usart_sbus_id);
+		PIOS_SBUSSV_irq_handler(pios_usart_sbus_id);
 
 		/* Wait until last write operation on RTC registers has finished */
 		RTC_WaitForLastTask();
@@ -869,6 +869,13 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
 
 #endif /* PIOS_INCLUDE_I2C */
 
+#if defined(PIOS_INCLUDE_RCVR)
+#include "pios_rcvr_priv.h"
+
+uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS];
+uint32_t pios_rcvr_max_channel;
+#endif /* PIOS_INCLUDE_RCVR */
+
 extern const struct pios_com_driver pios_usb_com_driver;
 
 uint32_t pios_com_telem_rf_id;
@@ -897,18 +904,6 @@ void PIOS_Board_Init(void) {
 	
 	PIOS_FLASHFS_Init();
 
-#if defined(PIOS_INCLUDE_SPEKTRUM)
-	/* SPEKTRUM init must come before comms */
-	PIOS_SPEKTRUM_Init();
-
-	if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
-		PIOS_DEBUG_Assert(0);
-	}
-	if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
-		PIOS_DEBUG_Assert(0);
-	}
-#endif
-
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();
@@ -938,6 +933,26 @@ void PIOS_Board_Init(void) {
 		PIOS_DEBUG_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_GPS */
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+	/* SPEKTRUM init must come before comms */
+	PIOS_SPEKTRUM_Init();
+
+	if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
+		PIOS_DEBUG_Assert(0);
+	}
+	if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
+		PIOS_DEBUG_Assert(0);
+	}
+	for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
+		if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
+			   &pios_spektrum_rcvr_driver,
+			   i)) {
+			pios_rcvr_max_channel++;
+		} else {
+			PIOS_DEBUG_Assert(0);
+		}
+	}
+#endif
 #if defined(PIOS_INCLUDE_SBUS)
 	PIOS_SBUS_Init();
 
@@ -947,6 +962,16 @@ void PIOS_Board_Init(void) {
 	if (PIOS_COM_Init(&pios_com_sbus_id, &pios_usart_com_driver, pios_usart_sbus_id)) {
 		PIOS_DEBUG_Assert(0);
 	}
+	for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) {
+		if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
+			   &pios_sbus_rcvr_driver,
+			   i)) {
+			pios_rcvr_max_channel++;
+		} else {
+			PIOS_DEBUG_Assert(0);
+		}
+	}
+
 #endif  /* PIOS_INCLUDE_SBUS */
 #endif  /* PIOS_INCLUDE_COM */
 
@@ -958,10 +983,34 @@ void PIOS_Board_Init(void) {
 	PIOS_GPIO_Init();
 
 #if defined(PIOS_INCLUDE_PWM)
+#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
+#error More receiver inputs than available devices
+#endif
 	PIOS_PWM_Init();
+	for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
+		if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
+			   &pios_pwm_rcvr_driver,
+			   i)) {
+			pios_rcvr_max_channel++;
+		} else {
+			PIOS_DEBUG_Assert(0);
+		}
+	}
 #endif
 #if defined(PIOS_INCLUDE_PPM)
+#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
+#error More receiver inputs than available devices
+#endif
 	PIOS_PPM_Init();
+	for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
+		if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
+			   &pios_ppm_rcvr_driver,
+			   i)) {
+			pios_rcvr_max_channel++;
+		} else {
+			PIOS_DEBUG_Assert(0);
+		}
+	}
 #endif
 #if defined(PIOS_INCLUDE_USB_HID)
 	PIOS_USB_HID_Init(0);

flight/Modules/ManualControl/manualcontrol.c

@@ -209,19 +209,12 @@ static void manualControlTask(void *parameters)
 		if (!ManualControlCommandReadOnly(&cmd)) {
 
