Link in the rfm module to the target

flight/PiOS/Boards/STM32F4xx_RevoMini.h

@@ -28,10 +28,12 @@
 
 
 #ifndef STM3210E_INS_H_
-#define STM3210E_INS_H_
 
 #include <stdbool.h>
 
+#define DEBUG_LEVEL 0
+#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }}
+
 //------------------------
 // Timers and Channels Used
 //------------------------
@@ -133,6 +135,26 @@ extern uint32_t pios_com_vcp_id;
 #define PIOS_COM_BRIDGE                 (pios_com_bridge_id)
 #define PIOS_COM_VCP                    (pios_com_vcp_id)
 #define PIOS_COM_DEBUG                  PIOS_COM_AUX
+#if defined(PIOS_INCLUDE_RFM22B)
+#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
+#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
+extern uint32_t pios_com_rfm22b_id;
+#define PIOS_COM_RADIO                  (pios_com_rfm22b_id)
+extern uint32_t pios_spi_telem_flash_id;
+#define PIOS_RFM22_SPI_PORT             (pios_spi_telem_flash_id)
+#endif /* PIOS_INCLUDE_RFM22B */
+
+//-------------------------
+// Packet Handler
+//-------------------------
+#if defined(PIOS_INCLUDE_PACKET_HANDLER)
+extern uint32_t pios_packet_handler;
+#define PIOS_PACKET_HANDLER (pios_packet_handler)
+#define PIOS_PH_MAX_PACKET 255
+#define PIOS_PH_WIN_SIZE 3
+#define PIOS_PH_MAX_CONNECTIONS 1
+#define RS_ECC_NPARITY 4
+#endif /* PIOS_INCLUDE_PACKET_HANDLER */
 
 //------------------------
 // TELEMETRY 

flight/PiOS/Boards/STM32F4xx_Revolution.h

@@ -28,7 +28,6 @@
 
 
 #ifndef STM3210E_INS_H_
-#define STM3210E_INS_H_
 
 #include <stdbool.h>
 

flight/RevoMini/Makefile

@@ -1,10 +1,10 @@
 #####
-# Project: OpenPilot INS
+# Project: OpenPilot RevoMini
 #
 #
-# Makefile for OpenPilot INS project
+# Makefile for OpenPilot RevoMini project
 #
-# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
+# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2012.
 #
 #
 # This program is free software; you can redistribute it and/or modify
@@ -58,6 +58,7 @@ MODULES += GPS FirmwareIAP
 #MODULES += Airspeed/revolution
 #MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
 #MODULES += CameraStab
+MODULES += Radio
 MODULES += Telemetry
 PYMODULES = 
 #FlightPlan
@@ -74,6 +75,8 @@ PIOSINC = $(PIOS)/inc
 OPMODULEDIR = ../Modules
 FLIGHTLIB = ../Libraries
 FLIGHTLIBINC = ../Libraries/inc
+RSCODE = $(FLIGHTLIB)/rscode
+RSCODEINC = $(FLIGHTLIB)/rscode
 PIOSSTM32F4XX = $(PIOS)/STM32F4xx
 PIOSCOMMON = $(PIOS)/Common
 PIOSBOARDS = $(PIOS)/Boards
@@ -85,8 +88,6 @@ STMSPDSRCDIR = $(STMSPDDIR)/src
 STMSPDINCDIR = $(STMSPDDIR)/inc
 OPUAVOBJ = ../UAVObjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
-BOOT = ../Bootloaders/INS
-BOOTINC = $(BOOT)/inc
 PYMITE = $(FLIGHTLIB)/PyMite
 PYMITELIB = $(PYMITE)/lib
 PYMITEPLAT = $(PYMITE)/platform/openpilot
@@ -144,6 +145,13 @@ SRC += $(FLIGHTLIB)/WorldMagModel.c
 SRC += $(FLIGHTLIB)/insgps13state.c
 SRC += $(FLIGHTLIB)/taskmonitor.c
 
+## For RFM22b
+SRC += $(FLIGHTLIB)/packet_handler.c
+SRC += $(RSCODE)/berlekamp.c
+SRC += $(RSCODE)/crcgen.c
+SRC += $(RSCODE)/galois.c
+SRC += $(RSCODE)/rs.c
+
 ## PIOS Hardware (STM32F4xx)
 include $(PIOS)/STM32F4xx/library.mk
 
