Merge branch 'next' into CC_GPS

HISTORY.txt

@@ -1,5 +1,21 @@
 Short summary of changes.  For a complete list see the git log.
 
+2011-11-04
+New Spektrum/JR satellite receiver driver implementation.
+It now provides explicit selection of DSM2 (and DSMJ), DSMX (10bit) and
+DSMX (11bit) serial protocol variations to better serve different frame
+and resolution modes. The protocol name used now is DSM instead of
+previously used Spektrum to make it less ambiguous when used with JR
+2.4GHz radios.
+
+2011-10-20
+Inputs can be remapped to outputs to allow up to 10 channels of control.  The
+receiver inputs remap as follows:
+Receiver 3 because output channel 7
+Receiver 4 because output channel 8
+Receiver 5 because output channel 9
+Receiver 6 because output channel 10
+
 2011-10-11
 Fix for the Mac telemetry rates and specifically how long enumeration took.
 

flight/CopterControl/Makefile

@@ -193,7 +193,7 @@ SRC += $(PIOSSTM32F10X)/pios_i2c.c
 SRC += $(PIOSSTM32F10X)/pios_spi.c
 SRC += $(PIOSSTM32F10X)/pios_ppm.c
 SRC += $(PIOSSTM32F10X)/pios_pwm.c
-SRC += $(PIOSSTM32F10X)/pios_spektrum.c
+SRC += $(PIOSSTM32F10X)/pios_dsm.c
 SRC += $(PIOSSTM32F10X)/pios_sbus.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c

flight/CopterControl/System/inc/pios_config.h

@@ -46,7 +46,7 @@
 #define PIOS_INCLUDE_RCVR
 
 /* Supported receiver interfaces */
-#define PIOS_INCLUDE_SPEKTRUM
+#define PIOS_INCLUDE_DSM
 #define PIOS_INCLUDE_SBUS
 #define PIOS_INCLUDE_PPM
 #define PIOS_INCLUDE_PWM

flight/CopterControl/System/pios_board.c

@@ -410,6 +410,133 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
 	},
 };
 
+
+static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = {
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_4,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_9,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_8,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM4,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_7,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM1,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_8,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM3,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_4,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+		.remap = GPIO_PartialRemap_TIM3,
+	},
+	{
+		.timer = TIM2,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_2,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+
+	// Receiver port pins
+	// S3-S6 inputs are used as outputs in this case
+	{
+		.timer = TIM3,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_0,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM3,
+		.timer_chan = TIM_Channel_4,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_1,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM2,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_0,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+	{
+		.timer = TIM2,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOA,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_1,
+				.GPIO_Mode  = GPIO_Mode_AF_PP,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+			},
+		},
+	},
+};
 #if defined(PIOS_INCLUDE_USART)
 
 #include "pios_usart_priv.h"
@@ -568,13 +695,13 @@ static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = {
 };
 #endif	/* PIOS_INCLUDE_GPS */
 
-#if defined(PIOS_INCLUDE_SPEKTRUM)
+#if defined(PIOS_INCLUDE_DSM)
 /*
- * SPEKTRUM USART
+ * Spektrum/JR DSM USART
  */
-#include <pios_spektrum_priv.h>
+#include <pios_dsm_priv.h>
 
-static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = {
+static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
 	.regs = USART1,
 	.init = {
 		.USART_BaudRate            = 115200,
@@ -610,7 +737,7 @@ static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = {
 	},
 };
 
-static const struct pios_spektrum_cfg pios_spektrum_main_cfg = {
+static const struct pios_dsm_cfg pios_dsm_main_cfg = {
 	.bind = {
 		.gpio = GPIOA,
 		.init = {
@@ -619,10 +746,9 @@ static const struct pios_spektrum_cfg pios_spektrum_main_cfg = {
 			.GPIO_Mode  = GPIO_Mode_Out_PP,
 		},
 	},
-	.remap = 0,
 };
 
-static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
+static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
 	.regs = USART3,
 	.init = {
 		.USART_BaudRate            = 115200,
@@ -658,7 +784,7 @@ static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
 	},
 };
 
-static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = {
+static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
 	.bind = {
 		.gpio = GPIOB,
 		.init = {
@@ -667,14 +793,13 @@ static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = {
 			.GPIO_Mode  = GPIO_Mode_Out_PP,
 		},
 	},
-	.remap = 0,
 };
 
-#endif	/* PIOS_INCLUDE_SPEKTRUM */
+#endif	/* PIOS_INCLUDE_DSM */
 
 #if defined(PIOS_INCLUDE_SBUS)
 /*
- * SBUS USART
+ * S.Bus USART
  */
 #include <pios_sbus_priv.h>
 
@@ -795,6 +920,22 @@ const struct pios_servo_cfg pios_servo_cfg = {
 	.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
 };
 
+const struct pios_servo_cfg pios_servo_rcvr_cfg = {
+	.tim_oc_init = {
+		.TIM_OCMode = TIM_OCMode_PWM1,
+		.TIM_OutputState = TIM_OutputState_Enable,
+		.TIM_OutputNState = TIM_OutputNState_Disable,
+		.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
+		.TIM_OCPolarity = TIM_OCPolarity_High,
+		.TIM_OCNPolarity = TIM_OCPolarity_High,
+		.TIM_OCIdleState = TIM_OCIdleState_Reset,
+		.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
+	},
+	.channels = pios_tim_servoport_rcvrport_pins,
+	.num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins),
+};
+
+
 /*
  * PPM Inputs
  */
@@ -916,7 +1057,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
 #include "pios_rcvr_priv.h"
 
 /* One slot per selectable receiver group.
- *  eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
+ *  eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
  * NOTE: No slot in this map for NONE.
  */
 uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
@@ -1025,7 +1166,7 @@ void PIOS_Board_Init(void) {
 			}
 
 			uint32_t pios_sbus_id;
-			if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
+			if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
 				PIOS_Assert(0);
 			}
 
@@ -1056,31 +1197,48 @@ void PIOS_Board_Init(void) {
 		}
 #endif	/* PIOS_INCLUDE_GPS */
 		break;
-	case HWSETTINGS_CC_MAINPORT_SPEKTRUM1:
+	case HWSETTINGS_CC_MAINPORT_DSM2:
-	case HWSETTINGS_CC_MAINPORT_SPEKTRUM2:
+	case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
-#if defined(PIOS_INCLUDE_SPEKTRUM)
+	case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
+#if defined(PIOS_INCLUDE_DSM)
 		{
-			uint32_t pios_usart_spektrum_id;
+			enum pios_dsm_proto proto;
-			if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
+			switch (hwsettings_cc_mainport) {
+			case HWSETTINGS_CC_MAINPORT_DSM2:
+				proto = PIOS_DSM_PROTO_DSM2;
+				break;
+			case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
+				proto = PIOS_DSM_PROTO_DSMX10BIT;
+				break;
+			case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
+				proto = PIOS_DSM_PROTO_DSMX11BIT;
+				break;
+			default:
+				PIOS_Assert(0);
+				break;
+			}
+
+			uint32_t pios_usart_dsm_id;
+			if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_main_cfg)) {
 				PIOS_Assert(0);
 			}
 
-			uint32_t pios_spektrum_id;
+			uint32_t pios_dsm_id;
-			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
+			if (PIOS_DSM_Init(&pios_dsm_id,
+					  &pios_dsm_main_cfg,
+					  &pios_usart_com_driver,
+					  pios_usart_dsm_id,
+					  proto, 0)) {
 				PIOS_Assert(0);
 			}
 
-			uint32_t pios_spektrum_rcvr_id;
+			uint32_t pios_dsm_rcvr_id;
-			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
+			if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
 				PIOS_Assert(0);
 			}
-			if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM1) {
+			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
-				pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
-			} else {
-				pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
-			}
 		}
-#endif	/* PIOS_INCLUDE_SPEKTRUM */
+#endif	/* PIOS_INCLUDE_DSM */
 		break;
 	case HWSETTINGS_CC_MAINPORT_COMAUX:
 		break;
@@ -1129,31 +1287,48 @@ void PIOS_Board_Init(void) {
 		}
 #endif	/* PIOS_INCLUDE_GPS */
 		break;
-	case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1:
+	case HWSETTINGS_CC_FLEXIPORT_DSM2:
-	case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM2:
+	case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
-#if defined(PIOS_INCLUDE_SPEKTRUM)
+	case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
+#if defined(PIOS_INCLUDE_DSM)
 		{
-			uint32_t pios_usart_spektrum_id;
+			enum pios_dsm_proto proto;
-			if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) {
+			switch (hwsettings_cc_flexiport) {
+			case HWSETTINGS_CC_FLEXIPORT_DSM2:
+				proto = PIOS_DSM_PROTO_DSM2;
+				break;
+			case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
+				proto = PIOS_DSM_PROTO_DSMX10BIT;
+				break;
+			case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
+				proto = PIOS_DSM_PROTO_DSMX11BIT;
+				break;
+			default:
+				PIOS_Assert(0);
+				break;
+			}
+
+			uint32_t pios_usart_dsm_id;
+			if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_flexi_cfg)) {
 				PIOS_Assert(0);
 			}
 
-			uint32_t pios_spektrum_id;
+			uint32_t pios_dsm_id;
-			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
+			if (PIOS_DSM_Init(&pios_dsm_id,
+					  &pios_dsm_flexi_cfg,
+					  &pios_usart_com_driver,
+					  pios_usart_dsm_id,
+					  proto, hwsettings_DSMxBind)) {
 				PIOS_Assert(0);
 			}
 
-			uint32_t pios_spektrum_rcvr_id;
+			uint32_t pios_dsm_rcvr_id;
-			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
+			if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
 				PIOS_Assert(0);
 			}
-			if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1) {
+			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT] = pios_dsm_rcvr_id;
-				pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
-			} else {
-				pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
-			}
 		}
-#endif	/* PIOS_INCLUDE_SPEKTRUM */
+#endif	/* PIOS_INCLUDE_DSM */
 		break;
 	case HWSETTINGS_CC_FLEXIPORT_COMAUX:
 		break;
@@ -1190,6 +1365,7 @@ void PIOS_Board_Init(void) {
 #endif	/* PIOS_INCLUDE_PWM */
 		break;
 	case HWSETTINGS_CC_RCVRPORT_PPM:
+	case HWSETTINGS_CC_RCVRPORT_PPMSERVO:
 #if defined(PIOS_INCLUDE_PPM)
 		{
 			uint32_t pios_ppm_id;
@@ -1219,7 +1395,17 @@ void PIOS_Board_Init(void) {
 	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
 
 #ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
-	PIOS_Servo_Init(&pios_servo_cfg);
+	switch (hwsettings_rcvrport) {
+		case HWSETTINGS_CC_RCVRPORT_DISABLED:
+		case HWSETTINGS_CC_RCVRPORT_PWM:
+		case HWSETTINGS_CC_RCVRPORT_PPM:
+			PIOS_Servo_Init(&pios_servo_cfg);
+			break;
+		case HWSETTINGS_CC_RCVRPORT_PPMSERVO:
+		case HWSETTINGS_CC_RCVRPORT_SERVO:
+			PIOS_Servo_Init(&pios_servo_rcvr_cfg);
+			break;
+	}
 #else
 	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
 #endif	/* PIOS_DEBUG_ENABLE_DEBUG_PINS */

flight/Modules/ManualControl/manualcontrol.c

@@ -439,11 +439,11 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
 			case MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM:
 				group = RECEIVERACTIVITY_ACTIVEGROUP_PPM;
 				break;
-			case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1:
+			case MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT:
-				group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM1;
+				group = RECEIVERACTIVITY_ACTIVEGROUP_DSMMAINPORT;
 				break;
-			case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2:
+			case MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT:
-				group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM2;
+				group = RECEIVERACTIVITY_ACTIVEGROUP_DSMFLEXIPORT;
 				break;
 			case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS:
 				group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS;

flight/Modules/System/systemmod.c

@@ -390,25 +390,24 @@ static void updateSystemAlarms()
 	EventStats evStats;
 	SystemStatsGet(&stats);
 
-	// Check heap
+	// Check heap, IRQ stack and malloc failures
-	if (stats.HeapRemaining < HEAP_LIMIT_CRITICAL) {
+	if ( mallocFailed
-		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
+	     || (stats.HeapRemaining < HEAP_LIMIT_CRITICAL)
-	} else if (stats.HeapRemaining < HEAP_LIMIT_WARNING) {
-		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
-	} else {
-		AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
-	}
-
 #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
-	// Check IRQ stack
+	     || (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL)
-	if (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL) {
+#endif
+	    ) {
 		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
-	} else if (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING) {
+	} else if (
+		(stats.HeapRemaining < HEAP_LIMIT_WARNING)
+#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
+	     || (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING)
+#endif
+	    ) {
 		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
 	} else {
 		AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
 	}
-#endif
 
 	// Check CPU load
 	if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
@@ -426,13 +425,6 @@ static void updateSystemAlarms()
 		AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
 	}
 
-	// Check for malloc failures
-	if (mallocFailed) {
-		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
-	} else {
-		AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
-	}
-
 #if defined(PIOS_INCLUDE_SDCARD)
 	// Check for SD card
 	if (PIOS_SDCARD_IsMounted() == 0) {

flight/OpenPilot/Makefile

@@ -169,7 +169,7 @@ SRC += $(PIOSSTM32F10X)/pios_i2c.c
 SRC += $(PIOSSTM32F10X)/pios_spi.c
 SRC += $(PIOSSTM32F10X)/pios_ppm.c
 SRC += $(PIOSSTM32F10X)/pios_pwm.c
-SRC += $(PIOSSTM32F10X)/pios_spektrum.c
+SRC += $(PIOSSTM32F10X)/pios_dsm.c
 SRC += $(PIOSSTM32F10X)/pios_sbus.c
 SRC += $(PIOSSTM32F10X)/pios_tim.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c

flight/OpenPilot/System/inc/pios_config.h

@@ -44,7 +44,7 @@
 
 #define PIOS_INCLUDE_RCVR
 
-#define PIOS_INCLUDE_SPEKTRUM
+#define PIOS_INCLUDE_DSM
 //#define PIOS_INCLUDE_SBUS
 #define PIOS_INCLUDE_PWM
 #define PIOS_INCLUDE_PPM

flight/OpenPilot/System/openpilot.c

@@ -143,11 +143,11 @@ static void TaskTesting(void *pvParameters)
 		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
 		*/
 
-#if defined(PIOS_INCLUDE_SPEKTRUM)
+#if defined(PIOS_INCLUDE_DSM)
-		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7));
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_DSM_Get(0), PIOS_DSM_Get(1), PIOS_DSM_Get(2), PIOS_DSM_Get(3), PIOS_DSM_Get(4), PIOS_DSM_Get(5), PIOS_DSM_Get(6), PIOS_DSM_Get(7));
 #endif
 #if defined(PIOS_INCLUDE_SBUS)
-		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBUS_Get(0), PIOS_SBUS_Get(1), PIOS_SBUS_Get(2), PIOS_SBUS_Get(3), PIOS_SBUS_Get(4), PIOS_SBUS_Get(5), PIOS_SBUS_Get(6), PIOS_SBUS_Get(7));
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBus_Get(0), PIOS_SBus_Get(1), PIOS_SBus_Get(2), PIOS_SBus_Get(3), PIOS_SBus_Get(4), PIOS_SBus_Get(5), PIOS_SBus_Get(6), PIOS_SBus_Get(7));
 #endif
 #if defined(PIOS_INCLUDE_PWM)
 		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));

flight/OpenPilot/System/pios_board.c

@@ -538,13 +538,13 @@ void PIOS_RTC_IRQ_Handler (void)
 
 #endif
 
-#if defined(PIOS_INCLUDE_SPEKTRUM)
+#if defined(PIOS_INCLUDE_DSM)
 /*
- * SPEKTRUM USART
+ * Spektrum/JR DSM USART
  */
-#include <pios_spektrum_priv.h>
+#include <pios_dsm_priv.h>
 
