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Code Issues Releases Activity

LP-364 Added MAVLink support to remaining target boards: sparky2, revonano and coptercontrol.

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This commit is contained in:
Vladimir Zidar 2016-07-20 13:01:35 +02:00 committed by Vladimir Zidar
parent ba6ebba29c
commit 873950b071
12 changed files with 48 additions and 5 deletions
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1
flight/targets/boards/coptercontrol/firmware/Makefile
View File

@ -55,6 +55,7 @@ OPTMODULES += Osd/osdoutput
#OPTMODULES += Altitude
#OPTMODULES += Fault
OPTMODULES += UAVOMSPBridge
OPTMODULES += UAVOMavlinkBridge
SRC += $(FLIGHTLIB)/notification.c

9
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -78,6 +78,8 @@ static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
#define PIOS_COM_MAVLINK_TX_BUF_LEN 128
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
@ -90,6 +92,7 @@ uint32_t pios_com_gps_id;
uint32_t pios_com_bridge_id;
uint32_t pios_com_hkosd_id;
uint32_t pios_com_msp_id;
uint32_t pios_com_mavlink_id;
uint32_t pios_usb_rctx_id;
uintptr_t pios_uavo_settings_fs_id;
@ -544,6 +547,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_CC_MAINPORT_MSP:
PIOS_Board_configure_com(&pios_usart_generic_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_CC_MAINPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_generic_main_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;
case HWSETTINGS_CC_MAINPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, -1, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
@ -567,6 +573,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_CC_FLEXIPORT_MSP:
PIOS_Board_configure_com(&pios_usart_generic_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_CC_FLEXIPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_generic_flexi_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;
case HWSETTINGS_CC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
PIOS_Board_configure_com(&pios_usart_generic_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);

3
flight/targets/boards/coptercontrol/pios_board.h
View File

@ -159,6 +159,9 @@ extern uint32_t pios_com_hkosd_id;
extern uint32_t pios_com_msp_id;
#define PIOS_COM_MSP (pios_com_msp_id)
extern uint32_t pios_com_mavlink_id;
#define PIOS_COM_MAVLINK (pios_com_mavlink_id)
// -------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z

2
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -668,6 +668,7 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RM_MAINPORT_MSP:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_MAINPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;
@ -748,6 +749,7 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RM_FLEXIPORT_MSP:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_FLEXIPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;

3
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -556,6 +556,7 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RM_FLEXIPORT_MSP:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_FLEXIPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;
@ -825,6 +826,7 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RM_MAINPORT_MSP:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_MAINPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;
@ -1028,6 +1030,7 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RM_RCVRPORT_MSP:
PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_RCVRPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;

1
flight/targets/boards/revonano/firmware/Makefile
View File

@ -54,6 +54,7 @@ MODULES += Notify
OPTMODULES += AutoTune
OPTMODULES += ComUsbBridge
OPTMODULES += UAVOMSPBridge
OPTMODULES += UAVOMavlinkBridge
SRC += $(FLIGHTLIB)/notification.c

9
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -210,6 +210,8 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
#define PIOS_COM_MAVLINK_TX_BUF_LEN 128
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
@ -224,6 +226,7 @@ uint32_t pios_com_overo_id = 0;
uint32_t pios_com_hkosd_id = 0;
uint32_t pios_com_msp_id = 0;
uint32_t pios_com_vcp_id = 0;
uint32_t pios_com_mavlink_id = 0;
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id;
@ -624,6 +627,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RM_MAINPORT_MSP:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_MAINPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;
case HWSETTINGS_RM_MAINPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
@ -702,6 +708,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RM_FLEXIPORT_MSP:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_FLEXIPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;
case HWSETTINGS_RM_FLEXIPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;

3
flight/targets/boards/revonano/pios_board.h
View File

@ -149,6 +149,8 @@ extern uint32_t pios_com_bridge_id;
extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_hkosd_id;
extern uint32_t pios_com_msp_id;
extern uint32_t pios_com_mavlink_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
@ -157,6 +159,7 @@ extern uint32_t pios_com_msp_id;
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
#define PIOS_COM_MSP (pios_com_msp_id)
#define PIOS_COM_MAVLINK (pios_com_mavlink_id)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;

1
flight/targets/boards/sparky2/firmware/Makefile
View File

@ -55,6 +55,7 @@ MODULES += Notify
OPTMODULES += AutoTune
OPTMODULES += ComUsbBridge
OPTMODULES += UAVOMSPBridge
OPTMODULES += UAVOMavlinkBridge
SRC += $(FLIGHTLIB)/notification.c

10
flight/targets/boards/sparky2/firmware/pios_board.c
View File

@ -211,6 +211,8 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
#define PIOS_COM_MAVLINK_TX_BUF_LEN 128
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
@ -224,7 +226,7 @@ uint32_t pios_com_bridge_id = 0;
uint32_t pios_com_overo_id = 0;
uint32_t pios_com_hkosd_id = 0;
uint32_t pios_com_msp_id = 0;
uint32_t pios_com_mavlink_id = 0;
uint32_t pios_com_vcp_id = 0;
#if defined(PIOS_INCLUDE_RFM22B)
@ -568,6 +570,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_SPK2_FLEXIPORT_MSP:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_SPK2_FLEXIPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;
case HWSETTINGS_SPK2_FLEXIPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
@ -766,6 +771,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_SPK2_MAINPORT_MSP:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_SPK2_MAINPORT_MAVLINK:
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
break;
case HWSETTINGS_SPK2_MAINPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;

2
flight/targets/boards/sparky2/pios_board.h
View File

@ -151,6 +151,7 @@ extern uint32_t pios_com_bridge_id;
extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_hkosd_id;
extern uint32_t pios_com_msp_id;
extern uint32_t pios_com_mavlink_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
@ -160,6 +161,7 @@ extern uint32_t pios_com_msp_id;
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
#define PIOS_COM_MSP (pios_com_msp_id)
#define PIOS_COM_MAVLINK (pios_com_mavlink_id)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;

9
shared/uavobjectdefinition/hwsettings.xml
View File

@ -2,8 +2,8 @@
<object name="HwSettings" singleinstance="true" settings="true" category="System">
<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" 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" defaultvalue="Disabled"/>
<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="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" defaultvalue="Disabled"/>
<field name="RV_AuxSBusPort" units="function" type="enum" elements="1" options="Disabled,S.Bus,DSM,ComAux,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
@ -18,14 +18,15 @@
<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="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_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,DSM,DebugConsole,ComBridge,OsdHk,MSP" 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" defaultvalue="Disabled"/>
<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_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"/>
<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200,230400" defaultvalue="57600"/>
<field name="ComUsbBridgeSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="MSPSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="115200"/>
<field name="MAVLinkSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,RCTransmitter,Disabled" defaultvalue="USBTelemetry"/>
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,DebugConsole,Disabled" defaultvalue="Disabled"/>