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Merge branch 'master' of ssh://git.openpilot.org/OpenPilot

Browse Source
This commit is contained in:
James Cotton 2011-07-18 10:41:51 -05:00
commit eaf08ba6d3
14 changed files with 157 additions and 124 deletions
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78
flight/CopterControl/System/pios_board.c
View File

@ -865,7 +865,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
#if defined(PIOS_INCLUDE_RCVR) #if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h" #include "pios_rcvr_priv.h"
uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS]; struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel; uint32_t pios_rcvr_max_channel;
#endif /* PIOS_INCLUDE_RCVR */ #endif /* PIOS_INCLUDE_RCVR */
@ -1040,28 +1040,32 @@ void PIOS_Board_Init(void) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM: case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM) #if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init(); PIOS_PWM_Init();
for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { uint32_t pios_pwm_rcvr_id;
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
&pios_pwm_rcvr_driver, PIOS_Assert(0);
i)) { }
pios_rcvr_max_channel++; for (uint8_t i = 0;
} else { i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
PIOS_Assert(0); i++) {
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
} }
#endif /* PIOS_INCLUDE_PWM */ #endif /* PIOS_INCLUDE_PWM */
break; break;
case MANUALCONTROLSETTINGS_INPUTMODE_PPM: case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
#if defined(PIOS_INCLUDE_PPM) #if defined(PIOS_INCLUDE_PPM)
PIOS_PPM_Init(); PIOS_PPM_Init();
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { uint32_t pios_ppm_rcvr_id;
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
&pios_ppm_rcvr_driver, PIOS_Assert(0);
i)) { }
pios_rcvr_max_channel++; for (uint8_t i = 0;
} else { i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
PIOS_Assert(0); i++) {
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
} }
#endif /* PIOS_INCLUDE_PPM */ #endif /* PIOS_INCLUDE_PPM */
break; break;
@ -1069,30 +1073,34 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_SPEKTRUM) #if defined(PIOS_INCLUDE_SPEKTRUM)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM || if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) { hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { uint32_t pios_spektrum_rcvr_id;
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
&pios_spektrum_rcvr_driver, PIOS_Assert(0);
i)) { }
pios_rcvr_max_channel++; for (uint8_t i = 0;
} else { i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
PIOS_Assert(0); i++) {
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
} }
#endif /* PIOS_INCLUDE_SPEKTRUM */ #endif /* PIOS_INCLUDE_SPEKTRUM */
break; break;
case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
#if defined(PIOS_INCLUDE_SBUS) #if defined(PIOS_INCLUDE_SBUS)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) { if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS && i < PIOS_RCVR_MAX_DEVS; i++) { uint32_t pios_sbus_rcvr_id;
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
&pios_sbus_rcvr_driver, PIOS_Assert(0);
i)) { }
pios_rcvr_max_channel++; for (uint8_t i = 0;
} else { i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
PIOS_Assert(0); i++) {
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
} }
#endif /* PIOS_INCLUDE_SBUS */ #endif /* PIOS_INCLUDE_SBUS */
break; break;

5
flight/Modules/ManualControl/manualcontrol.c
View File

@ -166,8 +166,9 @@ static void manualControlTask(void *parameters)
// Read channel values in us // Read channel values in us
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) { for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
if (pios_rcvr_channel_to_id_map[n]) { if (pios_rcvr_channel_to_id_map[n].id) {
cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n]); cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id,
pios_rcvr_channel_to_id_map[n].channel);
} else { } else {
cmd.Channel[n] = -1; cmd.Channel[n] = -1;
} }