-static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
+static const struct pios_usart_cfg pios_usart_dsm_cfg = {
   .regs = USART1,
   .init = {
     .USART_BaudRate            = 115200,
@@ -580,7 +580,7 @@ static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
   },
 };
 
-static const struct pios_spektrum_cfg pios_spektrum_cfg = {
+static const struct pios_dsm_cfg pios_dsm_cfg = {
 	.bind = {
 		.gpio = GPIOA,
 		.init = {
@@ -589,10 +589,9 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = {
 			.GPIO_Mode  = GPIO_Mode_Out_PP,
 		},
 	},
-	.remap = 0,
 };
 
-#endif	/* PIOS_COM_SPEKTRUM */
+#endif	/* PIOS_COM_DSM */
 
 #if defined(PIOS_INCLUDE_SBUS)
 #error PIOS_INCLUDE_SBUS not implemented
@@ -1035,7 +1034,7 @@ static const struct stm32_gpio pios_debug_pins[] = {
 #include "pios_rcvr_priv.h"
 
 /* One slot per selectable receiver group.
- *  eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
+ *  eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
  * NOTE: No slot in this map for NONE.
  */
 uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
@@ -1063,7 +1062,7 @@ uint32_t pios_com_telem_rf_id;
 uint32_t pios_com_telem_usb_id;
 uint32_t pios_com_gps_id;
 uint32_t pios_com_aux_id;
-uint32_t pios_com_spektrum_id;
+uint32_t pios_com_dsm_id;
 
 #include "ahrs_spi_comm.h"
 
@@ -1204,24 +1203,46 @@ void PIOS_Board_Init(void) {
 	case HWSETTINGS_OP_RCVRPORT_DEBUG:
 		/* Not supported yet */
 		break;
-	case HWSETTINGS_OP_RCVRPORT_SPEKTRUM1:
+	case HWSETTINGS_OP_RCVRPORT_DSM2:
-#if defined(PIOS_INCLUDE_SPEKTRUM)
+	case HWSETTINGS_OP_RCVRPORT_DSMX10BIT:
+	case HWSETTINGS_OP_RCVRPORT_DSMX11BIT:
+#if defined(PIOS_INCLUDE_DSM)
 		{
-			uint32_t pios_usart_spektrum_id;
+			enum pios_dsm_proto proto;
-			if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
+			switch (hwsettings_rcvrport) {
+			case HWSETTINGS_OP_RCVRPORT_DSM2:
+				proto = PIOS_DSM_PROTO_DSM2;
+				break;
+			case HWSETTINGS_OP_RCVRPORT_DSMX10BIT:
+				proto = PIOS_DSM_PROTO_DSMX10BIT;
+				break;
+			case HWSETTINGS_OP_RCVRPORT_DSMX11BIT:
+				proto = PIOS_DSM_PROTO_DSMX11BIT;
+				break;
+			default:
+				PIOS_Assert(0);
+				break;
+			}
+
+			uint32_t pios_usart_dsm_id;
+			if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_cfg)) {
 				PIOS_Assert(0);
 			}
 
-			uint32_t pios_spektrum_id;
+			uint32_t pios_dsm_id;
-			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
+			if (PIOS_DSM_Init(&pios_dsm_id,
+					  &pios_dsm_cfg,
+					  &pios_usart_com_driver,
+					  pios_usart_dsm_id,
+					  proto, 0)) {
 				PIOS_Assert(0);
 			}
 
-			uint32_t pios_spektrum_rcvr_id;
+			uint32_t pios_dsm_rcvr_id;
-			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
+			if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
 				PIOS_Assert(0);
 			}
-			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
+			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
 		}
 #endif
 		break;

flight/OpenPilot/System/pios_board_posix.c

@@ -40,7 +40,7 @@
 #include "pios_rcvr_priv.h"
 
 /* One slot per selectable receiver group.
- *  eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
+ *  eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
  * NOTE: No slot in this map for NONE.
  */
 uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];

flight/PiOS/Boards/STM32103CB_CC_Rev1.h

@@ -222,10 +222,16 @@ extern uint32_t pios_com_telem_usb_id;
 #define PIOS_PWM_NUM_INPUTS                     6
 
 //-------------------------
-// Receiver SPEKTRUM input
+// Receiver DSM input
 //-------------------------
-#define PIOS_SPEKTRUM_MAX_DEVS			2
+#define PIOS_DSM_MAX_DEVS			2
-#define PIOS_SPEKTRUM_NUM_INPUTS                12
+#define PIOS_DSM_NUM_INPUTS			12
+
+//-------------------------
+// Receiver S.Bus input
+//-------------------------
+#define PIOS_SBUS_MAX_DEVS			1
+#define PIOS_SBUS_NUM_INPUTS			(16+2)
 
 //-------------------------
 // Servo outputs

flight/PiOS/Boards/STM3210E_OP.h

@@ -195,10 +195,16 @@ extern uint32_t pios_com_aux_id;
 #define PIOS_PWM_NUM_INPUTS                     8
 
 //-------------------------
-// Receiver SPEKTRUM input
+// Receiver DSM input
 //-------------------------
-#define PIOS_SPEKTRUM_MAX_DEVS			1
+#define PIOS_DSM_MAX_DEVS			1
-#define PIOS_SPEKTRUM_NUM_INPUTS                12
+#define PIOS_DSM_NUM_INPUTS			12
+
+//-------------------------
+// Receiver S.Bus input
+//-------------------------
+#define PIOS_SBUS_MAX_DEVS			0
+#define PIOS_SBUS_NUM_INPUTS			(16+2)
 
 //-------------------------
 // Servo outputs

flight/PiOS/Common/pios_hcsr04.c

@@ -32,8 +32,8 @@
 #include "pios.h"
 
 #if defined(PIOS_INCLUDE_HCSR04)
-#if !(defined(PIOS_INCLUDE_SPEKTRUM) || defined(PIOS_INCLUDE_SBUS))
+#if !(defined(PIOS_INCLUDE_DSM) || defined(PIOS_INCLUDE_SBUS))
-#error Only supported with Spektrum or S.Bus interface!
+#error Only supported with Spektrum/JR DSM or S.Bus interface!
 #endif
 
 /* Local Variables */

flight/PiOS/STM32F10x/pios_dsm.c

@@ -0,0 +1,407 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_DSM Spektrum/JR DSMx satellite receiver functions
+ * @brief Code to bind and read Spektrum/JR DSMx satellite receiver serial stream
+ * @{
+ *
+ * @file       pios_dsm.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Code bind and read Spektrum/JR DSMx satellite receiver serial stream
+ * @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
+ */
+
+/* Project Includes */
+#include "pios.h"
+#include "pios_dsm_priv.h"
+
+#if defined(PIOS_INCLUDE_DSM)
+
+/* Forward Declarations */
+static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel);
+static uint16_t PIOS_DSM_RxInCallback(uint32_t context,
+				      uint8_t *buf,
+				      uint16_t buf_len,
+				      uint16_t *headroom,
+				      bool *need_yield);
+static void PIOS_DSM_Supervisor(uint32_t dsm_id);
+
+/* Local Variables */
+const struct pios_rcvr_driver pios_dsm_rcvr_driver = {
+	.read = PIOS_DSM_Get,
+};
+
+enum pios_dsm_dev_magic {
+	PIOS_DSM_DEV_MAGIC = 0x44534d78,
+};
+
+struct pios_dsm_state {
+	uint16_t channel_data[PIOS_DSM_NUM_INPUTS];
+	uint8_t received_data[DSM_FRAME_LENGTH];
+	uint8_t receive_timer;
+	uint8_t failsafe_timer;
+	uint8_t frame_found;
+	uint8_t byte_count;
+#ifdef DSM_LOST_FRAME_COUNTER
+	uint8_t	frames_lost_last;
+	uint16_t frames_lost;
+#endif
+};
+
+struct pios_dsm_dev {
+	enum pios_dsm_dev_magic magic;
+	const struct pios_dsm_cfg *cfg;
+	enum pios_dsm_proto proto;
+	struct pios_dsm_state state;
+};
+
+/* Allocate DSM device descriptor */
+#if defined(PIOS_INCLUDE_FREERTOS)
+static struct pios_dsm_dev *PIOS_DSM_Alloc(void)
+{
+	struct pios_dsm_dev *dsm_dev;
+
+	dsm_dev = (struct pios_dsm_dev *)pvPortMalloc(sizeof(*dsm_dev));
+	if (!dsm_dev)
+		return NULL;
+
+	dsm_dev->magic = PIOS_DSM_DEV_MAGIC;
+	return dsm_dev;
+}
+#else
+static struct pios_dsm_dev pios_dsm_devs[PIOS_DSM_MAX_DEVS];
+static uint8_t pios_dsm_num_devs;
+static struct pios_dsm_dev *PIOS_DSM_Alloc(void)
+{
+	struct pios_dsm_dev *dsm_dev;
+
+	if (pios_dsm_num_devs >= PIOS_DSM_MAX_DEVS)
+		return NULL;
+
+	dsm_dev = &pios_dsm_devs[pios_dsm_num_devs++];
+	dsm_dev->magic = PIOS_DSM_DEV_MAGIC;
+
+	return dsm_dev;
+}
+#endif
+
+/* Validate DSM device descriptor */
+static bool PIOS_DSM_Validate(struct pios_dsm_dev *dsm_dev)
+{
+	return (dsm_dev->magic == PIOS_DSM_DEV_MAGIC);
+}
+
+/* Try to bind DSMx satellite using specified number of pulses */
+static void PIOS_DSM_Bind(struct pios_dsm_dev *dsm_dev, uint8_t bind)
+{
+	const struct pios_dsm_cfg *cfg = dsm_dev->cfg;
+
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin;
+	GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed;
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+
+	/* just to limit bind pulses */
+	if (bind > 10)
+		bind = 10;
+
+	GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
+
+	/* RX line, set high */
+	GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
+
+	/* on CC works up to 140ms, guess bind window is around 20-140ms after power up */
+	PIOS_DELAY_WaitmS(60);
+
+	for (int i = 0; i < bind ; i++) {
+		/* RX line, drive low for 120us */
+		GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
+		PIOS_DELAY_WaituS(120);
+		/* RX line, drive high for 120us */
+		GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
+		PIOS_DELAY_WaituS(120);
+	}
+	/* RX line, set input and wait for data */
+	GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure);
+}
+
+/* Reset channels in case of lost signal or explicit failsafe receiver flag */
+static void PIOS_DSM_ResetChannels(struct pios_dsm_dev *dsm_dev)
+{
+	struct pios_dsm_state *state = &(dsm_dev->state);
+	for (int i = 0; i < PIOS_DSM_NUM_INPUTS; i++) {
+		state->channel_data[i] = PIOS_RCVR_TIMEOUT;
+	}
+}
+
+/* Reset DSM receiver state */
+static void PIOS_DSM_ResetState(struct pios_dsm_dev *dsm_dev)
+{
+	struct pios_dsm_state *state = &(dsm_dev->state);
+	state->receive_timer = 0;
+	state->failsafe_timer = 0;
+	state->frame_found = 0;
+#ifdef DSM_LOST_FRAME_COUNTER
+	state->frames_lost_last = 0;
+	state->frames_lost = 0;
+#endif
+	PIOS_DSM_ResetChannels(dsm_dev);
+}
+
+/**
+ * Check and unroll complete frame data.
+ * \output 0 frame data accepted
+ * \output -1 frame error found
+ */
+static int PIOS_DSM_UnrollChannels(struct pios_dsm_dev *dsm_dev)
+{
+	struct pios_dsm_state *state = &(dsm_dev->state);
+	uint8_t resolution;
+
+#ifdef DSM_LOST_FRAME_COUNTER
+	/* increment the lost frame counter */
+	uint8_t frames_lost = state->received_data[0];
+	state->frames_lost += (frames_lost - state->frames_lost_last);
+	state->frames_lost_last = frames_lost;
+#endif
+
+	/* check the frame type assuming master satellite stream */
+	uint8_t type = state->received_data[1];
+	switch (type) {
+	case 0x01:
+	case 0x02:
+	case 0x12:
+		/* DSM2, DSMJ stream */
+		if (dsm_dev->proto == PIOS_DSM_PROTO_DSM2) {
+			/* DSM2/DSMJ resolution is known from the header */
+			resolution = (type & DSM_DSM2_RES_MASK) ? 11 : 10;
+		} else {
+			/* DSMX resolution should explicitly be selected */
+			goto stream_error;
+		}
+		break;
+	case 0xA2:
+	case 0xB2:
+		/* DSMX stream */
+		if (dsm_dev->proto == PIOS_DSM_PROTO_DSMX10BIT) {
+			resolution = 10;
+		} else if (dsm_dev->proto == PIOS_DSM_PROTO_DSMX11BIT) {
+			resolution = 11;
+		} else {
+			/* DSMX resolution should explicitly be selected */
+			goto stream_error;
+		}
+		break;
+	default:
+		/* unknown yet data stream */
+		goto stream_error;
+	}
+
+	/* unroll channels */
+	uint8_t *s = &(state->received_data[2]);
+	uint16_t mask = (resolution == 10) ? 0x03ff : 0x07ff;
+
+	for (int i = 0; i < DSM_CHANNELS_PER_FRAME; i++) {
+		uint16_t word = ((uint16_t)s[0] << 8) | s[1];
+		s += 2;
+
+		/* skip empty channel slot */
+		if (word == 0xffff)
+			continue;
+
+		/* minimal data validation */
+		if ((i > 0) && (word & DSM_2ND_FRAME_MASK)) {
+			/* invalid frame data, ignore rest of the frame */
+			goto stream_error;
+		}
+
+		/* extract and save the channel value */
+		uint8_t channel_num = (word >> resolution) & 0x0f;
+		if (channel_num < PIOS_DSM_NUM_INPUTS)
+			state->channel_data[channel_num] = (word & mask);
+	}
+
+#ifdef DSM_LOST_FRAME_COUNTER
+	/* put lost frames counter into the last channel for debugging */
+	state->channel_data[PIOS_DSM_NUM_INPUTS-1] = state->frames_lost;
+#endif
+
+	/* all channels processed */
+	return 0;
+
+stream_error:
+	/* either DSM2 selected with DSMX stream found, or vice-versa */
+	return -1;
+}
+
+/* Update decoder state processing input byte from the DSMx stream */
+static void PIOS_DSM_UpdateState(struct pios_dsm_dev *dsm_dev, uint8_t byte)
+{
+	struct pios_dsm_state *state = &(dsm_dev->state);
+	if (state->frame_found) {
+		/* receiving the data frame */
+		if (state->byte_count < DSM_FRAME_LENGTH) {
+			/* store next byte */
+			state->received_data[state->byte_count++] = byte;
+			if (state->byte_count == DSM_FRAME_LENGTH) {
+				/* full frame received - process and wait for new one */
+				if (!PIOS_DSM_UnrollChannels(dsm_dev))
+					/* data looking good */
+					state->failsafe_timer = 0;
+
+				/* prepare for the next frame */
+				state->frame_found = 0;
+			}
+		}
+	}
+}
+
+/* Initialise DSM receiver interface */
+int32_t PIOS_DSM_Init(uint32_t *dsm_id,
+		      const struct pios_dsm_cfg *cfg,
+		      const struct pios_com_driver *driver,
+		      uint32_t lower_id,
+		      enum pios_dsm_proto proto,
+		      uint8_t bind)
+{
+	PIOS_DEBUG_Assert(dsm_id);
+	PIOS_DEBUG_Assert(cfg);
+	PIOS_DEBUG_Assert(driver);
+
+	struct pios_dsm_dev *dsm_dev;
+
+	dsm_dev = (struct pios_dsm_dev *)PIOS_DSM_Alloc();
+	if (!dsm_dev)
+		return -1;
+
+	/* Bind the configuration to the device instance */
+	dsm_dev->cfg = cfg;
+	dsm_dev->proto = proto;
+
+	/* Bind the receiver if requested */
+	if (bind)
+		PIOS_DSM_Bind(dsm_dev, bind);
+
+	PIOS_DSM_ResetState(dsm_dev);
+
+	*dsm_id = (uint32_t)dsm_dev;
+
+	/* Set comm driver callback */
+	(driver->bind_rx_cb)(lower_id, PIOS_DSM_RxInCallback, *dsm_id);
+
+	if (!PIOS_RTC_RegisterTickCallback(PIOS_DSM_Supervisor, *dsm_id)) {
+		PIOS_DEBUG_Assert(0);
+	}
+
+	return 0;
+}
+
+/* Comm byte received callback */
+static uint16_t PIOS_DSM_RxInCallback(uint32_t context,
+				      uint8_t *buf,
+				      uint16_t buf_len,
+				      uint16_t *headroom,
+				      bool *need_yield)
+{
+	struct pios_dsm_dev *dsm_dev = (struct pios_dsm_dev *)context;
+
+	bool valid = PIOS_DSM_Validate(dsm_dev);
+	PIOS_Assert(valid);
+
+	/* process byte(s) and clear receive timer */
+	for (uint8_t i = 0; i < buf_len; i++) {
+		PIOS_DSM_UpdateState(dsm_dev, buf[i]);
+		dsm_dev->state.receive_timer = 0;
+	}
+
+	/* Always signal that we can accept another byte */
+	if (headroom)
+		*headroom = DSM_FRAME_LENGTH;
+
+	/* We never need a yield */
+	*need_yield = false;
+
+	/* Always indicate that all bytes were consumed */
+	return buf_len;
+}
+
+/**
+ * Get the value of an input channel
+ * \param[in] channel Number of the channel desired (zero based)
+ * \output PIOS_RCVR_INVALID channel not available
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
+ * \output >0 channel value
+ */
+static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel)
+{
+	struct pios_dsm_dev *dsm_dev = (struct pios_dsm_dev *)rcvr_id;
+
+	if (!PIOS_DSM_Validate(dsm_dev))
+		return PIOS_RCVR_INVALID;
+
+	/* return error if channel is not available */
+	if (channel >= PIOS_DSM_NUM_INPUTS)
+		return PIOS_RCVR_INVALID;
+
+	/* may also be PIOS_RCVR_TIMEOUT set by other function */
+	return dsm_dev->state.channel_data[channel];
+}
+
+/**
+ * Input data supervisor is called periodically and provides
+ * two functions: frame syncing and failsafe triggering.
+ *
+ * DSM frames come at 11ms or 22ms rate at 115200bps.
+ * RTC timer is running at 625Hz (1.6ms). So with divider 5 it gives
+ * 8ms pause between frames which is good for both DSM frame rates.
+ *
+ * Data receive function must clear the receive_timer to confirm new
+ * data reception. If no new data received in 100ms, we must call the
+ * failsafe function which clears all channels.
+ */
+static void PIOS_DSM_Supervisor(uint32_t dsm_id)
+{
+	struct pios_dsm_dev *dsm_dev = (struct pios_dsm_dev *)dsm_id;
+
+	bool valid = PIOS_DSM_Validate(dsm_dev);
+	PIOS_Assert(valid);
+
+	struct pios_dsm_state *state = &(dsm_dev->state);
+
+	/* waiting for new frame if no bytes were received in 8ms */
+	if (++state->receive_timer > 4) {
+		state->frame_found = 1;
+		state->byte_count = 0;
+		state->receive_timer = 0;
+	}
+
+	/* activate failsafe if no frames have arrived in 102.4ms */
+	if (++state->failsafe_timer > 64) {
+		PIOS_DSM_ResetChannels(dsm_dev);
+		state->failsafe_timer = 0;
+	}
+}
+
+#endif	/* PIOS_INCLUDE_DSM */
+
+/** 
+ * @}
+ * @}
+ */