 			// Read channel values in us
-			// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
-			// selection of PWM and PPM. The configuration is currently done at compile time in
-			// the pios_config.h file.
 			for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
-#if defined(PIOS_INCLUDE_PWM)
+				if (pios_rcvr_channel_to_id_map[n]) {
-				cmd.Channel[n] = PIOS_PWM_Get(n);
+					cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n]);
-#elif defined(PIOS_INCLUDE_PPM)
+				} else {
-				cmd.Channel[n] = PIOS_PPM_Get(n);
+					cmd.Channel[n] = -1;
-#elif defined(PIOS_INCLUDE_SPEKTRUM)
+				}
-				cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
-#elif defined(PIOS_INCLUDE_SBUS)
-				cmd.Channel[n] = PIOS_SBUS_Get(n);
-#endif
 				scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n],	settings.ChannelMin[n], settings.ChannelNeutral[n]);
 			}
 

flight/OpenPilot/Makefile

@@ -196,6 +196,7 @@ SRC += $(PIOSCOMMON)/pios_hcsr04.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
+SRC += $(PIOSCOMMON)/pios_rcvr.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
 SRC += $(FLIGHTLIB)/ahrs_comm_objects.c

flight/OpenPilot/System/inc/pios_config.h

@@ -42,6 +42,8 @@
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
 
+#define PIOS_INCLUDE_RCVR
+
 #if defined(USE_SPEKTRUM)
 #define PIOS_INCLUDE_SPEKTRUM
 #elif defined(USE_SBUS)

flight/OpenPilot/System/pios_board.c

@@ -497,13 +497,13 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
   },
 };
 
+#include <pios_spektrum_priv.h>
 static uint32_t pios_usart_spektrum_id;
 void PIOS_USART_spektrum_irq_handler(void)
 {
-	SPEKTRUM_IRQHandler(pios_usart_spektrum_id);
+	PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
 }
 
-#include <pios_spektrum_priv.h>
 void RTC_IRQHandler();
 void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
 const struct pios_spektrum_cfg pios_spektrum_cfg = {
@@ -525,11 +525,11 @@ const struct pios_spektrum_cfg pios_spektrum_cfg = {
 	.pin = GPIO_Pin_10,
 };
 
-void PIOS_SUPV_irq_handler() {
+void PIOS_SUPV_irq_handler(void) {
 	if (RTC_GetITStatus(RTC_IT_SEC))
 	{
 		/* Call the right handler */
-		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
+		PIOS_SPEKTRUMSV_irq_handler(pios_usart_spektrum_id);
 
 		/* Wait until last write operation on RTC registers has finished */
 		RTC_WaitForLastTask();
@@ -802,7 +802,7 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
 	.ccr = TIM_IT_Update,
 };
 
-void PIOS_TIM6_irq_handler()
+void PIOS_TIM6_irq_handler(void)
 {
 	PIOS_PPMSV_irq_handler();
 }
@@ -844,7 +844,7 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
 	.ccr = TIM_IT_CC2,
 };
 
-void PIOS_TIM1_CC_irq_handler()
+void PIOS_TIM1_CC_irq_handler(void)
 {
 	PIOS_PPM_irq_handler();
 }
@@ -1013,6 +1013,13 @@ static const struct stm32_gpio pios_debug_pins[] = {
 
 #endif /* PIOS_ENABLE_DEBUG_PINS */
 
+#if defined(PIOS_INCLUDE_RCVR)
+#include "pios_rcvr_priv.h"
+
+uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS];
+uint32_t pios_rcvr_max_channel;
+#endif /* PIOS_INCLUDE_RCVR */
+
 extern const struct pios_com_driver pios_usb_com_driver;
 
 uint32_t pios_com_telem_rf_id;
@@ -1050,18 +1057,6 @@ void PIOS_Board_Init(void) {
 	PIOS_SDCARD_MountFS(0);
 #endif /* PIOS_INCLUDE_SPI */
 
-#if defined(PIOS_INCLUDE_SPEKTRUM)
-	/* SPEKTRUM init must come before comms */
-	PIOS_RTC_Init();  // Spektrum uses RTC to check for frame failures
-	PIOS_SPEKTRUM_Init();
-
-	if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
-		PIOS_DEBUG_Assert(0);
-	}
-	if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
-		PIOS_DEBUG_Assert(0);
-	}
-#endif
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();
@@ -1105,11 +1100,59 @@ void PIOS_Board_Init(void) {
 	PIOS_ADC_Init();
 	PIOS_GPIO_Init();
 
