diff --git a/flight/targets/boards/sparky2/board_hw_defs.c b/flight/targets/boards/sparky2/board_hw_defs.c index 4d883cb70..830e5360c 100644 --- a/flight/targets/boards/sparky2/board_hw_defs.c +++ b/flight/targets/boards/sparky2/board_hw_defs.c @@ -839,6 +839,37 @@ static const struct pios_usart_cfg pios_usart_hott_flexi_cfg = { }, }; +static const struct pios_usart_cfg pios_usart_hott_rcvr_cfg = { + .regs = USART6, + .remap = GPIO_AF_USART6, + .init = { + .USART_BaudRate = 115200, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART6_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, +}; + #endif /* PIOS_INCLUDE_HOTT */ #if defined(PIOS_INCLUDE_EXBUS) @@ -888,6 +919,37 @@ static const struct pios_usart_cfg pios_usart_exbus_flexi_cfg = { }, }; +static const struct pios_usart_cfg pios_usart_exbus_rcvr_cfg = { + .regs = USART6, + .remap = GPIO_AF_USART6, + .init = { + .USART_BaudRate = 125000, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART6_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, +}; + #endif /* PIOS_INCLUDE_EXBUS */ /* diff --git a/flight/targets/boards/sparky2/firmware/pios_board.c b/flight/targets/boards/sparky2/firmware/pios_board.c index eae72288d..6baa2499f 100644 --- a/flight/targets/boards/sparky2/firmware/pios_board.c +++ b/flight/targets/boards/sparky2/firmware/pios_board.c @@ -323,6 +323,47 @@ static void PIOS_Board_configure_srxl(const struct pios_usart_cfg *usart_cfg) pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id; } + +static void PIOS_Board_configure_exbus(const struct pios_usart_cfg *usart_cfg) +{ + uint32_t pios_usart_exbus_id; + + if (PIOS_USART_Init(&pios_usart_exbus_id, usart_cfg)) { + PIOS_Assert(0); + } + + uint32_t pios_exbus_id; + if (PIOS_EXBUS_Init(&pios_exbus_id, &pios_usart_com_driver, pios_usart_exbus_id)) { + PIOS_Assert(0); + } + + uint32_t pios_exbus_rcvr_id; + if (PIOS_RCVR_Init(&pios_exbus_rcvr_id, &pios_exbus_rcvr_driver, pios_exbus_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_EXBUS] = pios_exbus_rcvr_id; +} + +static void PIOS_Board_configure_hott(const struct pios_usart_cfg *usart_cfg, enum pios_hott_proto proto) +{ + uint32_t pios_usart_hott_id; + + if (PIOS_USART_Init(&pios_usart_hott_id, usart_cfg)) { + PIOS_Assert(0); + } + + uint32_t pios_hott_id; + if (PIOS_HOTT_Init(&pios_hott_id, &pios_usart_com_driver, pios_usart_hott_id, proto)) { + PIOS_Assert(0); + } + + uint32_t pios_hott_rcvr_id; + if (PIOS_RCVR_Init(&pios_hott_rcvr_id, &pios_hott_rcvr_driver, pios_hott_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTT] = pios_hott_rcvr_id; +} + static void PIOS_Board_PPM_callback(const int16_t *channels) { uint8_t max_chan = (RFM22B_PPM_NUM_CHANNELS < OPLINKRECEIVER_CHANNEL_NUMELEM) ? RFM22B_PPM_NUM_CHANNELS : OPLINKRECEIVER_CHANNEL_NUMELEM; @@ -538,46 +579,14 @@ void PIOS_Board_Init(void) case HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD: case HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMH: #if defined(PIOS_INCLUDE_HOTT) - { - uint32_t pios_usart_hott_id; - if (PIOS_USART_Init(&pios_usart_hott_id, &pios_usart_hott_flexi_cfg)) { - PIOS_Assert(0); - } - - uint32_t pios_hott_id; - if (PIOS_HOTT_Init(&pios_hott_id, &pios_usart_com_driver, pios_usart_hott_id, - hwsettings_flexiport == HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD ? PIOS_HOTT_PROTO_SUMD : PIOS_HOTT_PROTO_SUMH)) { - PIOS_Assert(0); - } - - uint32_t pios_hott_rcvr_id; - if (PIOS_RCVR_Init(&pios_hott_rcvr_id, &pios_hott_rcvr_driver, pios_hott_id)) { - PIOS_Assert(0); - } - pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTT] = pios_hott_rcvr_id; - } + PIOS_Board_configure_hott(&pios_usart_hott_flexi_cfg, + hwsettings_flexiport == HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD ? PIOS_HOTT_PROTO_SUMD : PIOS_HOTT_PROTO_SUMH); #endif /* PIOS_INCLUDE_HOTT */ break; case HWSETTINGS_SPK2_FLEXIPORT_EXBUS: #if defined(PIOS_INCLUDE_EXBUS) - { - uint32_t pios_usart_exbus_id; - if (PIOS_USART_Init(&pios_usart_exbus_id, &pios_usart_exbus_flexi_cfg)) { - PIOS_Assert(0); - } - - uint32_t pios_exbus_id; - if (PIOS_EXBUS_Init(&pios_exbus_id, &pios_usart_com_driver, pios_usart_exbus_id)) { - PIOS_Assert(0); - } - - uint32_t pios_exbus_rcvr_id; - if (PIOS_RCVR_Init(&pios_exbus_rcvr_id, &pios_exbus_rcvr_driver, pios_exbus_id)) { - PIOS_Assert(0); - } - pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_EXBUS] = pios_exbus_rcvr_id; - } + PIOS_Board_configure_exbus(&pios_usart_exbus_flexi_cfg); #endif /* PIOS_INCLUDE_EXBUS */ break; } /* hwsettings_rm_flexiport */ @@ -920,6 +929,19 @@ void PIOS_Board_Init(void) PIOS_Board_configure_srxl(&pios_usart_srxl_rcvr_cfg); #endif /* PIOS_INCLUDE_SRXL */ break; + case HWSETTINGS_SPK2_RCVRPORT_HOTTSUMD: + case HWSETTINGS_SPK2_RCVRPORT_HOTTSUMH: +#if defined(PIOS_INCLUDE_HOTT) + PIOS_Board_configure_hott(&pios_usart_hott_rcvr_cfg, + hwsettings_flexiport == HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD ? PIOS_HOTT_PROTO_SUMD : PIOS_HOTT_PROTO_SUMH); +#endif /* PIOS_INCLUDE_HOTT */ + break; + + case HWSETTINGS_SPK2_RCVRPORT_EXBUS: +#if defined(PIOS_INCLUDE_EXBUS) + PIOS_Board_configure_exbus(&pios_usart_exbus_rcvr_cfg); +#endif /* PIOS_INCLUDE_EXBUS */ + break; case HWSETTINGS_SPK2_RCVRPORT_DSM: // TODO: Define the various Channelgroup for Sparky2 dsm inputs and handle here PIOS_Board_configure_dsm(&pios_usart_dsm_rcvr_cfg, &pios_dsm_rcvr_cfg, diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index f2cc5eb22..552611c1a 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -17,7 +17,7 @@ - +