flight/PiOS/STM32F10x/pios_sbus.c

@@ -2,13 +2,13 @@
  ******************************************************************************
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @addtogroup PIOS_SBUS Futaba S.Bus receiver functions
+ * @addtogroup PIOS_SBus Futaba S.Bus receiver functions
- * @brief Code to read Futaba S.Bus input
+ * @brief Code to read Futaba S.Bus receiver serial stream
  * @{
  *
  * @file       pios_sbus.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
- * @brief      USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
+ * @brief      Code to read Futaba S.Bus receiver serial stream
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -34,44 +34,166 @@
 
 #if defined(PIOS_INCLUDE_SBUS)
 
-/* Provide a RCVR driver */
+/* Forward Declarations */
-static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel);
+static int32_t PIOS_SBus_Get(uint32_t rcvr_id, uint8_t channel);
+static uint16_t PIOS_SBus_RxInCallback(uint32_t context,
+				       uint8_t *buf,
+				       uint16_t buf_len,
+				       uint16_t *headroom,
+				       bool *need_yield);
+static void PIOS_SBus_Supervisor(uint32_t sbus_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];
+const struct pios_rcvr_driver pios_sbus_rcvr_driver = {
-static uint8_t received_data[SBUS_FRAME_LENGTH - 2];
+	.read = PIOS_SBus_Get,
-static uint8_t receive_timer;
+};
-static uint8_t failsafe_timer;
-static uint8_t frame_found;
 
-static void PIOS_SBUS_Supervisor(uint32_t sbus_id);
+enum pios_sbus_dev_magic {
+	PIOS_SBUS_DEV_MAGIC = 0x53427573,
+};
 
-/**
+struct pios_sbus_state {
- * reset_channels() function clears all channel data in case of
+	uint16_t channel_data[PIOS_SBUS_NUM_INPUTS];
- * lost signal or explicit failsafe flag from the S.Bus data stream
+	uint8_t received_data[SBUS_FRAME_LENGTH - 2];
- */
+	uint8_t receive_timer;
-static void reset_channels(void)
+	uint8_t failsafe_timer;
+	uint8_t frame_found;
+	uint8_t byte_count;
+};
+
+struct pios_sbus_dev {
+	enum pios_sbus_dev_magic magic;
+	const struct pios_sbus_cfg *cfg;
+	struct pios_sbus_state state;
+};
+
+/* Allocate S.Bus device descriptor */
+#if defined(PIOS_INCLUDE_FREERTOS)
+static struct pios_sbus_dev *PIOS_SBus_Alloc(void)
 {
-	for (int i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) {
+	struct pios_sbus_dev *sbus_dev;
-		channel_data[i] = PIOS_RCVR_TIMEOUT;
+
+	sbus_dev = (struct pios_sbus_dev *)pvPortMalloc(sizeof(*sbus_dev));
+	if (!sbus_dev) return(NULL);
+
+	sbus_dev->magic = PIOS_SBUS_DEV_MAGIC;
+	return(sbus_dev);
+}
+#else
+static struct pios_sbus_dev pios_sbus_devs[PIOS_SBUS_MAX_DEVS];
+static uint8_t pios_sbus_num_devs;
+static struct pios_sbus_dev *PIOS_SBus_Alloc(void)
+{
+	struct pios_sbus_dev *sbus_dev;
+
+	if (pios_sbus_num_devs >= PIOS_SBUS_MAX_DEVS) {
+		return (NULL);
+	}
+
+	sbus_dev = &pios_sbus_devs[pios_sbus_num_devs++];
+	sbus_dev->magic = PIOS_SBUS_DEV_MAGIC;
+
+	return (sbus_dev);
+}
+#endif
+
+/* Validate S.Bus device descriptor */
+static bool PIOS_SBus_Validate(struct pios_sbus_dev *sbus_dev)
+{
+	return (sbus_dev->magic == PIOS_SBUS_DEV_MAGIC);
+}
+
+/* Reset channels in case of lost signal or explicit failsafe receiver flag */
+static void PIOS_SBus_ResetChannels(struct pios_sbus_state *state)
+{
+	for (int i = 0; i < PIOS_SBUS_NUM_INPUTS; i++) {
+		state->channel_data[i] = PIOS_RCVR_TIMEOUT;
 	}
 }
 
+/* Reset S.Bus receiver state */
+static void PIOS_SBus_ResetState(struct pios_sbus_state *state)
+{
+	state->receive_timer = 0;
+	state->failsafe_timer = 0;
+	state->frame_found = 0;
+	PIOS_SBus_ResetChannels(state);
+}
+
+/* Initialise S.Bus receiver interface */
+int32_t PIOS_SBus_Init(uint32_t *sbus_id,
+		       const struct pios_sbus_cfg *cfg,
+		       const struct pios_com_driver *driver,
+		       uint32_t lower_id)
+{
+	PIOS_DEBUG_Assert(sbus_id);
+	PIOS_DEBUG_Assert(cfg);
+	PIOS_DEBUG_Assert(driver);
+
+	struct pios_sbus_dev *sbus_dev;
+
+	sbus_dev = (struct pios_sbus_dev *)PIOS_SBus_Alloc();
+	if (!sbus_dev) goto out_fail;
+
+	/* Bind the configuration to the device instance */
+	sbus_dev->cfg = cfg;
+
+	PIOS_SBus_ResetState(&(sbus_dev->state));
+
+	*sbus_id = (uint32_t)sbus_dev;
+
+	/* Enable inverter clock and enable the inverter */
+	(*cfg->gpio_clk_func)(cfg->gpio_clk_periph, ENABLE);
+	GPIO_Init(cfg->inv.gpio, &cfg->inv.init);
+	GPIO_WriteBit(cfg->inv.gpio, cfg->inv.init.GPIO_Pin, cfg->gpio_inv_enable);
+
+	/* Set comm driver callback */
+	(driver->bind_rx_cb)(lower_id, PIOS_SBus_RxInCallback, *sbus_id);
+
+	if (!PIOS_RTC_RegisterTickCallback(PIOS_SBus_Supervisor, *sbus_id)) {
+		PIOS_DEBUG_Assert(0);
+	}
+
+	return 0;
+
+out_fail:
+	return -1;
+}
+
 /**
- * unroll_channels() function computes channel_data[] from received_data[]
+ * Get the value of an input channel
+ * \param[in] channel Number of the channel desired (zero based)
+ * \output PIOS_RCVR_INVALID channel not available
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
+ * \output >0 channel value
+ */
+static int32_t PIOS_SBus_Get(uint32_t rcvr_id, uint8_t channel)
+{
+	struct pios_sbus_dev *sbus_dev = (struct pios_sbus_dev *)rcvr_id;
+
+	if (!PIOS_SBus_Validate(sbus_dev))
+		return PIOS_RCVR_INVALID;
+
+	/* return error if channel is not available */
+	if (channel >= PIOS_SBUS_NUM_INPUTS) {
+		return PIOS_RCVR_INVALID;
+	}
+
+	return sbus_dev->state.channel_data[channel];
+}
+
+/**
+ * Compute channel_data[] from received_data[].
  * For efficiency it unrolls first 8 channels without loops and does the
  * same for other 8 channels. Also 2 discrete channels will be set.
  */
-static void unroll_channels(void)
+static void PIOS_SBus_UnrollChannels(struct pios_sbus_state *state)
 {
-	uint8_t *s = received_data;
+	uint8_t *s = state->received_data;
-	uint16_t *d = channel_data;
+	uint16_t *d = state->channel_data;
 
-#define F(v,s) ((v) >> s) & 0x7ff
+#define F(v,s) (((v) >> (s)) & 0x7ff)
 
 	/* unroll channels 1-8 */
 	*d++ = F(s[0] | s[1] << 8, 0);
@@ -98,132 +220,119 @@ static void unroll_channels(void)
 	*d++ = (s[22] & SBUS_FLAG_DC2) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN;
 }
 
-/**
+/* Update decoder state processing input byte from the S.Bus stream */
- * process_byte() function processes incoming byte from S.Bus stream
+static void PIOS_SBus_UpdateState(struct pios_sbus_state *state, uint8_t b)
- */
-static void process_byte(uint8_t b)
 {
-	static uint8_t byte_count;
+	/* should not process any data until new frame is found */
+	if (!state->frame_found)
+		return;
 
-	if (frame_found == 0) {
+	if (state->byte_count == 0) {
-		/* no frame found yet, waiting for start byte */
+		if (b != SBUS_SOF_BYTE) {
-		if (b == SBUS_SOF_BYTE) {
+			/* discard the whole frame if the 1st byte is not correct */
-			byte_count = 0;
+			state->frame_found = 0;
-			frame_found = 1;
-		}
-	} else {
-		/* do not store start and end of frame bytes */
-		if (byte_count < SBUS_FRAME_LENGTH - 2) {
-			/* store next byte */
-			received_data[byte_count++] = b;
 		} else {
-			if (b == SBUS_EOF_BYTE) {
+			/* do not store the SOF byte */
-				/* full frame received */
+			state->byte_count++;
-				uint8_t flags = received_data[SBUS_FRAME_LENGTH - 3];
-				if (flags & SBUS_FLAG_FL) {
-					/* frame lost, do not update */
-				} else if (flags & SBUS_FLAG_FS) {
-					/* failsafe flag active */
-					reset_channels();
-				} else {
-					/* data looking good */
-					unroll_channels();
-					failsafe_timer = 0;
-				}
-			} else {
-				/* discard whole frame */
-			}
-
-			/* prepare for the next frame */
-			frame_found = 0;
 		}
+		return;
+	}
+
+	/* do not store last frame byte as well */
+	if (state->byte_count < SBUS_FRAME_LENGTH - 1) {
+		/* store next byte */
+		state->received_data[state->byte_count - 1] = b;
+		state->byte_count++;
+	} else {
+		if (b == SBUS_EOF_BYTE) {
+			/* full frame received */
+			uint8_t flags = state->received_data[SBUS_FRAME_LENGTH - 3];
+			if (flags & SBUS_FLAG_FL) {
+				/* frame lost, do not update */
+			} else if (flags & SBUS_FLAG_FS) {
+				/* failsafe flag active */
+				PIOS_SBus_ResetChannels(state);
+			} else {
+				/* data looking good */
+				PIOS_SBus_UnrollChannels(state);
+				state->failsafe_timer = 0;
+			}
+		} else {
+			/* discard whole frame */
+		}
+
+		/* prepare for the next frame */
+		state->frame_found = 0;
 	}
 }
 
-static uint16_t PIOS_SBUS_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
+/* Comm byte received callback */
+static uint16_t PIOS_SBus_RxInCallback(uint32_t context,
+				       uint8_t *buf,
+				       uint16_t buf_len,
+				       uint16_t *headroom,
+				       bool *need_yield)
 {
+	struct pios_sbus_dev *sbus_dev = (struct pios_sbus_dev *)context;
+
+	bool valid = PIOS_SBus_Validate(sbus_dev);
+	PIOS_Assert(valid);
+
+	struct pios_sbus_state *state = &(sbus_dev->state);
+
 	/* process byte(s) and clear receive timer */
 	for (uint8_t i = 0; i < buf_len; i++) {
-		process_byte(buf[i]);
+		PIOS_SBus_UpdateState(state, buf[i]);
-		receive_timer = 0;
+		state->receive_timer = 0;
 	}
 
 	/* Always signal that we can accept another byte */
-	if (headroom) {
+	if (headroom)
 		*headroom = SBUS_FRAME_LENGTH;
-	}
 
 	/* We never need a yield */
 	*need_yield = false;
 