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
+#error More receiver inputs than available devices
+#endif
+	/* SPEKTRUM init must come before comms */
+	PIOS_SPEKTRUM_Init();
+
+	if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
+		PIOS_DEBUG_Assert(0);
+	}
+	if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
+		PIOS_DEBUG_Assert(0);
+	}
+	for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
+		if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
+				   &pios_spektrum_rcvr_driver,
+				   i)) {
+			pios_rcvr_max_channel++;
+		} else {
+			PIOS_DEBUG_Assert(0);
+		}
+	}
+#endif
+
 #if defined(PIOS_INCLUDE_PWM)
+#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
+#error More receiver inputs than available devices
+#endif
 	PIOS_PWM_Init();
+	for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
+		if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
+			   &pios_pwm_rcvr_driver,
+			   i)) {
+			pios_rcvr_max_channel++;
+		} else {
+			PIOS_DEBUG_Assert(0);
+		}
+	}
 #endif
 #if defined(PIOS_INCLUDE_PPM)
+#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
+#error More receiver inputs than available devices
+#endif
 	PIOS_PPM_Init();
+	for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
+		if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
+			   &pios_ppm_rcvr_driver,
+			   i)) {
+			pios_rcvr_max_channel++;
+		} else {
+			PIOS_DEBUG_Assert(0);
+		}
+	}
 #endif
 #if defined(PIOS_INCLUDE_USB_HID)
 	PIOS_USB_HID_Init(0);

flight/PiOS/Boards/STM32103CB_CC_Rev1.h

@@ -225,10 +225,27 @@ extern uint32_t pios_com_sbus_id;
 #define PIOS_ADC_RATE		(72.0e6 / 1.0 / 8.0 / 252.0 / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
 #define PIOS_ADC_MAX_OVERSAMPLING               36
 
+//------------------------
+// PIOS_RCVR
+// See also pios_board.c
+//------------------------
+#define PIOS_RCVR_MAX_DEVS                      12
+
 //-------------------------
-// Receiver PWM inputs
+// Receiver PPM input
 //-------------------------
-#define PIOS_PWM_MAX_INPUTS                     6
+#define PIOS_PPM_NUM_INPUTS                     6  //Could be more if needed
+#define PIOS_PPM_SUPV_ENABLED                   1
+
+//-------------------------
+// Receiver PWM input
+//-------------------------
+#define PIOS_PWM_NUM_INPUTS                     6
+
+//-------------------------
+// Receiver SPEKTRUM input
+//-------------------------
+#define PIOS_SPEKTRUM_NUM_INPUTS                12
 
 //-------------------------
 // Servo outputs

flight/PiOS/Boards/STM3210E_OP.h

@@ -199,37 +199,33 @@ extern uint32_t pios_com_sbus_id;
 #define PIOS_IRQ_PRIO_HIGH                      5               // for SPI, ADC, I2C etc...
 #define PIOS_IRQ_PRIO_HIGHEST                   4               // for USART etc...
 
-//-------------------------
+//------------------------
-// Receiver PWM inputs
+// PIOS_RCVR
-//-------------------------
+// See also pios_board.c
-/*#define PIOS_PWM_SUPV_ENABLED                   1
+//------------------------
-#define PIOS_PWM_SUPV_TIMER                     TIM6
+#define PIOS_RCVR_MAX_DEVS                      12
-#define PIOS_PWM_SUPV_TIMER_RCC_FUNC            RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
-#define PIOS_PWM_SUPV_HZ                        25
-#define PIOS_PWM_SUPV_IRQ_CHANNEL               TIM6_IRQn
-#define PIOS_PWM_SUPV_IRQ_FUNC                  void TIM6_IRQHandler(void)*/
 