70
flight/OpenPilot/System/pios_board.c
View File

@ -975,7 +975,7 @@ static const struct stm32_gpio pios_debug_pins[] = {
#if defined(PIOS_INCLUDE_RCVR) #if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h" #include "pios_rcvr_priv.h"
uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS]; struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel; uint32_t pios_rcvr_max_channel;
#endif /* PIOS_INCLUDE_RCVR */ #endif /* PIOS_INCLUDE_RCVR */
@ -1077,41 +1077,45 @@ void PIOS_Board_Init(void) {
switch (manualcontrolsettings_inputmode) { switch (manualcontrolsettings_inputmode) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM: case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM) #if defined(PIOS_INCLUDE_PWM)
#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) #if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices #error More receiver inputs than available devices
#endif #endif
PIOS_PWM_Init(); PIOS_PWM_Init();
for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { uint32_t pios_pwm_rcvr_id;
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
&pios_pwm_rcvr_driver, PIOS_Assert(0);
i)) { }
pios_rcvr_max_channel++; for (uint8_t i = 0;
} else { i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
PIOS_Assert(0); i++) {
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PWM */ #endif /* PIOS_INCLUDE_PWM */
break; break;
case MANUALCONTROLSETTINGS_INPUTMODE_PPM: case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
#if defined(PIOS_INCLUDE_PPM) #if defined(PIOS_INCLUDE_PPM)
#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) #if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices #error More receiver inputs than available devices
#endif #endif
PIOS_PPM_Init(); PIOS_PPM_Init();
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { uint32_t pios_ppm_rcvr_id;
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
&pios_ppm_rcvr_driver, PIOS_Assert(0);
i)) { }
pios_rcvr_max_channel++; for (uint8_t i = 0;
} else { i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
PIOS_Assert(0); i++) {
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PPM */ #endif /* PIOS_INCLUDE_PPM */
break; break;
case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM: case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM) #if defined(PIOS_INCLUDE_SPEKTRUM)
#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) #if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices #error More receiver inputs than available devices
#endif #endif
/* SPEKTRUM init must come before comms */ /* SPEKTRUM init must come before comms */
@ -1121,14 +1125,16 @@ void PIOS_Board_Init(void) {
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_Assert(0); PIOS_Assert(0);
} }
for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { uint32_t pios_spektrum_rcvr_id;
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
&pios_spektrum_rcvr_driver, PIOS_Assert(0);
i)) { }
pios_rcvr_max_channel++; for (uint8_t i = 0;
} else { i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
PIOS_Assert(0); i++) {
} pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
} }
#endif #endif
break; break;

3
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -225,7 +225,8 @@ extern uint32_t pios_com_sbus_id;
// PIOS_RCVR // PIOS_RCVR
// See also pios_board.c // See also pios_board.c
//------------------------ //------------------------
#define PIOS_RCVR_MAX_DEVS 12 #define PIOS_RCVR_MAX_DEVS 1
#define PIOS_RCVR_MAX_CHANNELS 12
//------------------------- //-------------------------
// Receiver PPM input // Receiver PPM input

3
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -198,7 +198,8 @@ extern uint32_t pios_com_sbus_id;
// PIOS_RCVR // PIOS_RCVR
// See also pios_board.c // See also pios_board.c
//------------------------ //------------------------
#define PIOS_RCVR_MAX_DEVS 12 #define PIOS_RCVR_MAX_DEVS 1
#define PIOS_RCVR_MAX_CHANNELS 12
//------------------------- //-------------------------
// Receiver PPM input // Receiver PPM input

18
flight/PiOS/Common/pios_rcvr.c
View File

@ -5,6 +5,16 @@
#include <pios_rcvr_priv.h> #include <pios_rcvr_priv.h>
enum pios_rcvr_dev_magic {
PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
};
struct pios_rcvr_dev {
enum pios_rcvr_dev_magic magic;
uint32_t lower_id;
const struct pios_rcvr_driver * driver;
};
static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev) static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
{ {
return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC); return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
@ -56,8 +66,8 @@ int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * drive
rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc(); rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
if (!rcvr_dev) goto out_fail; if (!rcvr_dev) goto out_fail;
rcvr_dev->driver = driver; rcvr_dev->driver = driver;
rcvr_dev->id = lower_id; rcvr_dev->lower_id = lower_id;
*rcvr_id = (uint32_t)rcvr_dev; *rcvr_id = (uint32_t)rcvr_dev;
return(0); return(0);
@ -66,7 +76,7 @@ out_fail:
return(-1); return(-1);
} }
int32_t PIOS_RCVR_Read(uint32_t rcvr_id) int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{ {
struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id; struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
@ -77,7 +87,7 @@ int32_t PIOS_RCVR_Read(uint32_t rcvr_id)
PIOS_DEBUG_Assert(rcvr_dev->driver->read); PIOS_DEBUG_Assert(rcvr_dev->driver->read);
return rcvr_dev->driver->read(rcvr_dev->id); return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
} }
#endif #endif