 	/* Always indicate that all bytes were consumed */
-	return (buf_len);
+	return buf_len;
-}
-
-/**
- * Initialise S.Bus receiver interface
- */
-int32_t PIOS_SBUS_Init(uint32_t * sbus_id, const struct pios_sbus_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id)
-{
-	/* Enable inverter clock and enable the inverter */
-	(*cfg->gpio_clk_func)(cfg->gpio_clk_periph, ENABLE);
-	GPIO_Init(cfg->inv.gpio, &cfg->inv.init);
-	GPIO_WriteBit(cfg->inv.gpio,
-		      cfg->inv.init.GPIO_Pin,
-		      cfg->gpio_inv_enable);
-
-	(driver->bind_rx_cb)(lower_id, PIOS_SBUS_RxInCallback, 0);
-
-	if (!PIOS_RTC_RegisterTickCallback(PIOS_SBUS_Supervisor, 0)) {
-		PIOS_Assert(0);
-	}
-
-	return (0);
-}
-
-/**
- * Get the value of an input channel
- * \param[in] channel Number of the channel desired (zero based)
- * \output -1 channel not available
- * \output >0 channel value
- */
-static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
-{
-	/* return error if channel is not available */
-	if (channel >= SBUS_NUMBER_OF_CHANNELS) {
-		return PIOS_RCVR_INVALID;
-	}
-	return channel_data[channel];
 }
 
 /**
  * Input data supervisor is called periodically and provides
  * two functions: frame syncing and failsafe triggering.
  *
- * S.Bus frames come at 7ms (HS) or 14ms (FS) rate at 100000bps. RTC
+ * S.Bus frames come at 7ms (HS) or 14ms (FS) rate at 100000bps.
- * timer is running at 625Hz (1.6ms). So with divider 2 it gives
+ * RTC timer is running at 625Hz (1.6ms). So with divider 2 it gives
- * 3.2ms pause between frames which is good for both S.Bus data rates.
+ * 3.2ms pause between frames which is good for both S.Bus frame rates.
  *
  * Data receive function must clear the receive_timer to confirm new
  * data reception. If no new data received in 100ms, we must call the
  * failsafe function which clears all channels.
  */
-static void PIOS_SBUS_Supervisor(uint32_t sbus_id)
+static void PIOS_SBus_Supervisor(uint32_t sbus_id)
 {
+	struct pios_sbus_dev *sbus_dev = (struct pios_sbus_dev *)sbus_id;
+
+	bool valid = PIOS_SBus_Validate(sbus_dev);
+	PIOS_Assert(valid);
+
+	struct pios_sbus_state *state = &(sbus_dev->state);
+
 	/* waiting for new frame if no bytes were received in 3.2ms */
-	if (++receive_timer > 2) {
+	if (++state->receive_timer > 2) {
-		receive_timer = 0;
+		state->frame_found = 1;
-		frame_found = 0;
+		state->byte_count = 0;
+		state->receive_timer = 0;
 	}
 
 	/* activate failsafe if no frames have arrived in 102.4ms */
-	if (++failsafe_timer > 64) {
+	if (++state->failsafe_timer > 64) {
-		reset_channels();
+		PIOS_SBus_ResetChannels(state);
-		failsafe_timer = 0;
+		state->failsafe_timer = 0;
 	}
 }
 
-#endif
+#endif	/* PIOS_INCLUDE_SBUS */
 
 /** 
  * @}

flight/PiOS/STM32F10x/pios_spektrum.c

@@ -1,350 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_SPEKTRUM Spektrum receiver functions
- * @brief Code to read Spektrum input
- * @{
- *
- * @file       pios_spektrum.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
- * @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
- */
-
-/* Project Includes */
-#include "pios.h"
-
-#if defined(PIOS_INCLUDE_SPEKTRUM)
-
-#include "pios_spektrum_priv.h"
-
-/**
- * @Note Framesyncing:
- * The code resets the watchdog timer whenever a single byte is received, so what watchdog code
- * is never called if regularly getting bytes.
- * RTC timer is running @625Hz, supervisor timer has divider 5 so frame sync comes every 1/125Hz=8ms.
- * Good for both 11ms and 22ms framecycles
- */
-
-/* Global Variables */
-
-/* Provide a RCVR driver */
-static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel);
-
-const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
-	.read = PIOS_SPEKTRUM_Get,
-};
-
-enum pios_spektrum_dev_magic {
-	PIOS_SPEKTRUM_DEV_MAGIC = 0xa9b9c9d9,
-};
-
-struct pios_spektrum_fsm {
-	uint16_t channel;
-	uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS];
-	uint16_t CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
-	uint8_t prev_byte;
-	uint8_t sync;
-	uint8_t bytecount;
-	uint8_t datalength;
-	uint8_t frame_error;
-	uint8_t sync_of;
-};
-
-struct pios_spektrum_dev {
-	enum pios_spektrum_dev_magic     magic;
-	const struct pios_spektrum_cfg * cfg;
-
-	struct pios_spektrum_fsm fsm;
-
-	uint16_t supv_timer;
-};
-
-static bool PIOS_SPEKTRUM_validate(struct pios_spektrum_dev * spektrum_dev)
-{
-	return (spektrum_dev->magic == PIOS_SPEKTRUM_DEV_MAGIC);
-}
-
-#if defined(PIOS_INCLUDE_FREERTOS)
-static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void)
-{
-	struct pios_spektrum_dev * spektrum_dev;
-
-	spektrum_dev = (struct pios_spektrum_dev *)pvPortMalloc(sizeof(*spektrum_dev));
-	if (!spektrum_dev) return(NULL);
-
-	spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC;
-	return(spektrum_dev);
-}
-#else
-static struct pios_spektrum_dev pios_spektrum_devs[PIOS_SPEKTRUM_MAX_DEVS];
-static uint8_t pios_spektrum_num_devs;
-static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void)
-{
-	struct pios_spektrum_dev * spektrum_dev;
-
-	if (pios_spektrum_num_devs >= PIOS_SPEKTRUM_MAX_DEVS) {
-		return (NULL);
-	}
-
-	spektrum_dev = &pios_spektrum_devs[pios_spektrum_num_devs++];
-	spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC;
-
-	return (spektrum_dev);
-}
-#endif
-
-static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
-static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind);
-static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b);
-
-static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
-{
-	struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)context;
-
-	bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
-	PIOS_Assert(valid);
-
-	/* process byte(s) and clear receive timer */
-	for (uint8_t i = 0; i < buf_len; i++) {
-		PIOS_SPEKTRUM_UpdateFSM(&(spektrum_dev->fsm), buf[i]);
-		spektrum_dev->supv_timer = 0;
-	}
-
-	/* Always signal that we can accept another byte */
-	if (headroom) {
-		*headroom = 1;
-	}
-
-	/* We never need a yield */
-	*need_yield = false;
-
-	/* Always indicate that all bytes were consumed */
-	return (buf_len);
-}
-
-static void PIOS_SPEKTRUM_ResetFSM(struct pios_spektrum_fsm * fsm)
-{
-	fsm->channel = 0;
-	fsm->prev_byte = 0xFF;
-	fsm->sync = 0;
-	fsm->bytecount = 0;
-	fsm->datalength = 0;
-	fsm->frame_error = 0;
-	fsm->sync_of = 0;
-}
-
-/**
-* Decodes a byte
-* \param[in] b byte which should be spektrum decoded
-* \return 0 if no error
-* \return -1 if USART not available
-* \return -2 if buffer full (retry)
-*/
-static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b)
-{
-	fsm->bytecount++;
-	if (fsm->sync == 0) {
-		/* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */
-		/* 0xb2 DX8 3bind pulses only */
-		if (fsm->bytecount == 2) {
-			if ((b == 0x01) || (b == 0x02) || (b == 0xb2)) {
-				fsm->datalength=0; // 10bit
-				fsm->sync = 1;
-				fsm->bytecount = 2;
-			}
-			else if(b == 0x12) {
-				fsm->datalength=1; // 11bit
-				fsm->sync = 1;
-				fsm->bytecount = 2;
-			}
-			else
-			{
-				fsm->bytecount = 0;
-			}
-		}
-	} else {
-		if ((fsm->bytecount % 2) == 0) {
-			uint16_t data;
-			uint8_t channeln;
-
-			fsm->channel = (fsm->prev_byte << 8) + b;
-			channeln = (fsm->channel >> (10+fsm->datalength)) & 0x0F;
-			data = fsm->channel & (0x03FF+(0x0400*fsm->datalength));
-			if(channeln==0 && data<10) // discard frame if throttle misbehaves
-			{
-				fsm->frame_error=1;
-			}
-			if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !fsm->frame_error)
-				fsm->CaptureValueTemp[channeln] = data;
-		}
-	}
-	if (fsm->bytecount == 16) {
-		fsm->bytecount = 0;
-		fsm->sync = 0;
-		fsm->sync_of = 0;
-		if (!fsm->frame_error)
-		{
-			for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
-			{
-				fsm->CaptureValue[i] = fsm->CaptureValueTemp[i];
-			}
-		}
-		fsm->frame_error=0;
-	}
-	fsm->prev_byte = b;
-	return 0;
-}
-
-/**
-* Bind and Initialise Spektrum satellite receiver
-*/
-int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind)
-{
-	PIOS_DEBUG_Assert(spektrum_id);
-	PIOS_DEBUG_Assert(cfg);
-	PIOS_DEBUG_Assert(driver);
-
-	struct pios_spektrum_dev * spektrum_dev;
-
-	spektrum_dev = (struct pios_spektrum_dev *) PIOS_SPEKTRUM_alloc();
-	if (!spektrum_dev) goto out_fail;
-
-	/* Bind the configuration to the device instance */
-	spektrum_dev->cfg = cfg;
-
-	if (bind) {
-		PIOS_SPEKTRUM_Bind(cfg,bind);
-	}
-
-	PIOS_SPEKTRUM_ResetFSM(&(spektrum_dev->fsm));
-
-	*spektrum_id = (uint32_t)spektrum_dev;
-
-	(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, *spektrum_id);
-
-	if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, *spektrum_id)) {
-		PIOS_DEBUG_Assert(0);
-	}
-
-	return (0);
-
-out_fail:
-	return(-1);
-}
-
-/**
-* Get the value of an input channel
-* \param[in] Channel Number of the channel desired
-* \output -1 Channel not available
-* \output >0 Channel value
-*/
-static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
-{
-	struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)rcvr_id;
-
-	if(!PIOS_SPEKTRUM_validate(spektrum_dev))
-		return PIOS_RCVR_INVALID;
-
-	/* Return error if channel not available */
-	if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
-		return PIOS_RCVR_INVALID;
-	}
-	return spektrum_dev->fsm.CaptureValue[channel];
-}
-
-/**
-* Spektrum bind function
-* \output true Successful bind
-* \output false Bind failed
-*/
-static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind)
-{
-	GPIO_InitTypeDef GPIO_InitStructure;
-	GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin;
-	GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed;
-	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
-
-	/* just to limit bind pulses */
-	bind=(bind<=10)?bind:10;
-
-	GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
-	/* RX line, set high */
-	GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
-
-	/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
-	PIOS_DELAY_WaitmS(60);
-
-	for (int i = 0; i < bind ; i++) {
-		/* RX line, drive low for 120us */
-		GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
-		PIOS_DELAY_WaituS(120);
-		/* RX line, drive high for 120us */
-		GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
-		PIOS_DELAY_WaituS(120);
-	}
-	/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
-	GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure);
-
-	return true;
-}
-
-/**
- *@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
- *@brief clears the channel values
- */
-static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id)
-{
-	struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)spektrum_id;
-
-	bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
-	PIOS_Assert(valid);
-
-	/* 625hz */
-	spektrum_dev->supv_timer++;
-	if(spektrum_dev->supv_timer > 4) {
-		/* sync between frames */
-		struct pios_spektrum_fsm * fsm = &(spektrum_dev->fsm);
-
-		fsm->sync = 0;
-		fsm->bytecount = 0;
-		fsm->prev_byte = 0xFF;
-		fsm->frame_error = 0;
-		fsm->sync_of++;
-		/* watchdog activated after 200ms silence */
-		if (fsm->sync_of > 30) {
-
-			/* signal lost */
-			fsm->sync_of = 0;
-			for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
-				fsm->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
-				fsm->CaptureValueTemp[i] = PIOS_RCVR_TIMEOUT;
-			}
-		}
-		spektrum_dev->supv_timer = 0;
-	}
-}
-
-#endif
-
-/** 
-  * @}
-  * @}
-  */

flight/PiOS/inc/pios_dsm.h

@@ -2,13 +2,12 @@
  ******************************************************************************
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @addtogroup   PIOS_SPEKTRUM Spektrum receiver functions
+ * @addtogroup PIOS_DSM Spektrum/JR DSMx satellite receiver functions
  * @{
  *
- * @file       pios_spektrum.h  
+ * @file       pios_dsm.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
+ * @brief      Spektrum/JR DSMx satellite receiver functions header.
- * @brief      Spektrum satellite functions header.
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -28,16 +27,16 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_SPEKTRUM_H
+#ifndef PIOS_DSM_H
-#define PIOS_SPEKTRUM_H
+#define PIOS_DSM_H
 
 /* Global Types */
 
 /* Public Functions */
 
-#endif /* PIOS_SPEKTRUM_H */
+#endif /* PIOS_DSM_H */
 
 /**
-  * @}
+ * @}
-  * @}
+ * @}
-  */
+ */

flight/PiOS/inc/pios_dsm_priv.h

@@ -0,0 +1,139 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_DSM Spektrum/JR DSMx satellite receiver functions
+ * @brief PIOS interface to bind and read Spektrum/JR DSMx satellite receiver
+ * @{
+ *
+ * @file       pios_dsm_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Spektrum/JR DSMx satellite receiver private structures.
+ * @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_DSM_PRIV_H
+#define PIOS_DSM_PRIV_H
+
+#include <pios.h>
+#include <pios_stm32.h>
+#include <pios_usart_priv.h>
+
+/*
+ * Currently known DSMx (DSM2, DSMJ, DSMX) satellite serial port settings:
+ *  115200bps serial stream, 8 bits, no parity, 1 stop bit
+ *  size of each frame: 16 bytes
+ *  data resolution: 10 or 11 bits
+ *  number of frames: 1 or 2
+ *  frame period: 11ms or 22ms
+ *
+ * Currently known DSMx frame structure:
+ *  2 bytes - depend on protocol version:
+ *    for DSM2/DSMJ:
+ *      1 byte - lost frame counter (8 bit)
+ *      1 byte - data format (for master receiver bound with 3 or 5 pulses),
+ *      	 or unknown (for slave receiver bound with 4 or 6 pulses,
+ *               some sources call it also the lost frame counter)
+ *    for DSMX:
+ *      1 byte - unknown data (does not look like lost frame counter)
+ *      1 byte - unknown data, has been seen only 0xB2 so far
+
+ * 14 bytes - up to 7 channels (16 bit word per channel) with encoded channel
+ * 	      number, channel value, the "2nd frame in a sequence" flag.
+ * 	      Unused channels have FF FF instead of data bytes.
+ *
+ * Data format identification:
+ *   - for DSM2/DSMJ: [0 0 0 R 0 0 N1 N0]
+ *     where
+ *   	  R is data resolution (0 - 10 bits, 1 - 11 bits),
+ *   	  N1..N0 is the number of frames required to receive all channel
+ *        data (01 or 10 are known to the moment, which means 1 or 2 frames).
+ *        Three values for the transmitter information byte have been seen
+ *        thus far: 0x01, 0x02, 0x12.
+ *   - for DSMX this byte contains just 0xB2 or 0xA2 value for any resolution.
+ *     It is not known at the moment how to find the exact resolution from the
+ *     DSMX data stream. The frame number (1 or 2) and 10/11 bit resolution were
+ *     found in different data streams. So it is safer at the moment to ask user
+ *     explicitly choose the resolution.
+ *     Also some weird throttle channel (0) behavior was found in some streams
+ *     from DX8 transmitter (all zeroes). Thus DSMX needs special processing.
+ *
+ * Channel data are:
+ * - for 10 bit: [F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0]
+ * - for 11 bit: [F C3 C2 C1 C0 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0]
+ *   where
+ *   	F is normally 0 but set to 1 for the first channel of the 2nd frame,
+ *      C3 to C0 is the channel number, 4 bit, zero-based, in any order,
+ *      Dx..D0 - channel data (10 or 11 bits)
+ *
+ * DSM2 protocol bug: in some cases in 2-frame format some bytes of the
+ * frame can contain invalid values from the previous frame. They usually
+ * are the last 5 bytes and can be equal to FF or other data from last
+ * frame. There is no explicit workaround currently known.
+ *
+ * Binding: the number of pulses within bind window after power up defines
+ * if this receiver is a master (provides receiver capabilities info to
+ * the transmitter to choose data format) or slave (does not respond to
+ * the transmitter which falls back to the old DSM mode in that case).
+ * Currently known are 3(4) pulses for low resolution (10 bit) mode, and
+ * 5(6) pulses for high resolution (11 bit) mode. Thus only 3 or 5 pulses
+ * should be used for stand-alone satellite receiver to be bound correctly
+ * as the master. 5 pulses (high resolution) mode simulates high-end
+ * receivers which should work in all cases except user explicitly wants
+ * to bind in low resolution mode.
+ */
+
+#define DSM_CHANNELS_PER_FRAME		7
+#define DSM_FRAME_LENGTH		(1+1+DSM_CHANNELS_PER_FRAME*2)
+#define DSM_DSM2_RES_MASK		0x0010
+#define DSM_2ND_FRAME_MASK		0x8000
+
+/*
+ * Include lost frame counter and provide it as a last channel value
+ * for debugging. Currently is not used by the receiver layer.
+ */
+//#define DSM_LOST_FRAME_COUNTER
+
+/* DSM protocol variations */
+enum pios_dsm_proto {
+	PIOS_DSM_PROTO_DSM2,
+	PIOS_DSM_PROTO_DSMX10BIT,
+	PIOS_DSM_PROTO_DSMX11BIT,
+};
+
+/* DSM receiver instance configuration */
+struct pios_dsm_cfg {
+	struct stm32_gpio bind;
+};
+
+extern const struct pios_rcvr_driver pios_dsm_rcvr_driver;
+
+extern int32_t PIOS_DSM_Init(uint32_t *dsm_id,
+			     const struct pios_dsm_cfg *cfg,
+			     const struct pios_com_driver *driver,
+			     uint32_t lower_id,
+			     enum pios_dsm_proto proto,
+			     uint8_t bind);
+
+#endif /* PIOS_DSM_PRIV_H */
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS/inc/pios_sbus.h