 //-------------------------
 // Receiver PPM input
 //-------------------------
 #define PIOS_PPM_NUM_INPUTS                     8  //Could be more if needed
 #define PIOS_PPM_SUPV_ENABLED                   1
+
 //-------------------------
-// SPEKTRUM input
+// Receiver PWM input
 //-------------------------
-//#define PIOS_SPEKTRUM_SUPV_ENABLED                   1
+#define PIOS_PWM_NUM_INPUTS                     8
-//#define PIOS_SPEKTRUM_SUPV_TIMER                     TIM6
+
-//#define PIOS_SPEKTRUM_SUPV_TIMER_RCC_FUNC            RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
+//-------------------------
-//#define PIOS_SPEKTRUM_SUPV_HZ                        60 // 1/22ms
+// Receiver SPEKTRUM input
-//#define PIOS_SPEKTRUM_SUPV_IRQ_CHANNEL               TIM6_IRQn
+//-------------------------
-//#define PIOS_SPEKTRUM_SUPV_IRQ_FUNC                  void TIM6_IRQHandler(void)
+#define PIOS_SPEKTRUM_NUM_INPUTS                12
 
 //-------------------------
 // Servo outputs
 //-------------------------
 #define PIOS_SERVO_UPDATE_HZ                    50
 #define PIOS_SERVOS_INITIAL_POSITION            0 /* dont want to start motors, have no pulse till settings loaded */
-#define PIOS_PWM_MAX_INPUTS                     8
 
 //-------------------------
 // ADC

flight/PiOS/STM32F10x/pios_ppm.c

@@ -34,8 +34,14 @@
 
 #if defined(PIOS_INCLUDE_PPM)
 
-/* Local Variables */
+/* Provide a RCVR driver */
+static int32_t PIOS_PPM_Get(uint32_t chan_id);
 
+const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
+	.read = PIOS_PPM_Get,
+};
+
+/* Local Variables */
 static TIM_ICInitTypeDef TIM_ICInitStructure;
 static uint8_t PulseIndex;
 static uint32_t PreviousValue;
@@ -208,13 +214,13 @@ void PIOS_PPM_Init(void)
 * \output -1 Channel not available
 * \output >0 Channel value
 */
-int32_t PIOS_PPM_Get(int8_t Channel)
+static int32_t PIOS_PPM_Get(uint32_t chan_id)
 {
 	/* Return error if channel not available */
-	if (Channel >= PIOS_PPM_NUM_INPUTS) {
+	if (chan_id >= PIOS_PPM_NUM_INPUTS) {
 		return -1;
 	}
-	return CaptureValue[Channel];
+	return CaptureValue[chan_id];
 }
 
 /**

flight/PiOS/STM32F10x/pios_pwm.c

@@ -34,15 +34,20 @@
 
 #if defined(PIOS_INCLUDE_PWM)
 
-/* Local Variables */
+/* Provide a RCVR driver */
-static uint8_t CaptureState[PIOS_PWM_MAX_INPUTS];
+static int32_t PIOS_PWM_Get(uint32_t chan_id);
-static uint16_t RiseValue[PIOS_PWM_MAX_INPUTS];
-static uint16_t FallValue[PIOS_PWM_MAX_INPUTS];
-static uint32_t CaptureValue[PIOS_PWM_MAX_INPUTS];
 
-//static uint8_t SupervisorState = 0;
+const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
-static uint32_t CapCounter[PIOS_PWM_MAX_INPUTS];
+	.read = PIOS_PWM_Get,
-//static uint32_t CapCounterPrev[MAX_CHANNELS];
+};
+
+/* Local Variables */
+static uint8_t CaptureState[PIOS_PWM_NUM_INPUTS];
+static uint16_t RiseValue[PIOS_PWM_NUM_INPUTS];
+static uint16_t FallValue[PIOS_PWM_NUM_INPUTS];
+static uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS];
+
+static uint32_t CapCounter[PIOS_PWM_NUM_INPUTS];
 