24
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
View File

@ -2,8 +2,6 @@
_irq_stack_size = 0x180; _irq_stack_size = 0x180;
/* This is the size of the stack for early init: life span is until scheduler starts */ /* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x100; _init_stack_size = 0x100;
/* there is probably a way to get that from the MEMORY section */
_eram = ORIGIN(SRAM) + LENGTH(SRAM);
/* Stub out these functions since we don't use them anyway */ /* Stub out these functions since we don't use them anyway */
PROVIDE ( vPortSVCHandler = 0 ) ; PROVIDE ( vPortSVCHandler = 0 ) ;
@ -91,12 +89,11 @@ SECTIONS
_sbss = . ; _sbss = . ;
*(.bss .bss.*) *(.bss .bss.*)
*(COMMON) *(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM } > SRAM
.heap (NOLOAD) : .heap (NOLOAD) :
{ {
. = ALIGN(4);
_sheap = . ; _sheap = . ;
_sheap_pre_rtos = . ; _sheap_pre_rtos = . ;
*(.heap) *(.heap)
@ -111,13 +108,22 @@ SECTIONS
_init_stack_top = . - 4 ; _init_stack_top = . - 4 ;
} > SRAM } > SRAM
_free_ram = . ;
.free_ram (NOLOAD) :
{
. = ORIGIN(SRAM) + LENGTH(SRAM) - _free_ram ;
/* This is used by the startup in order to initialize the .bss section */
_ebss = . ;
_eram = . ;
} > SRAM
/* keep the heap section at the end of the SRAM */ /* keep the heap section at the end of the SRAM
/* this will allow to claim the remaining bytes not used * this will allow to claim the remaining bytes not used
/* at run time! (done by the reset vector). * at run time! (done by the reset vector).
*/
. = ALIGN(4); PROVIDE ( _end = _ebss ) ;
_end = . ;
/* Stabs debugging sections. */ /* Stabs debugging sections. */
.stab 0 : { *(.stab) } .stab 0 : { *(.stab) }

27
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -2,8 +2,6 @@
_irq_stack_size = 0x400; _irq_stack_size = 0x400;
/* This is the size of the stack for early init: life span is until scheduler starts */ /* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x400; _init_stack_size = 0x400;
/* there is probably a way to get that from the MEMORY section */
_eram = ORIGIN(RAM) + LENGTH(RAM);
/* Check valid alignment for VTOR */ /* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table"); ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
@ -264,19 +262,16 @@ SECTIONS
.bss : .bss :
{ {
. = ALIGN(4); . = ALIGN(4);
/* This is used by the startup in order to initialize the .bss secion */ /* This is used by the startup in order to initialize the .bss section */
_sbss = .; _sbss = .;
*(.bss) *(.bss)
*(COMMON) *(COMMON)
. = ALIGN(4);
/* This is used by the startup in order to initialize the .bss secion */
_ebss = . ;
} >RAM } >RAM
.heap (NOLOAD) : .heap (NOLOAD) :
{ {
. = ALIGN(4);
_sheap = . ; _sheap = . ;
_sheap_pre_rtos = . ; _sheap_pre_rtos = . ;
*(.heap) *(.heap)
@ -290,10 +285,20 @@ SECTIONS
_eheap_post_rtos = . ; _eheap_post_rtos = . ;
_init_stack_top = . - 4 ; _init_stack_top = . - 4 ;
} > RAM } > RAM
/* keep the heap section at the end of the SRAM */ _free_ram = . ;
/* this will allow to claim the remaining bytes not used .free_ram (NOLOAD) :
/* at run time! (done by the reset vector). {
. = ORIGIN(RAM) + LENGTH(RAM) - _free_ram ;
/* This is used by the startup in order to initialize the .bss section */
_ebss = . ;
_eram = . ;
} > RAM
/* keep the heap section at the end of the SRAM
* this will allow to claim the remaining bytes not used
* at run time! (done by the reset vector).
*/
PROVIDE ( end = _ebss ); PROVIDE ( end = _ebss );
PROVIDE ( _end = _ebss ); PROVIDE ( _end = _ebss );

8
flight/PiOS/STM32F10x/pios_ppm.c
View File

@ -35,7 +35,7 @@
#if defined(PIOS_INCLUDE_PPM) #if defined(PIOS_INCLUDE_PPM)
/* Provide a RCVR driver */ /* Provide a RCVR driver */
static int32_t PIOS_PPM_Get(uint32_t chan_id); static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_ppm_rcvr_driver = { const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
.read = PIOS_PPM_Get, .read = PIOS_PPM_Get,
@ -160,13 +160,13 @@ void PIOS_PPM_Init(void)
* \output -1 Channel not available * \output -1 Channel not available
* \output >0 Channel value * \output >0 Channel value
*/ */
static int32_t PIOS_PPM_Get(uint32_t chan_id) static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
{ {
/* Return error if channel not available */ /* Return error if channel not available */
if (chan_id >= PIOS_PPM_NUM_INPUTS) { if (channel >= PIOS_PPM_NUM_INPUTS) {
return -1; return -1;
} }
return CaptureValue[chan_id]; return CaptureValue[channel];
} }
/** /**