@@ -2,7 +2,7 @@
  ******************************************************************************
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @addtogroup   PIOS_SBUS Futaba S.Bus receiver functions
+ * @addtogroup   PIOS_SBus Futaba S.Bus receiver functions
  * @{
  *
  * @file       pios_sbus.h  

flight/PiOS/inc/pios_sbus_priv.h

@@ -2,7 +2,7 @@
  ******************************************************************************
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @addtogroup   PIOS_SBUS S.Bus Functions
+ * @addtogroup   PIOS_SBus S.Bus Functions
  * @brief PIOS interface to read and write from Futaba S.Bus port
  * @{
  *
@@ -63,7 +63,9 @@
  * S.Bus protocol provides 16 proportional and 2 discrete channels.
  * Do not change unless driver code is updated accordingly.
  */
-#define	SBUS_NUMBER_OF_CHANNELS		(16 + 2)
+#if (PIOS_SBUS_NUM_INPUTS != (16+2))
+#error "S.Bus protocol provides 16 proportional and 2 discrete channels"
+#endif
 
 /* Discrete channels represented as bits, provide values for them */
 #define	SBUS_VALUE_MIN			352
@@ -81,7 +83,10 @@ struct pios_sbus_cfg {
 
 extern const struct pios_rcvr_driver pios_sbus_rcvr_driver;
 
-extern int32_t PIOS_SBUS_Init(uint32_t * sbus_id, const struct pios_sbus_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id);
+extern int32_t PIOS_SBus_Init(uint32_t *sbus_id,
+			      const struct pios_sbus_cfg *cfg,
+			      const struct pios_com_driver *driver,
+			      uint32_t lower_id);
 
 #endif /* PIOS_SBUS_PRIV_H */
 

flight/PiOS/inc/pios_spektrum_priv.h

@@ -1,52 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup   PIOS_SPEKTRUM SPEKTRUM Functions
- * @brief PIOS interface to read and write from spektrum port
- * @{
- *
- * @file       pios_spektrum_priv.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Servo private structures.
- * @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_SPEKTRUM_PRIV_H
-#define PIOS_SPEKTRUM_PRIV_H
-
-#include <pios.h>
-#include <pios_stm32.h>
-#include <pios_usart_priv.h>
-
-struct pios_spektrum_cfg {
-	struct stm32_gpio bind;
-	uint32_t remap;		/* GPIO_Remap_* */
-};
-
-extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
-
-extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind);
-
-#endif /* PIOS_SPEKTRUM_PRIV_H */
-
-/**
- * @}
- * @}
- */

flight/PiOS/pios.h

@@ -81,7 +81,7 @@
 #include <pios_ppm.h>
 #include <pios_pwm.h>
 #include <pios_rcvr.h>
-#include <pios_spektrum.h>
+#include <pios_dsm.h>
 #include <pios_sbus.h>
 #include <pios_usb_hid.h>
 #include <pios_debug.h>

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -96,11 +96,9 @@
 		65643CAD1413322000A32F59 /* pios_rtc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc_priv.h; sourceTree = "<group>"; };
 		65643CAE1413322000A32F59 /* pios_sbus_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus_priv.h; sourceTree = "<group>"; };
 		65643CAF1413322000A32F59 /* pios_sbus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus.h; sourceTree = "<group>"; };
-		65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = "<group>"; };
+		65643CB01413322000A32F59 /* pios_dsm_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_dsm_priv.h; sourceTree = "<group>"; };
 		65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = "<group>"; };
 		65643CBA141350C200A32F59 /* pios_sbus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_sbus.c; sourceTree = "<group>"; };
-		65643CEC141429A100A32F59 /* NMEA.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = NMEA.c; sourceTree = "<group>"; };
-		65643CEE141429AF00A32F59 /* NMEA.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = NMEA.h; sourceTree = "<group>"; };
 		6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_memory.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld; sourceTree = SOURCE_ROOT; };
 		6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_sections.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld; sourceTree = SOURCE_ROOT; };
 		657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = "<group>"; };
@@ -2658,7 +2656,6 @@
 		65C35E5612EFB2F3004811C2 /* attitudeactual.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudeactual.xml; sourceTree = "<group>"; };
 		65C35E5812EFB2F3004811C2 /* attituderaw.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attituderaw.xml; sourceTree = "<group>"; };
 		65C35E5912EFB2F3004811C2 /* baroaltitude.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = baroaltitude.xml; sourceTree = "<group>"; };
-		65C35E5A12EFB2F3004811C2 /* batterysettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = batterysettings.xml; sourceTree = "<group>"; };
 		65C35E5C12EFB2F3004811C2 /* flightbatterystate.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = flightbatterystate.xml; sourceTree = "<group>"; };
 		65C35E5D12EFB2F3004811C2 /* flightplancontrol.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = flightplancontrol.xml; sourceTree = "<group>"; };
 		65C35E5E12EFB2F3004811C2 /* flightplansettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = flightplansettings.xml; sourceTree = "<group>"; };
@@ -2799,7 +2796,7 @@
 		65E8F04911EFF25C00BBF654 /* pios_pwm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_pwm.h; path = ../../PiOS/inc/pios_pwm.h; sourceTree = SOURCE_ROOT; };
 		65E8F04A11EFF25C00BBF654 /* pios_sdcard.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_sdcard.h; path = ../../PiOS/inc/pios_sdcard.h; sourceTree = SOURCE_ROOT; };
 		65E8F04B11EFF25C00BBF654 /* pios_servo.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_servo.h; path = ../../PiOS/inc/pios_servo.h; sourceTree = SOURCE_ROOT; };
-		65E8F04C11EFF25C00BBF654 /* pios_spektrum.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_spektrum.h; path = ../../PiOS/inc/pios_spektrum.h; sourceTree = SOURCE_ROOT; };
+		65E8F04C11EFF25C00BBF654 /* pios_dsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_dsm.h; path = ../../PiOS/inc/pios_dsm.h; sourceTree = SOURCE_ROOT; };
 		65E8F04D11EFF25C00BBF654 /* pios_spi.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_spi.h; path = ../../PiOS/inc/pios_spi.h; sourceTree = SOURCE_ROOT; };
 		65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_spi_priv.h; path = ../../PiOS/inc/pios_spi_priv.h; sourceTree = SOURCE_ROOT; };
 		65E8F04F11EFF25C00BBF654 /* pios_stm32.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_stm32.h; path = ../../PiOS/inc/pios_stm32.h; sourceTree = SOURCE_ROOT; };
@@ -2928,7 +2925,7 @@
 		65E8F0E411EFF25C00BBF654 /* pios_ppm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_ppm.c; path = ../../PiOS/STM32F10x/pios_ppm.c; sourceTree = SOURCE_ROOT; };
 		65E8F0E511EFF25C00BBF654 /* pios_pwm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_pwm.c; path = ../../PiOS/STM32F10x/pios_pwm.c; sourceTree = SOURCE_ROOT; };
 		65E8F0E611EFF25C00BBF654 /* pios_servo.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_servo.c; path = ../../PiOS/STM32F10x/pios_servo.c; sourceTree = SOURCE_ROOT; };
-		65E8F0E711EFF25C00BBF654 /* pios_spektrum.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_spektrum.c; path = ../../PiOS/STM32F10x/pios_spektrum.c; sourceTree = SOURCE_ROOT; };
+		65E8F0E711EFF25C00BBF654 /* pios_dsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_dsm.c; path = ../../PiOS/STM32F10x/pios_dsm.c; sourceTree = SOURCE_ROOT; };
 		65E8F0E811EFF25C00BBF654 /* pios_spi.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_spi.c; path = ../../PiOS/STM32F10x/pios_spi.c; sourceTree = SOURCE_ROOT; };
 		65E8F0E911EFF25C00BBF654 /* pios_sys.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_sys.c; path = ../../PiOS/STM32F10x/pios_sys.c; sourceTree = SOURCE_ROOT; };
 		65E8F0EA11EFF25C00BBF654 /* pios_usart.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_usart.c; path = ../../PiOS/STM32F10x/pios_usart.c; sourceTree = SOURCE_ROOT; };
@@ -7436,7 +7433,6 @@
 		65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */ = {
 			isa = PBXGroup;
 			children = (
-				65E6D80713E3A4D0002A557A /* hwsettings.xml */,
 				65E8C788139AA2A800E1F979 /* accessorydesired.xml */,
 				65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */,
 				65C35E5112EFB2F3004811C2 /* actuatordesired.xml */,
@@ -7448,7 +7444,6 @@
 				65C35E5812EFB2F3004811C2 /* attituderaw.xml */,
 				65E410AE12F65AEA00725888 /* attitudesettings.xml */,
 				65C35E5912EFB2F3004811C2 /* baroaltitude.xml */,
-				65C35E5A12EFB2F3004811C2 /* batterysettings.xml */,
 				655B1A8E13B2FC0900B0E48D /* camerastabsettings.xml */,
 				652C8568132B632A00BFCC70 /* firmwareiapobj.xml */,
 				65C35E5C12EFB2F3004811C2 /* flightbatterystate.xml */,
@@ -7463,6 +7458,7 @@
 				65C35E6412EFB2F3004811C2 /* gpstime.xml */,
 				65C35E6512EFB2F3004811C2 /* guidancesettings.xml */,
 				65C35E6612EFB2F3004811C2 /* homelocation.xml */,
+				65E6D80713E3A4D0002A557A /* hwsettings.xml */,
 				65C35E6712EFB2F3004811C2 /* i2cstats.xml */,
 				65C35E6812EFB2F3004811C2 /* manualcontrolcommand.xml */,
 				65C35E6912EFB2F3004811C2 /* manualcontrolsettings.xml */,
@@ -7743,8 +7739,8 @@
 				65E8F04A11EFF25C00BBF654 /* pios_sdcard.h */,
 				65E8F04B11EFF25C00BBF654 /* pios_servo.h */,
 				65FBE14412E7C98100176B5A /* pios_servo_priv.h */,
-				65E8F04C11EFF25C00BBF654 /* pios_spektrum.h */,
+				65E8F04C11EFF25C00BBF654 /* pios_dsm.h */,
-				65643CB01413322000A32F59 /* pios_spektrum_priv.h */,
+				65643CB01413322000A32F59 /* pios_dsm_priv.h */,
 				65E8F04D11EFF25C00BBF654 /* pios_spi.h */,
 				65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */,
 				65E8F04F11EFF25C00BBF654 /* pios_stm32.h */,
@@ -7768,24 +7764,8 @@
 		65E8F05811EFF25C00BBF654 /* STM32F10x */ = {
 			isa = PBXGroup;
 			children = (
-				65D1FBD813F51865006374A6 /* pios_bmp085.c */,
-				6560A39D13EE277E00105DA5 /* pios_iap.c */,
-				6560A39E13EE277E00105DA5 /* pios_sbus.c */,
-				6560A38E13EE270C00105DA5 /* link_STM3210E_INS_BL_sections.ld */,
-				6560A38F13EE270C00105DA5 /* link_STM3210E_INS_memory.ld */,
-				6560A39013EE270C00105DA5 /* link_STM3210E_INS_sections.ld */,
-				6560A39113EE270C00105DA5 /* link_STM3210E_OP_BL_sections.ld */,
-				6560A39213EE270C00105DA5 /* link_STM3210E_OP_memory.ld */,
-				6560A39313EE270C00105DA5 /* link_STM3210E_OP_sections.ld */,
-				6560A39413EE270C00105DA5 /* link_STM32103CB_AHRS_BL_sections.ld */,
-				6560A39513EE270C00105DA5 /* link_STM32103CB_AHRS_memory.ld */,
-				6560A39613EE270C00105DA5 /* link_STM32103CB_AHRS_sections.ld */,
-				6560A39713EE270C00105DA5 /* link_STM32103CB_CC_Rev1_BL_sections.ld */,
 				6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */,
 				6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */,
-				6560A39813EE270C00105DA5 /* link_STM32103CB_PIPXTREME_BL_sections.ld */,
-				6560A39913EE270C00105DA5 /* link_STM32103CB_PIPXTREME_memory.ld */,
-				6560A39A13EE270C00105DA5 /* link_STM32103CB_PIPXTREME_sections.ld */,
 				65E8F05911EFF25C00BBF654 /* Libraries */,
 				65E8F0D811EFF25C00BBF654 /* link_stm32f10x_HD.ld */,
 				65E8F0DB11EFF25C00BBF654 /* link_stm32f10x_MD.ld */,
@@ -7802,7 +7782,7 @@
 				6589A9DB131DEE76006BD67C /* pios_rtc.c */,
 				65643CBA141350C200A32F59 /* pios_sbus.c */,
 				65E8F0E611EFF25C00BBF654 /* pios_servo.c */,
-				65E8F0E711EFF25C00BBF654 /* pios_spektrum.c */,
+				65E8F0E711EFF25C00BBF654 /* pios_dsm.c */,
 				65E8F0E811EFF25C00BBF654 /* pios_spi.c */,
 				65E8F0E911EFF25C00BBF654 /* pios_sys.c */,
 				65643CB91413456D00A32F59 /* pios_tim.c */,

flight/UAVTalk/inc/uavtalk_priv.h

@@ -64,6 +64,7 @@ typedef struct {
     uint32_t objId;
     uint16_t instId;
     uint32_t length;
+    uint8_t instanceLength;
     uint8_t cs;
     int32_t rxCount;
     UAVTalkRxState state;

flight/UAVTalk/uavtalk.c

@@ -351,9 +351,15 @@ int32_t UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rx
 			