 /**
 * Initialises all the pins
@@ -127,52 +132,6 @@ void PIOS_PWM_Init(void)
 		/* Warning, I don't think this will work for multiple remaps at once */
 		GPIO_PinRemapConfig(pios_pwm_cfg.remap, ENABLE);
 	}
-
-#if 0	
-	/* Supervisor Setup */
-#if (PIOS_PWM_SUPV_ENABLED)
-	/* Flush counter variables */
-	for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
-		CapCounter[i] = 0;
-	}
-	for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
-		CapCounterPrev[i] = 0;
-	}
-
-	/* Enable timer clock */
-	PIOS_PWM_SUPV_TIMER_RCC_FUNC;
-
-	/* Configure interrupts */
-	NVIC_InitStructure.NVIC_IRQChannel = PIOS_PWM_SUPV_IRQ_CHANNEL;
-	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
-	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-	NVIC_Init(&NVIC_InitStructure);
-
-	/* Time base configuration */
-	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
-	TIM_TimeBaseStructure.TIM_Period = ((1000000 / PIOS_PWM_SUPV_HZ) - 1);
-	TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;	/* For 1 uS accuracy */
-	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
-	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-	TIM_TimeBaseInit(PIOS_PWM_SUPV_TIMER, &TIM_TimeBaseStructure);
-
-	/* Enable the CC2 Interrupt Request */
-	TIM_ITConfig(PIOS_PWM_SUPV_TIMER, TIM_IT_Update, ENABLE);
-
-	/* Clear update pending flag */
-	TIM_ClearFlag(TIM2, TIM_FLAG_Update);
-
-	/* Enable counter */
-	TIM_Cmd(PIOS_PWM_SUPV_TIMER, ENABLE);
-#endif
-
-	/* Setup local variable which stays in this scope */
-	/* Doing this here and using a local variable saves doing it in the ISR */
-	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
-	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
-	TIM_ICInitStructure.TIM_ICFilter = 0x0;
-#endif
 }
 
 /**
@@ -181,13 +140,13 @@ void PIOS_PWM_Init(void)
 * \output -1 Channel not available
 * \output >0 Channel value
 */
-int32_t PIOS_PWM_Get(int8_t Channel)
+static int32_t PIOS_PWM_Get(uint32_t chan_id)
 {
 	/* Return error if channel not available */
-	if (Channel >= pios_pwm_cfg.num_channels) {
+	if (chan_id >= pios_pwm_cfg.num_channels) {
 		return -1;
 	}
-	return CaptureValue[Channel];
+	return CaptureValue[chan_id];
 }
 
 void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
@@ -254,84 +213,6 @@ void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
 	}
 }
 
-#if 0
-/**
-* Handle TIM5 global interrupt request
-*/
-void TIM5_IRQHandler(void)
-{
-	/* Do this as it's more efficient */
-	if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]) == SET) {
-		if (CaptureState[2] == 0) {
-			RiseValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]);
-		} else {
-			FallValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]);
-		}
-
-		/* Clear TIM3 Capture compare interrupt pending bit */
-		TIM_ClearITPendingBit(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]);
-
-		/* Simple rise or fall state machine */
-		if (CaptureState[2] == 0) {
-			/* Switch states */
-			CaptureState[2] = 1;
-
-			/* Switch polarity of input capture */
-			TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
-			TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2];
-			TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure);
-
-		} else {
-			/* Capture computation */
-			if (FallValue[2] > RiseValue[2]) {
-				CaptureValue[2] = (FallValue[2] - RiseValue[2]);
-			} else {
-				CaptureValue[2] = ((0xFFFF - RiseValue[2]) + FallValue[2]);
-			}
-
-			/* Switch states */
-			CaptureState[2] = 0;
-
-			/* Increase supervisor counter */
-			CapCounter[2]++;
-
-			/* Switch polarity of input capture */
-			TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
-			TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2];
-			TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure);
-		}
-	}
-}
-
-/**
-* This function handles TIM3 global interrupt request.
-*/
-PIOS_PWM_SUPV_IRQ_FUNC {
-	/* Clear timer interrupt pending bit */
-	TIM_ClearITPendingBit(PIOS_PWM_SUPV_TIMER, TIM_IT_Update);
-
-	/* Simple state machine */
-	if (SupervisorState == 0) {
-		/* Save this states values */
-		for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
-			CapCounterPrev[i] = CapCounter[i];
-		}
-
-		/* Move to next state */
-		SupervisorState = 1;
-	} else {
-		/* See what channels have been updated */
-		for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
-			if (CapCounter[i] == CapCounterPrev[i]) {
-				CaptureValue[i] = 0;
-			}
-		}
-
-		/* Move to next state */
-		SupervisorState = 0;
-	}
-}
-#endif
 #endif
 