8
flight/PiOS/STM32F10x/pios_pwm.c
View File

@ -35,7 +35,7 @@
#if defined(PIOS_INCLUDE_PWM) #if defined(PIOS_INCLUDE_PWM)
/* Provide a RCVR driver */ /* Provide a RCVR driver */
static int32_t PIOS_PWM_Get(uint32_t chan_id); static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t chan_id);
const struct pios_rcvr_driver pios_pwm_rcvr_driver = { const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
.read = PIOS_PWM_Get, .read = PIOS_PWM_Get,
@ -140,13 +140,13 @@ void PIOS_PWM_Init(void)
* \output -1 Channel not available * \output -1 Channel not available
* \output >0 Channel value * \output >0 Channel value
*/ */
static int32_t PIOS_PWM_Get(uint32_t chan_id) static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
{ {
/* Return error if channel not available */ /* Return error if channel not available */
if (chan_id >= pios_pwm_cfg.num_channels) { if (channel >= pios_pwm_cfg.num_channels) {
return -1; return -1;
} }
return CaptureValue[chan_id]; return CaptureValue[channel];
} }
void PIOS_PWM_irq_handler(TIM_TypeDef * timer) void PIOS_PWM_irq_handler(TIM_TypeDef * timer)

8
flight/PiOS/STM32F10x/pios_sbus.c
View File

@ -37,7 +37,7 @@
/* Global Variables */ /* Global Variables */
/* Provide a RCVR driver */ /* Provide a RCVR driver */
static int32_t PIOS_SBUS_Get(uint32_t chan_id); static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_sbus_rcvr_driver = { const struct pios_rcvr_driver pios_sbus_rcvr_driver = {
.read = PIOS_SBUS_Get, .read = PIOS_SBUS_Get,
@ -155,13 +155,13 @@ void PIOS_SBUS_Init(const struct pios_sbus_cfg *cfg)
* \output -1 channel not available * \output -1 channel not available
* \output >0 channel value * \output >0 channel value
*/ */
static int32_t PIOS_SBUS_Get(uint32_t chan_id) static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
{ {
/* return error if channel is not available */ /* return error if channel is not available */
if (chan_id >= SBUS_NUMBER_OF_CHANNELS) { if (channel >= SBUS_NUMBER_OF_CHANNELS) {
return -1; return -1;
} }
return channel_data[chan_id]; return channel_data[channel];
} }
/** /**

8
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -46,7 +46,7 @@
/* Global Variables */ /* Global Variables */
/* Provide a RCVR driver */ /* Provide a RCVR driver */
static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id); static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_spektrum_rcvr_driver = { const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
.read = PIOS_SPEKTRUM_Get, .read = PIOS_SPEKTRUM_Get,
@ -82,13 +82,13 @@ void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind)
* \output -1 Channel not available * \output -1 Channel not available
* \output >0 Channel value * \output >0 Channel value
*/ */
static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id) static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
{ {
/* Return error if channel not available */ /* Return error if channel not available */
if (chan_id >= PIOS_SPEKTRUM_NUM_INPUTS) { if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
return -1; return -1;
} }
return CaptureValue[chan_id]; return CaptureValue[channel];
} }
/** /**

11
flight/PiOS/inc/pios_rcvr.h
View File

@ -31,15 +31,20 @@
#ifndef PIOS_RCVR_H #ifndef PIOS_RCVR_H
#define PIOS_RCVR_H #define PIOS_RCVR_H
extern uint32_t pios_rcvr_channel_to_id_map[]; struct pios_rcvr_channel_map {
uint32_t id;
uint8_t channel;
};
extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
struct pios_rcvr_driver { struct pios_rcvr_driver {
void (*init)(uint32_t id); void (*init)(uint32_t id);
int32_t (*read)(uint32_t id); int32_t (*read)(uint32_t id, uint8_t channel);
}; };
/* Public Functions */ /* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id); extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
#endif /* PIOS_RCVR_H */ #endif /* PIOS_RCVR_H */

10
flight/PiOS/inc/pios_rcvr_priv.h
View File

@ -36,16 +36,6 @@
extern uint32_t pios_rcvr_max_channel; extern uint32_t pios_rcvr_max_channel;
enum pios_rcvr_dev_magic {
PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
};
struct pios_rcvr_dev {
enum pios_rcvr_dev_magic magic;
uint32_t id;
const struct pios_rcvr_driver * driver;
};
extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id); extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id); extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);