 			// Determine data length
 			if (iproc->type == UAVTALK_TYPE_OBJ_REQ || iproc->type == UAVTALK_TYPE_ACK || iproc->type == UAVTALK_TYPE_NACK)
+			{
 				iproc->length = 0;
+				iproc->instanceLength = 0;
+			}
 			else
+			{
 				iproc->length = UAVObjGetNumBytes(iproc->obj);
+				iproc->instanceLength = (UAVObjIsSingleInstance(iproc->obj) ? 0 : 2);
+			}
 			
 			// Check length and determine next state
 			if (iproc->length >= UAVTALK_MAX_PAYLOAD_LENGTH)
@@ -364,7 +370,7 @@ int32_t UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rx
 			}
 			
 			// Check the lengths match
-			if ((iproc->rxPacketLength + iproc->length) != iproc->packet_size)
+			if ((iproc->rxPacketLength + iproc->instanceLength + iproc->length) != iproc->packet_size)
 			{   // packet error - mismatched packet size
 				connection->stats.rxErrors++;
 				iproc->state = UAVTALK_STATE_SYNC;

ground/openpilotgcs/src/plugins/config/camerastabilization.ui

@@ -138,46 +138,6 @@
             <string>None</string>
            </property>
           </item>
-          <item>
-           <property name="text">
-            <string>Channel 1</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 2</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 3</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 4</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 5</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 6</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 7</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 8</string>
-           </property>
-          </item>
          </widget>
         </item>
         <item row="4" column="1">
@@ -187,46 +147,6 @@
             <string>None</string>
            </property>
           </item>
-          <item>
-           <property name="text">
-            <string>Channel 1</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 2</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 3</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 4</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 5</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 6</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 7</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 8</string>
-           </property>
-          </item>
          </widget>
         </item>
         <item row="3" column="0">
@@ -243,46 +163,6 @@
             <string>None</string>
            </property>
           </item>
-          <item>
-           <property name="text">
-            <string>Channel 1</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 2</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 3</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 4</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 5</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 6</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 7</string>
-           </property>
-          </item>
-          <item>
-           <property name="text">
-            <string>Channel 8</string>
-           </property>
-          </item>
          </widget>
         </item>
         <item row="4" column="0">
@@ -323,6 +203,13 @@
      </layout>
     </widget>
    </item>
+   <item>
+    <widget class="QLabel" name="message">
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
    <item>
     <spacer name="verticalSpacer">
      <property name="orientation">

ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp

@@ -25,6 +25,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "config_cc_hw_widget.h"
+#include "hwsettings.h"
 
 #include <QDebug>
 #include <QStringList>
@@ -63,10 +64,13 @@ void ConfigCCHWWidget::refreshValues()
 void ConfigCCHWWidget::widgetsContentsChanged()
 {
     ConfigTaskWidget::widgetsContentsChanged();
-    enableControls(false);
+
-    if((m_telemetry->cbFlexi->currentText()==m_telemetry->cbTele->currentText()) && m_telemetry->cbTele->currentText()!="Disabled")
+    if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_TELEMETRY) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_TELEMETRY)) ||
+        ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_GPS) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_GPS)) ||
+        ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMAUX) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMAUX)))
     {
-        m_telemetry->problems->setText("Warning: you have configured the MainPort and the FlexiPort for the same function, this is currently not suported");
+        enableControls(false);
+        m_telemetry->problems->setText(tr("Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported"));
     }
     else
     {
@@ -84,4 +88,3 @@ void ConfigCCHWWidget::openHelp()
   * @}
   * @}
   */
-

ground/openpilotgcs/src/plugins/config/configairframewidget.cpp

@@ -105,10 +105,13 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
     ffTuningInProgress = false;
     ffTuningPhase = false;
 
-    mixerTypes << "Mixer1Type" << "Mixer2Type" << "Mixer3Type"
+    QStringList channels;
-            << "Mixer4Type" << "Mixer5Type" << "Mixer6Type" << "Mixer7Type" << "Mixer8Type";
+    channels << "None";
-    mixerVectors << "Mixer1Vector" << "Mixer2Vector" << "Mixer3Vector"
+    for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
-            << "Mixer4Vector" << "Mixer5Vector" << "Mixer6Vector" << "Mixer7Vector" << "Mixer8Vector";
+        mixerTypes << QString("Mixer%1Type").arg(i+1);
+        mixerVectors << QString("Mixer%1Vector").arg(i+1);
+        channels << QString("Channel%1").arg(i+1);
+    }
 
     QStringList airframeTypes;
     airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Custom";
@@ -124,11 +127,6 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
             << "Octo Coax X" << "Hexacopter Y6" << "Tricopter Y";
     m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
 
-
-
-    QStringList channels;
-    channels << "None" << "Channel1" << "Channel2" << "Channel3" <<
-            "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8";
     // Now load all the channel assignements for fixed wing
     m_aircraft->fwElevator1Channel->addItems(channels);
     m_aircraft->fwElevator2Channel->addItems(channels);

ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp

@@ -41,12 +41,26 @@
 #include "camerastabsettings.h"
 #include "hwsettings.h"
 #include "mixersettings.h"
+#include "actuatorcommand.h"
 
 ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     m_camerastabilization = new Ui_CameraStabilizationWidget();
     m_camerastabilization->setupUi(this);
 
+    QComboBox * selectors[3] = {
+        m_camerastabilization->rollChannel,
+        m_camerastabilization->pitchChannel,
+        m_camerastabilization->yawChannel
+    };
+
+    for (int i = 0; i < 3; i++) {
+        selectors[i]->clear();
+        selectors[i]->addItem("None");
+        for (int j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++)
+            selectors[i]->addItem(QString("Channel %1").arg(j+1));
+    }
+
     connectUpdates();
 
     // Connect buttons
@@ -95,7 +109,7 @@ void ConfigCameraStabilizationWidget::applySettings()
     // Update the mixer settings
     MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
     MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
-    const int NUM_MIXERS = 8;
+    const int NUM_MIXERS = 10;
 
     QComboBox * selectors[3] = {
         m_camerastabilization->rollChannel,
@@ -114,8 +128,11 @@ void ConfigCameraStabilizationWidget::applySettings()
         &mixerSettingsData.Mixer6Type,
         &mixerSettingsData.Mixer7Type,
         &mixerSettingsData.Mixer8Type,
+        &mixerSettingsData.Mixer9Type,
+        &mixerSettingsData.Mixer10Type,
     };
 
+    m_camerastabilization->message->setText("");
     for (int i = 0; i < 3; i++)
     {
         // Channel 1 is second entry, so becomes zero
@@ -127,6 +144,7 @@ void ConfigCameraStabilizationWidget::applySettings()
             // If the mixer channel already to something that isn't what we are
             // about to set it to reset to none
             selectors[i]->setCurrentIndex(0);
+            m_camerastabilization->message->setText("One of the channels is already assigned, reverted to none");
         } else {
             // Make sure no other channels have this output set
             for (int j = 0; j < NUM_MIXERS; j++)
@@ -188,7 +206,7 @@ void ConfigCameraStabilizationWidget::refreshValues()
 
     MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
     MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
-    const int NUM_MIXERS = 8;
+    const int NUM_MIXERS = 10;
     QComboBox * selectors[3] = {
         m_camerastabilization->rollChannel,
         m_camerastabilization->pitchChannel,
@@ -206,6 +224,8 @@ void ConfigCameraStabilizationWidget::refreshValues()
         &mixerSettingsData.Mixer6Type,
         &mixerSettingsData.Mixer7Type,
         &mixerSettingsData.Mixer8Type,
+        &mixerSettingsData.Mixer9Type,
+        &mixerSettingsData.Mixer10Type,
     };
 
     for (int i = 0; i < 3; i++)

ground/openpilotgcs/src/plugins/config/configinputwidget.cpp

@@ -464,7 +464,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
     case wizardIdentifyLimits:
     {
         dimOtherControls(false);
-        setTxMovement(moveAll);
+        setTxMovement(nothing);
         m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
         fastMdata();
         manualSettingsData=manualSettingsObj->getData();
@@ -474,6 +474,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
             manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
         }
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
     }
         break;
     case wizardIdentifyInverted:
@@ -570,6 +571,7 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
         break;
     case wizardIdentifyLimits:
         disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
         manualSettingsObj->setData(manualSettingsData);
         restoreMdata();
         break;
@@ -618,224 +620,6 @@ void ConfigInputWidget::restoreMdata()
     manualCommandObj->setMetadata(manualControlMdata);
 }
 
-//void ConfigInputWidget::setupWizardWidget(int step)
-//{
-//    if(step==wizardWelcome)
-//    {
-//        m_config->graphicsView->setVisible(false);
-//        setTxMovement(nothing);
-//        if(wizardStep==wizardChooseMode)
-//        {
-//            delete extraWidgets.at(0);
-//            delete extraWidgets.at(1);
-//            extraWidgets.clear();
-//        }
-//        manualSettingsData=manualSettingsObj->getData();
-//        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
-//        manualSettingsObj->setData(manualSettingsData);
-//        m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
-//                                     "Please follow the instructions on the screen and only move your controls when asked to.\n"
-//                                     "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
-//                                     "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
-//        m_config->stackedWidget->setCurrentIndex(1);
-//        m_config->wzBack->setEnabled(false);
-//        wizardStep=wizardWelcome;
-//    }
-//    else if(step==wizardChooseMode)
-//    {
-//        m_config->graphicsView->setVisible(true);
-//        setTxMovement(nothing);
-//        if(wizardStep==wizardIdentifySticks)
-//        {
-//            disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-//            m_config->wzNext->setEnabled(true);
-//        }
-//        m_config->wzText->setText(tr("Please choose your transmiter type.\n"
-//                                     "Mode 1 means your throttle stick is on the right\n"
-//                                     "Mode 2 means your throttle stick is on the left\n"));
-//        m_config->wzBack->setEnabled(true);
-//        QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
-//        QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
-//        mode2->setChecked(true);
-//        extraWidgets.clear();
-//        extraWidgets.append(mode1);
-//        extraWidgets.append(mode2);
-//        m_config->checkBoxesLayout->layout()->addWidget(mode1);
-//        m_config->checkBoxesLayout->layout()->addWidget(mode2);
-//        wizardStep=wizardChooseMode;
-//    }
-//    else if(step==wizardChooseType)
-//    {
-//        if(wizardStep==wizardChooseMode)
-//        {
-//            QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
-//            if(mode->isChecked())
-//                transmitterMode=mode1;
-//            else
-//                transmitterMode=mode2;
-//            delete extraWidgets.at(0);
-//            delete extraWidgets.at(1);
-//            extraWidgets.clear();
-//        }
-
-//        m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
-//                                     "Acro means normal transmitter\n"
-//                                     "Heli means there is a collective pitch and throttle input\n"));
-//        m_config->wzBack->setEnabled(true);
-//        QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
-//        QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
-//        typeAcro->setChecked(true);
-//        typeHeli->setChecked(false);
-//        extraWidgets.clear();
-//        extraWidgets.append(typeAcro);
-//        extraWidgets.append(typeHeli);
-//        m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
-//        m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
-//        wizardStep=wizardChooseType;
-//    } else if(step==wizardIdentifySticks && !isSimple) {
-//        usedChannels.clear();
-//        if(wizardStep==wizardChooseType)
-//        {
-//            qDebug() << "Chosing type";
-//            QRadioButton * type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
-//            if(type->isChecked())
-//                transmitterType=acro;
-//            else
-//                transmitterType=heli;
-//            qDebug() << "Checked: " << type->isChecked() << " " << "type is" << transmitterType;
-//            delete extraWidgets.at(0);
-//            delete extraWidgets.at(1);
-//            extraWidgets.clear();
-//        }
-//        wizardStep=wizardIdentifySticks;
-//        currentCommand=0;
-//        getChannelFromStep(currentCommand);
-//        manualSettingsData=manualSettingsObj->getData();
-//        connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-//        m_config->wzNext->setEnabled(false);
-//    }
-//    else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks))
-//    {
-//        setTxMovement(centerAll);
-//        if(wizardStep==wizardIdentifySticks)
-//            disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-//        else
-//        {
-//            disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-//            manualSettingsObj->setData(manualSettingsData);
-//            manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
-//        }
-//        wizardStep=wizardIdentifyCenter;
-//        m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
-//    }
-//    else if(step==wizardIdentifyLimits)
-//    {
-//        dimOtherControls(false);
-//        setTxMovement(moveAll);
-//        if(wizardStep==wizardIdentifyCenter)
-//        {
-//            wizardStep=wizardIdentifyLimits;
-//            manualCommandData=manualCommandObj->getData();
-//            manualSettingsData=manualSettingsObj->getData();
-//            for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
-//            {
-//                manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
-//            }
-//            manualSettingsObj->setData(manualSettingsData);
-//        }
-//        if(wizardStep==wizardIdentifyInverted)
-//        {
-//            foreach(QWidget * wd,extraWidgets)
-//            {
-//                QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
-//                if(cb)
-//                {
-//                    disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-//                    delete cb;
-//                }
-//            }
-//        }
-//        extraWidgets.clear();
-//        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-//        wizardStep=wizardIdentifyLimits;
-//        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
-//        UAVObject::Metadata mdata= manualCommandObj->getMetadata();
-//        mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
-//        mdata.flightTelemetryUpdatePeriod = 150;
-//        manualCommandObj->setMetadata(mdata);
-//        manualSettingsData=manualSettingsObj->getData();
-//        for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
-//        {
-//            manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
-//            manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
-//        }
-//        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-//    }
-//    else if(step==wizardIdentifyInverted)
-//    {
-//        dimOtherControls(true);
-//        setTxMovement(nothing);
-//        if(wizardStep==wizardIdentifyLimits)
-//        {
-//            disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-//            manualSettingsObj->setData(manualSettingsData);
-//        }
-//        extraWidgets.clear();
-//        foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
-//        {
-//            if(!name.contains("Access") &&  !name.contains("Flight"))
-//            {
-//                QCheckBox * cb=new QCheckBox(name,this);
-//                extraWidgets.append(cb);
-//                m_config->checkBoxesLayout->layout()->addWidget(cb);
-//                connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-//            }
-//        }
-//        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-//        wizardStep=wizardIdentifyInverted;
-//        m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
-//    }
-//    else if(step==wizardFinish)
-//    {
-//        foreach(QWidget * wd,extraWidgets)
-//        {
-//            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
-//            if(cb)
-//            {
-//                disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-//                delete cb;
-//            }
-//        }
-//        wizardStep=wizardFinish;
-//        extraWidgets.clear();
-//        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
-//                                             "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
-
-//    }
-
-//    else if(step==wizardFinish+1)
-//    {
-//        setTxMovement(nothing);
-//        manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
-//        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-//        manualSettingsData=manualSettingsObj->getData();
-//        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
-//                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
-//                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
-//                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
-//        if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
-//                (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
-//        {
-//            manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
-//                    (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
-//        }
-//        manualSettingsObj->setData(manualSettingsData);
-//        m_config->stackedWidget->setCurrentIndex(0);
-//        wizardStep=wizardWelcome;
-//    }
-
-//}
-
 /**
   * Set the display to indicate which channel the person should move
   */
@@ -849,12 +633,16 @@ void ConfigInputWidget::setChannel(int newChan)
         m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
                                  "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
 
-    if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory"))
+    if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory")) {
         m_config->wzNext->setEnabled(true);
+        m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
+    } else
+        m_config->wzNext->setEnabled(false);
 
     setMoveFromCommand(newChan);
 
     currentChannelNum = newChan;
+    channelDetected = false;
 }
 
 /**
@@ -907,6 +695,8 @@ void ConfigInputWidget::identifyControls()
     receiverActivityData=receiverActivityObj->getData();
     if(receiverActivityData.ActiveChannel==255)
         return;
+    if(channelDetected)
+        return;
     else
     {
         receiverActivityData=receiverActivityObj->getData();
@@ -918,6 +708,7 @@ void ConfigInputWidget::identifyControls()
         lastChannel.number=currentChannel.number;
         if(!usedChannels.contains(lastChannel) && debounce>1)
         {
+            channelDetected = true;
             debounce=0;
             usedChannels.append(lastChannel);
             manualSettingsData=manualSettingsObj->getData();
@@ -932,7 +723,7 @@ void ConfigInputWidget::identifyControls()
     m_config->wzText->clear();
     setTxMovement(nothing);
 