 /** 

flight/PiOS/STM32F10x/pios_sbus.c

@@ -36,6 +36,13 @@
 
 /* Global Variables */
 
+/* Provide a RCVR driver */
+static int32_t PIOS_SBUS_Get(uint32_t chan_id);
+
+const struct pios_rcvr_driver pios_sbus_rcvr_driver = {
+	.read = PIOS_SBUS_Get,
+};
+
 /* Local Variables */
 static uint16_t channel_data[SBUS_NUMBER_OF_CHANNELS];
 static uint8_t received_data[SBUS_FRAME_LENGTH - 2];
@@ -154,19 +161,19 @@ void PIOS_SBUS_Init(void)
  * \output -1 channel not available
  * \output >0 channel value
  */
-int16_t PIOS_SBUS_Get(int8_t channel)
+static int32_t PIOS_SBUS_Get(uint32_t chan_id)
 {
 	/* return error if channel is not available */
-	if (channel >= SBUS_NUMBER_OF_CHANNELS) {
+	if (chan_id >= SBUS_NUMBER_OF_CHANNELS) {
 		return -1;
 	}
-	return channel_data[channel];
+	return channel_data[chan_id];
 }
 
 /**
  * Interrupt handler for USART
  */
-void SBUS_IRQHandler(uint32_t usart_id)
+void PIOS_SBUS_irq_handler(uint32_t usart_id)
 {
 	/* by always reading DR after SR make sure to clear any error interrupts */
 	volatile uint16_t sr = pios_sbus_cfg.pios_usart_sbus_cfg->regs->SR;
@@ -198,7 +205,7 @@ void SBUS_IRQHandler(uint32_t usart_id)
  * data reception. If no new data received in 100ms, we must call the
  * failsafe function which clears all channels.
  */
-void PIOS_SBUS_irq_handler()
+void PIOS_SBUSSV_irq_handler()
 {
 	/* waiting for new frame if no bytes were received in 3.2ms */
 	if (++receive_timer > 2) {

flight/PiOS/STM32F10x/pios_spektrum.c

@@ -51,8 +51,15 @@
 
 /* Global Variables */
 
+/* Provide a RCVR driver */
+static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id);
+
+const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
+	.read = PIOS_SPEKTRUM_Get,
+};
+
 /* Local Variables */
-static uint16_t CaptureValue[12],CaptureValueTemp[12];
+static uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS],CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
 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;
@@ -84,13 +91,13 @@ void PIOS_SPEKTRUM_Init(void)
 * \output -1 Channel not available
 * \output >0 Channel value
 */
-int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
+static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id)
 {
 	/* Return error if channel not available */
-	if (Channel >= 12) {
+	if (chan_id >= PIOS_SPEKTRUM_NUM_INPUTS) {
 		return -1;
 	}
-	return CaptureValue[Channel];
+	return CaptureValue[chan_id];
 }
 
 /**
@@ -201,7 +208,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 			{
 				frame_error=1;
 			}
-			if (channeln < 12 && !frame_error)
+			if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !frame_error)
 				CaptureValueTemp[channeln] = data;
 		}
 	}
@@ -212,7 +219,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 		sync_of = 0;
 		if (!frame_error)
 		{
-			for(int i=0;i<12;i++)
+			for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
 			{
 				CaptureValue[i] = CaptureValueTemp[i];
 			}
@@ -224,7 +231,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 }
 
 /* Interrupt handler for USART */
-void SPEKTRUM_IRQHandler(uint32_t usart_id) {
+void PIOS_SPEKTRUM_irq_handler(uint32_t usart_id) {
 	/* by always reading DR after SR make sure to clear any error interrupts */
 	volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->SR;
 	volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR;
@@ -248,7 +255,7 @@ void SPEKTRUM_IRQHandler(uint32_t usart_id) {
  *@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
  *@brief clears the channel values
  */
-void PIOS_SPEKTRUM_irq_handler() {
+void PIOS_SPEKTRUMSV_irq_handler() {
 	/* 125hz */
 	supv_timer++;
 	if(supv_timer > 5) {
@@ -262,7 +269,7 @@ void PIOS_SPEKTRUM_irq_handler() {
 		if (sync_of > 12) {
 			/* signal lost */
 			sync_of = 0;
-			for (int i = 0; i < 12; i++) {
+			for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
 				CaptureValue[i] = 0;
 				CaptureValueTemp[i] = 0;
 			}