@@ -157,6 +165,7 @@ SRC += $(PIOSCOMMON)/pios_hmc5883.c
 SRC += $(PIOSCOMMON)/pios_ms5611.c
 SRC += $(PIOSCOMMON)/pios_crc.c
 SRC += $(PIOSCOMMON)/pios_com.c
+SRC += $(PIOSCOMMON)/pios_rfm22b.c
 SRC += $(PIOSCOMMON)/pios_rcvr.c
 SRC += $(PIOSCOMMON)/pios_flash_jedec.c
 SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
@@ -205,6 +214,7 @@ EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
 EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
+EXTRAINCDIRS  += $(RSCODEINC)
 EXTRAINCDIRS  += $(PIOSSTM32F4XX)
 EXTRAINCDIRS  += $(PIOSCOMMON)
 EXTRAINCDIRS  += $(PIOSBOARDS)

flight/RevoMini/System/inc/pios_config.h

@@ -56,6 +56,11 @@
 #define PIOS_INCLUDE_RTC
 #define PIOS_INCLUDE_WDG
 
+/* Variables related to the RFM22B functionality */
+#define PIOS_INCLUDE_RFM22B
+#define PIOS_INCLUDE_PACKET_HANDLER
+#define RFM22_EXT_INT_USE
+
 /* Select the sensors to include */
 #define PIOS_INCLUDE_HMC5883
 #define PIOS_INCLUDE_MPU6000

flight/RevoMini/System/pios_board.c

@@ -292,8 +292,6 @@ static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm
 
 void PIOS_Board_Init(void) {
 
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;	
-	
 	/* Delay system */
 	PIOS_DELAY_Init();
 

flight/RevoMini/UAVObjects.inc

@@ -68,6 +68,8 @@ UAVOBJSRCFILENAMES += overosyncstats
 UAVOBJSRCFILENAMES += overosyncsettings
 UAVOBJSRCFILENAMES += pathplannersettings
 UAVOBJSRCFILENAMES += pathdesired
+UAVOBJSRCFILENAMES += pipxstatus
+UAVOBJSRCFILENAMES += pipxsettings
 UAVOBJSRCFILENAMES += positionactual
 UAVOBJSRCFILENAMES += ratedesired
 UAVOBJSRCFILENAMES += revocalibration

flight/board_hw_defs/revomini/board_hw_defs.c

@@ -314,6 +314,54 @@ void PIOS_SPI_telem_flash_irq_handler(void)
 	PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id);
 }
 
+
+#if defined(PIOS_INCLUDE_RFM22B)
+#include <pios_rfm22b_priv.h>
+
+static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
+	.vector = PIOS_RFM22_EXT_Int,
+	.line = EXTI_Line0,
+	.pin = {
+		.gpio = GPIOD,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_0,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_IN,
+			.GPIO_OType = GPIO_OType_OD,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL,
+		},
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = EXTI0_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line0, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Falling,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+};
+
+struct pios_rfm22b_cfg pios_rfm22b_cfg = {
+	.spi_cfg = &pios_spi_telem_flash_cfg,
+	.exti_cfg = &pios_exti_rfm22b_cfg,
+	.frequencyHz = 434000000,
+	.minFrequencyHz = 434000000 - 2000000,
+	.maxFrequencyHz = 434000000 + 2000000,
+	.RFXtalCap = 0x7f,
+	.maxRFBandwidth = 128000,
+	.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
+};
+
+#endif /* PIOS_INCLUDE_RFM22B */
+
 #endif /* PIOS_INCLUDE_SPI */
 
 #include <pios_usart_priv.h>
@@ -331,8 +379,7 @@ static const struct pios_usart_cfg pios_usart_main_cfg = {
 		.USART_WordLength = USART_WordLength_8b,
 		.USART_Parity = USART_Parity_No,
 		.USART_StopBits = USART_StopBits_1,
-		.USART_HardwareFlowControl =
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
-		USART_HardwareFlowControl_None,
 		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
 	},
 	.irq = {