-    QTimer::singleShot(300, this, SLOT(wzNext()));
+    QTimer::singleShot(500, this, SLOT(wzNext()));
 }
 
 void ConfigInputWidget::identifyLimits()
@@ -945,6 +736,7 @@ void ConfigInputWidget::identifyLimits()
         if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
             manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
     }
+    manualSettingsObj->setData(manualSettingsData);
 }
 void ConfigInputWidget::setMoveFromCommand(int command)
 {
@@ -1368,6 +1160,8 @@ void ConfigInputWidget::updateCalibration()
 void ConfigInputWidget::simpleCalibration(bool enable)
 {
     if (enable) {
+        m_config->configurationWizard->setEnabled(false);
+
         QMessageBox msgBox;
         msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
         msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
@@ -1392,6 +1186,8 @@ void ConfigInputWidget::simpleCalibration(bool enable)
 
         connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
     } else {
+        m_config->configurationWizard->setEnabled(true);
+
         manualCommandData = manualCommandObj->getData();
         manualSettingsData = manualSettingsObj->getData();
 

ground/openpilotgcs/src/plugins/config/configinputwidget.h

@@ -81,6 +81,7 @@ private:
         }lastChannel;
         channelsStruct currentChannel;
         QList<channelsStruct> usedChannels;
+        bool channelDetected;
         QEventLoop * loop;
         bool skipflag;
 

ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp

@@ -38,28 +38,32 @@
 #include <QMessageBox>
 #include <QDesktopServices>
 #include <QUrl>
+#include "actuatorcommand.h"
+#include "systemalarms.h"
 
 ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     m_config = new Ui_OutputWidget();
     m_config->setupUi(this);
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-        setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
+    setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
-        addUAVObject("ActuatorSettings");
+    addUAVObject("ActuatorSettings");
 
-	// First of all, put all the channel widgets into lists, so that we can
+    // First of all, put all the channel widgets into lists, so that we can
     // manipulate those:
 
-	// NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8.
+    // NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8.
     outLabels << m_config->ch0OutValue
-            << m_config->ch1OutValue
+              << m_config->ch1OutValue
-            << m_config->ch2OutValue
+              << m_config->ch2OutValue
-            << m_config->ch3OutValue
+              << m_config->ch3OutValue
-            << m_config->ch4OutValue
+              << m_config->ch4OutValue
-            << m_config->ch5OutValue
+              << m_config->ch5OutValue
-            << m_config->ch6OutValue
+              << m_config->ch6OutValue
-            << m_config->ch7OutValue;
+            << m_config->ch7OutValue
+            << m_config->ch8OutValue
+            << m_config->ch9OutValue;
 
     outSliders << m_config->ch0OutSlider
             << m_config->ch1OutSlider
@@ -68,7 +72,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
             << m_config->ch4OutSlider
             << m_config->ch5OutSlider
             << m_config->ch6OutSlider
-            << m_config->ch7OutSlider;
+            << m_config->ch7OutSlider
+            << m_config->ch8OutSlider
+            << m_config->ch9OutSlider;
 
     outMin << m_config->ch0OutMin
             << m_config->ch1OutMin
@@ -77,7 +83,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
             << m_config->ch4OutMin
             << m_config->ch5OutMin
             << m_config->ch6OutMin
-            << m_config->ch7OutMin;
+            << m_config->ch7OutMin
+            << m_config->ch8OutMin
+            << m_config->ch9OutMin;
 
     outMax << m_config->ch0OutMax
             << m_config->ch1OutMax
@@ -86,7 +94,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
             << m_config->ch4OutMax
             << m_config->ch5OutMax
             << m_config->ch6OutMax
-            << m_config->ch7OutMax;
+            << m_config->ch7OutMax
+            << m_config->ch8OutMax
+            << m_config->ch9OutMax;
 
     reversals << m_config->ch0Rev
             << m_config->ch1Rev
@@ -95,7 +105,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
             << m_config->ch4Rev
             << m_config->ch5Rev
             << m_config->ch6Rev
-            << m_config->ch7Rev;
+            << m_config->ch7Rev
+            << m_config->ch8Rev
+            << m_config->ch9Rev;
 
     links << m_config->ch0Link
           << m_config->ch1Link
@@ -104,15 +116,23 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
           << m_config->ch4Link
           << m_config->ch5Link
           << m_config->ch6Link
-          << m_config->ch7Link;
+          << m_config->ch7Link
+          << m_config->ch8Link
+          << m_config->ch9Link;
 
     // Register for ActuatorSettings changes:
-     for (int i = 0; i < 8; i++) {
+     for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
         connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
         connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
         connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool)));
         // Now connect the channel out sliders to our signal to send updates in test mode
         connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
+
+        addWidget(outMin[i]);
+        addWidget(outMax[i]);
+        addWidget(reversals[i]);
+        addWidget(outSliders[i]);
+        addWidget(links[i]);
     }
 
     connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
@@ -134,39 +154,7 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
     addWidget(m_config->outputRate3);
     addWidget(m_config->outputRate2);
     addWidget(m_config->outputRate1);
-    addWidget(m_config->ch0OutMin);
+
-    addWidget(m_config->ch0OutSlider);
-    addWidget(m_config->ch0OutMax);
-    addWidget(m_config->ch0Rev);
-    addWidget(m_config->ch0Link);
-    addWidget(m_config->ch1OutMin);
-    addWidget(m_config->ch1OutSlider);
-    addWidget(m_config->ch1OutMax);
-    addWidget(m_config->ch1Rev);
-    addWidget(m_config->ch2OutMin);
-    addWidget(m_config->ch2OutSlider);
-    addWidget(m_config->ch2OutMax);
-    addWidget(m_config->ch2Rev);
-    addWidget(m_config->ch3OutMin);
-    addWidget(m_config->ch3OutSlider);
-    addWidget(m_config->ch3OutMax);
-    addWidget(m_config->ch3Rev);
-    addWidget(m_config->ch4OutMin);
-    addWidget(m_config->ch4OutSlider);
-    addWidget(m_config->ch4OutMax);
-    addWidget(m_config->ch4Rev);
-    addWidget(m_config->ch5OutMin);
-    addWidget(m_config->ch5OutSlider);
-    addWidget(m_config->ch5OutMax);
-    addWidget(m_config->ch5Rev);
-    addWidget(m_config->ch6OutMin);
-    addWidget(m_config->ch6OutSlider);
-    addWidget(m_config->ch6OutMax);
-    addWidget(m_config->ch6Rev);
-    addWidget(m_config->ch7OutMin);
-    addWidget(m_config->ch7OutSlider);
-    addWidget(m_config->ch7OutMax);
-    addWidget(m_config->ch7Rev);
     addWidget(m_config->spinningArmed);
 }
 
@@ -215,6 +203,22 @@ void ConfigOutputWidget::linkToggled(bool state)
   */
 void ConfigOutputWidget::runChannelTests(bool state)
 {
+    SystemAlarms * systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
+    SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
+
+    if(state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
+        QMessageBox mbox;
+        mbox.setText(QString(tr("The actuator module is in an error state.  This can also occur because there are no inputs.  Please fix these before testing outputs.")));
+        mbox.setStandardButtons(QMessageBox::Ok);
+        mbox.exec();
+
+        // Unfortunately must cache this since callback will reoccur
+        accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
+
+        m_config->channelOutTest->setChecked(false);
+        return;
+    }
+
     // Confirm this is definitely what they want
     if(state) {
         QMessageBox mbox;
@@ -229,11 +233,7 @@ void ConfigOutputWidget::runChannelTests(bool state)
         }
     }
 
-    qDebug() << "Running with state " << state;
+    ActuatorCommand * obj = ActuatorCommand::GetInstance(getObjectManager());
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorCommand")));
     UAVObject::Metadata mdata = obj->getMetadata();
     if (state)
     {
@@ -252,6 +252,9 @@ void ConfigOutputWidget::runChannelTests(bool state)
         foreach (QSpinBox* box, outMax) {
             box->setEnabled(false);
         }
+        foreach (QCheckBox* box, reversals) {
+            box->setEnabled(false);
+        }
 
     }
     else
@@ -263,6 +266,9 @@ void ConfigOutputWidget::runChannelTests(bool state)
         foreach (QSpinBox* box, outMax) {
             box->setEnabled(true);
         }
+        foreach (QCheckBox* box, reversals) {
+            box->setEnabled(true);
+        }
 
     }
     obj->setMetadata(mdata);
@@ -301,6 +307,12 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
     case 7:
         m_config->ch7Output->setText(str);
         break;
+    case 8:
+        m_config->ch8Output->setText(str);
+        break;
+    case 9:
+        m_config->ch9Output->setText(str);
+        break;
     }
 }
 
@@ -384,14 +396,8 @@ void ConfigOutputWidget::refreshWidgetsValues()
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 
     // Reset all channel assignements:
-    m_config->ch0Output->setText("-");
+    for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
-    m_config->ch1Output->setText("-");
+        outLabels[i]->setText("-");
-    m_config->ch2Output->setText("-");
-    m_config->ch3Output->setText("-");
-    m_config->ch4Output->setText("-");
-    m_config->ch5Output->setText("-");
-    m_config->ch6Output->setText("-");
-    m_config->ch7Output->setText("-");
 
     // Get the channel assignements:
     UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
@@ -418,8 +424,8 @@ void ConfigOutputWidget::refreshWidgetsValues()
             // CopterControl family
             m_config->chBank1->setText("1-3");
             m_config->chBank2->setText("4");
-            m_config->chBank3->setText("5");
+            m_config->chBank3->setText("5,7-8");
-            m_config->chBank4->setText("6");
+            m_config->chBank4->setText("6,9-10");
             m_config->outputRate1->setEnabled(true);
             m_config->outputRate2->setEnabled(true);
             m_config->outputRate3->setEnabled(true);
@@ -443,7 +449,7 @@ void ConfigOutputWidget::refreshWidgetsValues()
 
 
     // Get Channel ranges:
-    for (int i=0;i<8;i++) {
+    for (int i=0;i<ActuatorCommand::CHANNEL_NUMELEM;i++) {
         field = obj->getField(QString("ChannelMin"));
         int minValue = field->getValue(i).toInt();
         outMin[i]->setValue(minValue);
@@ -462,7 +468,7 @@ void ConfigOutputWidget::refreshWidgetsValues()
     }
 
     field = obj->getField(QString("ChannelNeutral"));
-    for (int i=0; i<8; i++) {
+    for (int i=0; i<ActuatorCommand::CHANNEL_NUMELEM; i++) {
         int value = field->getValue(i).toInt();
         outSliders[i]->setValue(value);
         outLabels[i]->setText(QString::number(value));
@@ -483,17 +489,17 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
 
     // Now send channel ranges:
     UAVObjectField * field = obj->getField(QString("ChannelMax"));
-    for (int i = 0; i < 8; i++) {
+    for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
         field->setValue(outMax[i]->value(),i);
     }
 
     field = obj->getField(QString("ChannelMin"));
-    for (int i = 0; i < 8; i++) {
+    for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
         field->setValue(outMin[i]->value(),i);
     }
 
     field = obj->getField(QString("ChannelNeutral"));
-    for (int i = 0; i < 8; i++) {
+    for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
         field->setValue(outSliders[i]->value(),i);
     }
 

ground/openpilotgcs/src/plugins/config/inputchannelform.cpp

@@ -85,8 +85,8 @@ void inputChannelForm::groupUpdated()
         count = 8; // Need to make this 6 for CC
         break;
     case ManualControlSettings::CHANNELGROUPS_PPM:
-    case ManualControlSettings::CHANNELGROUPS_SPEKTRUM1:
+    case ManualControlSettings::CHANNELGROUPS_DSMMAINPORT:
-    case ManualControlSettings::CHANNELGROUPS_SPEKTRUM2:
+    case ManualControlSettings::CHANNELGROUPS_DSMFLEXIPORT:
         count = 12;
         break;
     case ManualControlSettings::CHANNELGROUPS_SBUS:

ground/openpilotgcs/src/plugins/config/output.ui

@@ -970,6 +970,172 @@ p, li { white-space: pre-wrap; }
        </property>
       </widget>
      </item>
+     <item row="9" column="0">
+      <widget class="QLabel" name="actuator8Label">
+       <property name="text">
+        <string>Channel 9:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="0">
+      <widget class="QLabel" name="actuator9Label">
+       <property name="text">
+        <string>Channel 10:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="9" column="1">
+      <widget class="QLabel" name="ch8Output">
+       <property name="font">
+        <font>
+         <pointsize>9</pointsize>
+        </font>
+       </property>
+       <property name="text">
+        <string>-</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="1">
+      <widget class="QLabel" name="ch9Output">
+       <property name="font">
+        <font>
+         <pointsize>9</pointsize>
+        </font>
+       </property>
+       <property name="text">
+        <string>-</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="9" column="2">
+      <widget class="QSpinBox" name="ch8OutMin">
+       <property name="maximum">
+        <number>9999</number>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="2">
+      <widget class="QSpinBox" name="ch9OutMin">
+       <property name="maximum">
+        <number>9999</number>
+       </property>
+      </widget>
+     </item>
+     <item row="9" column="3">
+      <widget class="QSlider" name="ch8OutSlider">
+       <property name="maximum">
+        <number>9999</number>
+       </property>
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="3">
+      <widget class="QSlider" name="ch9OutSlider">
+       <property name="maximum">
+        <number>9999</number>
+       </property>
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+      </widget>
+     </item>
+     <item row="9" column="4">
+      <widget class="QSpinBox" name="ch8OutMax">
+       <property name="maximum">
+        <number>9999</number>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="4">
+      <widget class="QSpinBox" name="ch9OutMax">
+       <property name="maximum">
+        <number>9999</number>
+       </property>
+      </widget>
+     </item>
+     <item row="9" column="5">
+      <widget class="QLabel" name="ch8OutValue">
+       <property name="text">
+        <string>0000</string>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="5">
+      <widget class="QLabel" name="ch9OutValue">
+       <property name="text">
+        <string>0000</string>
+       </property>
+      </widget>
+     </item>
+     <item row="9" column="6">
+      <widget class="QCheckBox" name="ch8Rev">
+       <property name="font">
+        <font>
+         <family>FreeSans</family>
+         <pointsize>8</pointsize>
+        </font>
+       </property>
+       <property name="toolTip">
+        <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="6">
+      <widget class="QCheckBox" name="ch9Rev">
+       <property name="font">
+        <font>
+         <family>FreeSans</family>
+         <pointsize>8</pointsize>
+        </font>
+       </property>
+       <property name="toolTip">
+        <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item row="9" column="7">
+      <widget class="QCheckBox" name="ch8Link">
+       <property name="toolTip">
+        <string>Only used with Test Output mode</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="7">
+      <widget class="QCheckBox" name="ch9Link">
+       <property name="toolTip">
+        <string>Only used with Test Output mode</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
    <item>

ground/openpilotgcs/src/plugins/debuggadget/debuggadget.pro

@@ -2,7 +2,7 @@ TEMPLATE = lib
 TARGET = DebugGadget
 
 include(../../openpilotgcsplugin.pri)
-include(../../plugins/coreplugin/coreplugin.pri) 
+include(../../plugins/coreplugin/coreplugin.pri)
 include(../../libs/libqxt/core/logengines.pri)
 HEADERS += debugplugin.h \
     debugengine.h

ground/openpilotgcs/src/plugins/plugins.pro

@@ -19,10 +19,9 @@ plugin_emptygadget.subdir = emptygadget
 plugin_emptygadget.depends = plugin_coreplugin
 SUBDIRS += plugin_emptygadget
 