flight/PiOS/inc/pios_ppm.h

@@ -30,8 +30,4 @@
 #ifndef PIOS_PPM_H
 #define PIOS_PPM_H
 
-/* Public Functions */
-extern void PIOS_PPM_Init(void);
-extern int32_t PIOS_PPM_Get(int8_t Channel);
-
 #endif /* PIOS_PPM_H */

flight/PiOS/inc/pios_ppm_priv.h

@@ -59,6 +59,10 @@ extern uint8_t pios_ppm_num_channels;
 extern const struct pios_ppm_cfg pios_ppm_cfg;
 extern const struct pios_ppmsv_cfg pios_ppmsv_cfg;
 
+extern const struct pios_rcvr_driver pios_ppm_rcvr_driver;
+
+extern void PIOS_PPM_Init(void);
+
 #endif /* PIOS_PPM_PRIV_H */
 
 /**

flight/PiOS/inc/pios_pwm.h

@@ -30,9 +30,4 @@
 #ifndef PIOS_PWM_H
 #define PIOS_PWM_H
 
-/* Public Functions */
-extern void PIOS_PWM_Init(void);
-extern int32_t PIOS_PWM_Get(int8_t Channel);
-//extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer);
-
 #endif /* PIOS_PWM_H */

flight/PiOS/inc/pios_pwm_priv.h

@@ -57,6 +57,10 @@ extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer);
 extern uint8_t pios_pwm_num_channels;
 extern const struct pios_pwm_cfg pios_pwm_cfg;
 
+extern const struct pios_rcvr_driver pios_pwm_rcvr_driver;
+
+extern void PIOS_PWM_Init(void);
+
 #endif /* PIOS_PWM_PRIV_H */
 
 /**

flight/PiOS/inc/pios_sbus.h

@@ -33,9 +33,6 @@
 /* Global Types */
 
 /* Public Functions */
-extern void PIOS_SBUS_Init(void);
-extern int16_t PIOS_SBUS_Get(int8_t Channel);
-extern void SBUS_IRQHandler(uint32_t usart_id);
 
 #endif /* PIOS_SBUS_H */
 

flight/PiOS/inc/pios_sbus_priv.h

@@ -76,9 +76,16 @@ struct pios_sbus_cfg {
 	GPIO_InitTypeDef gpio_inv_init;
 	BitAction gpio_inv_enable;
 };
-extern const struct pios_sbus_cfg pios_sbus_cfg;
 
 extern void PIOS_SBUS_irq_handler();
+extern void PIOS_SBUSSV_irq_handler();
+
+extern uint8_t pios_sbus_num_channels;
+extern const struct pios_sbus_cfg pios_sbus_cfg;
+
+extern const struct pios_rcvr_driver pios_sbus_rcvr_driver;
+
+extern void PIOS_SBUS_Init(void);
 
 #endif /* PIOS_SBUS_PRIV_H */
 

flight/PiOS/inc/pios_spektrum.h

@@ -34,11 +34,8 @@
 /* Global Types */
 
 /* Public Functions */
-extern void PIOS_SPEKTRUM_Init(void);
 extern uint8_t PIOS_SPEKTRUM_Bind(void);
 extern int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
-extern int16_t PIOS_SPEKTRUM_Get(int8_t Channel);
-extern void SPEKTRUM_IRQHandler(uint32_t usart_id);
 
 #endif /* PIOS_SPEKTRUM_H */
 

flight/PiOS/inc/pios_spektrum_priv.h

@@ -45,10 +45,15 @@ struct pios_spektrum_cfg {
 };
 
 extern void PIOS_SPEKTRUM_irq_handler();
+extern void PIOS_SPEKTRUMSV_irq_handler();
 
 extern uint8_t pios_spektrum_num_channels;
 extern const struct pios_spektrum_cfg pios_spektrum_cfg;
 
+extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
+
+extern void PIOS_SPEKTRUM_Init(void);
+
 #endif /* PIOS_PWM_PRIV_H */
 
 /**