-# UAV Settings Import/Export plugin
+# Debug Gadget plugin
 plugin_debuggadget.subdir = debuggadget
-#plugin_debughelper.depends = plugin_coreplugin
+plugin_debuggadget.depends = plugin_coreplugin
-#plugin_debughelper.depends += plugin_uavobjects
 SUBDIRS += plugin_debuggadget
 
 # Welcome plugin

ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m

@@ -1,58 +1,65 @@
 function [] = OPLogConvert()
-    %% Define indices and arrays of structures to hold data
+%% Define indices and arrays of structures to hold data
+% THIS FILE IS AUTOMATICALLY GENERATED.
 $(ALLOCATIONCODE)
-   
+
-    %% Open file
+%% Open log file
-    %fid = fopen('log.opl');
+% [FileName,PathName,FilterIndex] = uigetfile('*.opl');
-    [FileName,PathName,FilterIndex] = uigetfile('*.opl');
+
-    logfile = strcat(PathName,FileName);
+FileName='OP-2011-10-22_22-27-09.opl';
-    fid = fopen(logfile);
+PathName='/Users/kenz/Movies/brisk_videos/rover_test_1/';
-    
+FilterIndex=1;
-    while (1)
+
-        %% Read logging header        
+
-        timestamp = fread(fid, 1, 'uint32');
+logfile = fullfile(PathName,FileName);
-        if (feof(fid)); break; end
+fid = fopen(logfile);
-        datasize = fread(fid, 1, 'int64');
+
-          
+% Parse log file, entry by entry
-        
+while (1)
-        %% Read message header        
+	%% Read logging header
-        % get sync field (0x3C, 1 byte)
+	timestamp = fread(fid, 1, 'uint32');
-        sync = fread(fid, 1, 'uint8');
+	if (feof(fid)); break; end
-        if sync ~= hex2dec('3C')
+	datasize = fread(fid, 1, 'int64');
-            disp ('Wrong sync byte');
+	
-            return
+	
-        end        
+	%% Read message header
-        % get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
+	% get sync field (0x3C, 1 byte)
-        msgType = fread(fid, 1, 'uint8');
+	sync = fread(fid, 1, 'uint8');
-        if msgType ~= hex2dec('20')
+	if sync ~= hex2dec('3C')
-            disp ('Wrong msgType');
+		disp ('Wrong sync byte');
-            return
+		return
-        end        
+	end
-        % get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
+	% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
-        msgSize = fread(fid, 1, 'uint16');        
+	msgType = fread(fid, 1, 'uint8');
-        % get obj id (quint32 4 bytes)
+	if msgType ~= hex2dec('20')
-        objID = fread(fid, 1, 'uint32');        
+		disp ('Wrong msgType');
-        
+		return
-        
+	end
-        %% Read object
+	% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
-        switch objID
+	msgSize = fread(fid, 1, 'uint16');
-$(SWITCHCODE)                
+	% get obj id (quint32 4 bytes)
-            otherwise
+	objID = fread(fid, 1, 'uint32');
-                disp('Unknown object ID');
+	
-                msgBytesLeft = datasize - 1 - 1 - 2 - 4;
+	
-                fread(fid, msgBytesLeft, 'uint8');
+	%% Read object
-        end
+	switch objID
-        
+$(SWITCHCODE)
-    end
+		otherwise
-    
+			disp(['Unknown object ID: 0x' dec2hex(objID)]);
-    %% Clean Up and Save mat file
+			msgBytesLeft = datasize - 1 - 1 - 2 - 4;
-    fclose(fid);
+			fread(fid, msgBytesLeft, 'uint8');
-    
+	end
-    matfile = strrep(logfile,'opl','mat');
+	
-    save(matfile $(SAVEOBJECTSCODE));
-    
 end
 
+%% Clean Up and Save mat file
+fclose(fid);
+
+matfile = strrep(logfile,'opl','mat');
+save(matfile $(SAVEOBJECTSCODE));
+
+
+
 
 %% Object reading functions
 $(FUNCTIONSCODE)

ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp

@@ -282,9 +282,15 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
 
                 // Determine data length
                 if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK || rxType == TYPE_NACK)
+                {
                     rxLength = 0;
+                    rxInstanceLength = 0;
+                }
                 else
+                {
                     rxLength = rxObj->getNumBytes();
+                    rxInstanceLength = (rxObj->isSingleInstance() ? 0 : 2);
+                }
 
                 // Check length and determine next state
                 if (rxLength >= MAX_PAYLOAD_LENGTH)
@@ -295,7 +301,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
                 }
 
                 // Check the lengths match
-                if ((rxPacketLength + rxLength + (rxObj->isSingleInstance() ? 0 : 2)) != packetSize)
+                if ((rxPacketLength + rxInstanceLength + rxLength) != packetSize)
                 {   // packet error - mismatched packet size
                     stats.rxErrors++;
                     rxState = STATE_SYNC;

ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h

@@ -107,6 +107,7 @@ private:
     quint16 rxInstId;
     quint16 rxLength;
     quint16 rxPacketLength;
+    quint8 rxInstanceLength;
 
     quint8 rxCSPacket, rxCS;
     qint32 rxCount;

ground/uavobjgenerator/generators/generator_common.h

@@ -31,7 +31,7 @@
 #include "generator_io.h"
 
 // These special chars (regexp) will be removed from C/java identifiers
-#define ENUM_SPECIAL_CHARS "[\\.\\-\\s/]"
+#define ENUM_SPECIAL_CHARS "[\\.\\-\\s\\+/\\(\\)]"
 
 void replaceCommonTags(QString& out, ObjectInfo* info);
 void replaceCommonTags(QString& out);

ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp

@@ -50,7 +50,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
     }
 
     matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
-    matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwithCode);
+    matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
     matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
     matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
 
@@ -71,6 +71,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
     if (info == NULL)
         return false;
 
+	//Declare variables
     QString objectName(info->name);
     // QString objectTableName(objectName + "Objects");
     QString objectTableName(objectName);
@@ -80,39 +81,71 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
     QString objectID(QString().setNum(info->id));
     QString isSingleInst = boolTo01String( info->isSingleInst );
 
-    // Generate allocation code (will replace the $(ALLOCATIONCODE) tag)
+	
-    matlabAllocationCode.append("\n    " + tableIdxName + " = 1;\n");
+	//===================================================================//
-    matlabAllocationCode.append("    " + objectTableName + ".timestamp = 0;\n");
+    // Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
-    QString type;
+	//===================================================================//
-    QString allocfields;
+	//    matlabSwitchCode.append("\t\tcase " + objectID + "\n");
-    for (int n = 0; n < info->fields.length(); ++n) {
+    matlabAllocationCode.append("\n\t" + tableIdxName + " = 1;\n");
-        // Determine type
+	QString type;
-        type = fieldTypeStrMatlab[info->fields[n]->type];
+	QString allocfields;
-        // Append field
+	if (0){
-        if ( info->fields[n]->numElements > 1 )
+		matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\n");
-            allocfields.append("    " + objectTableName + "(1)." + info->fields[n]->name + " = zeros(1," + QString::number(info->fields[n]->numElements, 10) + ");\n");
+		for (int n = 0; n < info->fields.length(); ++n) {
-        else
+			// Determine type
-            allocfields.append("    " + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
+			type = fieldTypeStrMatlab[info->fields[n]->type];
-    }
+			// Append field
+			if ( info->fields[n]->numElements > 1 )
+				allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(1," + QString::number(info->fields[n]->numElements, 10) + ");\n");
+			else
+				allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
+		}
+	}
+	else{
+		matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
+		for (int n = 0; n < info->fields.length(); ++n) {
+			// Determine type
+			type = fieldTypeStrMatlab[info->fields[n]->type];
+			// Append field
+			if ( info->fields[n]->numElements > 1 )
+				allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(1," + QString::number(info->fields[n]->numElements, 10) + ")");
+			else
+				allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
+		}
+		allocfields.append(");\n");
+	}
     matlabAllocationCode.append(allocfields);
+	matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
 
-    // Generate 'swith:' code (will replace the $(SWITCHCODE) tag)
-    matlabSwithCode.append("            case " + objectID + "\n");
-    matlabSwithCode.append("                " + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
-    matlabSwithCode.append("                " + tableIdxName + " = " + tableIdxName +" + 1;\n");
 
-    // Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag)
+	//=============================================================//
+    // Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
+	//=============================================================//
+    matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
+    matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
+    matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
+
+	
+	//=============================================================================//
+    // Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag) //
+	//=============================================================================//
     matlabSaveObjectsCode.append(",'"+objectTableName+"'");
 
-    // Generate functions code (will replace the $(FUNCTIONSCODE) tag)
+    matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
+
+	
+	//=================================================================//
+    // Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
+	//=================================================================//
+	//Generate function description comment
     matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + "\n");
-    matlabFunctionsCode.append("    if " + isSingleInst + "\n");
+    matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
-    matlabFunctionsCode.append("        headerSize = 8;\n");
+    matlabFunctionsCode.append("\t\theaderSize = 8;\n");
-    matlabFunctionsCode.append("    else\n");
+    matlabFunctionsCode.append("\telse\n");
-    matlabFunctionsCode.append("        " + objectName + ".instanceID = fread(fid, 1, 'uint16');\n");
+    matlabFunctionsCode.append("\t\t" + objectName + ".instanceID = fread(fid, 1, 'uint16');\n");
-    matlabFunctionsCode.append("        headerSize = 10;\n");
+    matlabFunctionsCode.append("\t\theaderSize = 10;\n");
-    matlabFunctionsCode.append("    end\n\n");
+    matlabFunctionsCode.append("\tend\n\n");
-    matlabFunctionsCode.append("    " + objectName + ".timestamp = timestamp;\n");
+    matlabFunctionsCode.append("\t" + objectName + ".timestamp = timestamp;\n");
 
     // Generate functions code, actual fields of the object
     QString funcfields;
@@ -122,16 +155,16 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
         type = fieldTypeStrMatlab[info->fields[n]->type];
         // Append field
         if ( info->fields[n]->numElements > 1 )
-            funcfields.append("    " + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
+            funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
         else
-            funcfields.append("    " + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n");
+            funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n");
     }
     matlabFunctionsCode.append(funcfields);
 
-    matlabFunctionsCode.append("    % read CRC\n");
+    matlabFunctionsCode.append("\t% read CRC\n");
-    matlabFunctionsCode.append("    fread(fid, 1, 'uint8');\n");
+    matlabFunctionsCode.append("\tfread(fid, 1, 'uint8');\n");
 
-    matlabFunctionsCode.append("end\n\n");
+    matlabFunctionsCode.append("\n\n");
 
     return true;
 }

ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h

@@ -37,7 +37,7 @@ public:
 private:
     bool process_object(ObjectInfo* info);
     QString matlabAllocationCode;
-    QString matlabSwithCode;
+    QString matlabSwitchCode;
     QString matlabSaveObjectsCode;
     QString matlabFunctionsCode;
     QStringList fieldTypeStrMatlab;

shared/uavobjectdefinition/actuatorcommand.xml

@@ -1,7 +1,7 @@
 <xml>
     <object name="ActuatorCommand" singleinstance="true" settings="false">
         <description>Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule</description>
-        <field name="Channel" units="us" type="int16" elements="8"/>
+        <field name="Channel" units="us" type="int16" elements="10"/>
         <field name="UpdateTime" units="ms" type="uint8" elements="1"/>
         <field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/>
         <field name="NumFailedUpdates" units="" type="uint8" elements="1"/>

shared/uavobjectdefinition/actuatorsettings.xml

@@ -1,27 +1,27 @@
 <xml>
     <object name="ActuatorSettings" singleinstance="true" settings="true">
         <description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
-        <field name="FixedWingRoll1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="FixedWingRoll1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="FixedWingRoll2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="FixedWingRoll2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="FixedWingPitch1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="FixedWingPitch1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="FixedWingPitch2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="FixedWingPitch2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="FixedWingYaw1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="FixedWingYaw1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="FixedWingYaw2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="FixedWingYaw2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="FixedWingThrottle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="FixedWingThrottle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="VTOLMotorN" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="VTOLMotorN" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="VTOLMotorNE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="VTOLMotorNE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="VTOLMotorE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="VTOLMotorE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="VTOLMotorSE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="VTOLMotorSE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="VTOLMotorS" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="VTOLMotorS" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="VTOLMotorSW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="VTOLMotorSW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="VTOLMotorW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="VTOLMotorW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
-        <field name="VTOLMotorNW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="VTOLMotorNW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
         <field name="ChannelUpdateFreq" units="Hz" type="uint16" elements="4" defaultvalue="50"/>
-        <field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="1000"/>
+        <field name="ChannelMax" units="us" type="int16" elements="10" defaultvalue="1000"/>
-        <field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1000"/>
+        <field name="ChannelNeutral" units="us" type="int16" elements="10" defaultvalue="1000"/>
-        <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>
+        <field name="ChannelMin" units="us" type="int16" elements="10" defaultvalue="1000"/>
-        <field name="ChannelType" units="" type="enum" elements="8" options="PWM,MK,ASTEC4,PWM Alarm Buzzer" defaultvalue="PWM"/>
+        <field name="ChannelType" units="" type="enum" elements="10" options="PWM,MK,ASTEC4,PWM Alarm Buzzer" defaultvalue="PWM"/>
-        <field name="ChannelAddr" units="" type="uint8" elements="8" defaultvalue="0,1,2,3,4,5,6,7"/>
+        <field name="ChannelAddr" units="" type="uint8" elements="10" defaultvalue="0,1,2,3,4,5,6,7,8,9"/>
         <field name="MotorsSpinWhileArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/hwsettings.xml

@@ -1,13 +1,13 @@
 <xml>
 	<object name="HwSettings" singleinstance="true" settings="true">
 		<description>Selection of optional hardware configurations.</description>
-		<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum1,Spektrum2,ComAux,I2C" defaultvalue="Disabled"/>
+		<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Servo,Servo" defaultvalue="PWM"/>
-		<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum1,Spektrum2,ComAux" defaultvalue="Telemetry"/>
+		<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM2,DSMX (10bit),DSMX (11bit),ComAux" defaultvalue="Disabled"/>
-		<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM" defaultvalue="PWM"/>
+		<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),ComAux" defaultvalue="Disabled"/>
 
-		<field name="OP_FlexiPort" units="function" type="enum" elements="1" options="Disabled,GPS" defaultvalue="GPS"/>
+		<field name="OP_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,DSM2,DSMX (10bit),DSMX (11bit),Debug" defaultvalue="PWM"/>
 		<field name="OP_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Telemetry"/>
-		<field name="OP_RcvrPort" units="function" type="enum" elements="1" options="Disabled,Debug,Spektrum1,PWM,PPM" defaultvalue="PWM"/>
+		<field name="OP_FlexiPort" units="function" type="enum" elements="1" options="Disabled,GPS" defaultvalue="GPS"/>
 
 		<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" defaultvalue="57600"/>

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -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"
-	       options="PWM,PPM,Spektrum1,Spektrum2,S.Bus,GCS,None" defaultvalue="None"/>
+	       options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,GCS,None" defaultvalue="None"/>
 	<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
 	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
 	<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"

shared/uavobjectdefinition/mixersettings.xml

@@ -24,6 +24,10 @@
         <field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
         <field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+        <field name="Mixer9Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+        <field name="Mixer9Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+        <field name="Mixer10Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+        <field name="Mixer10Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/receiveractivity.xml

@@ -2,7 +2,7 @@
     <object name="ReceiverActivity" singleinstance="true" settings="false">
         <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,Spektrum1,Spektrum2,SBus,GCS,None"
+	       options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,GCS,None"
 	       defaultvalue="None"/>
 	<field name="ActiveChannel" units="channel" type="uint8" elements="1"
 	       defaultvalue="255"/>