Added spektrum software bind pin reset feature

conf/modules/spektrum_soft_bind.xml

@@ -0,0 +1,25 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="spektrum_soft_bind" dir="spektrum_soft_bind">
+  <doc>
+    <description>Puts Spektrum in binding mode through software</description>
+  </doc>
+  <settings target="ap">
+    <dl_settings>
+      <dl_settings name="Spektrum soft bind">
+        <dl_setting MAX="1" MIN="0" STEP="1" VAR="bind_soft_value" values="FALSE|TRUE" shortname="Bind Spektrum" module="spektrum_soft_bind/spektrum_soft_bind" handler="click"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <header >
+    <file name="spektrum_soft_bind.h"/>
+  </header>
+  <init fun="spektrum_soft_bind_init()"/>
+  <makefile target="ap">
+    <file name="spektrum_soft_bind_ap.c"/>
+  </makefile>
+  <makefile target="fbw">
+    <file name="spektrum_soft_bind_fbw.c"/>
+  </makefile>
+</module>
+

sw/airborne/mcu.c

@@ -83,7 +83,7 @@ void mcu_init(void)
   led_init();
 #endif
   /* for now this means using spektrum */
-#if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC
+#if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC & defined SPEKTRUM_BIND_PIN_PORT
   RADIO_CONTROL_BIND_IMPL_FUNC();
 #endif
 #if USE_UART0

sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind.c

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) Kevin van Hecke
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/spektrum_soft_bind/spektrum_soft_bind.c"
+ * @author Kevin van Hecke
+ * Puts Spektrum in binding mode through software
+ */
+
+#include "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h"
+
+void spektrum_soft_bind_init() {}
+
+

sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind.h

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) Kevin van Hecke
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/spektrum_soft_bind/spektrum_soft_bind.h"
+ * @author Kevin van Hecke
+ * Puts Spektrum in binding mode through software
+ */
+
+#ifndef SPEKTRUM_SOFT_BIND_H
+#define SPEKTRUM_SOFT_BIND_H
+
+#if defined FBW
+#include "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h"
+#else
+#include "modules/spektrum_soft_bind/spektrum_soft_bind_ap.h"
+#endif
+
+#endif
+

sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c

@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) Kevin van Hecke
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/spektrum_soft_bind/spektrum_soft_bind_ap.c"
+ * @author Kevin van Hecke
+ * Puts Spektrum in binding mode through software
+ */
+
+#include "modules/spektrum_soft_bind/spektrum_soft_bind_ap.h"
+#include "subsystems/intermcu/intermcu_ap.h"
+#include "led.h"
+
+void spektrum_soft_bind_init(void) {}
+
+uint8_t bind_soft_value;
+void spektrum_soft_bind_click(uint8_t val __attribute__((unused)))
+{
+  intermcu_send_spektrum_bind();
+}
+
+

sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.h

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) Kevin van Hecke
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/spektrum_soft_bind/spektrum_soft_bind_ap.h"
+ * @author Kevin van Hecke
+ * Puts Spektrum in binding mode through software
+ */
+
+#ifndef SPEKTRUM_AP_SOFT_BIND_H
+#define SPEKTRUM_AP_SOFT_BIND_H
+
+#include "std.h"
+
+extern void spektrum_soft_bind_init(void);
+extern void spektrum_soft_bind_click(uint8_t val);
+
+extern uint8_t bind_soft_value;
+
+#endif
+

sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_fbw.c

@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) Kevin van Hecke
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.c"
+ * @author Kevin van Hecke
+ * Puts Spektrum in binding mode through software
+ */
+
+#include "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h"
+#include "subsystems/intermcu/intermcu_fbw.h"
+#include "mcu.h"
+#include "subsystems/radio_control.h"
+#include "mcu_periph/sys_time_arch.h"
+
+#include "led.h"
+#include "mcu_periph/gpio.h"
+
+void spektrum_soft_bind_init(void)
+{
+  gpio_setup_output(SPEKTRUM_POWER_PIN_PORT, SPEKTRUM_POWER_PIN);
+  gpio_set(SPEKTRUM_POWER_PIN_PORT, SPEKTRUM_POWER_PIN);
+}
+
+void received_spektrum_soft_bind(void)
+{
+
+  //power cycle the spektrum
+  gpio_clear(SPEKTRUM_POWER_PIN_PORT, SPEKTRUM_POWER_PIN);
+  sys_time_usleep(100000);
+  gpio_set(SPEKTRUM_POWER_PIN_PORT, SPEKTRUM_POWER_PIN);
+
+  //put to bind mode
+  RADIO_CONTROL_BIND_IMPL_FUNC();    //basically  = radio_control_spektrum_try_bind()
+
+  SpektrumUartInit();
+
+}

sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Kevin van Hecke
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h"
+ * @author Kevin van Hecke
+ * Puts Spektrum in binding mode through software
+ */
+
+#ifndef SPEKTRUM_FBW_SOFT_BIND_H
+#define SPEKTRUM_FBW_SOFT_BIND_H
+#include "std.h"
+
+extern void spektrum_soft_bind_init(void);
+extern void received_spektrum_soft_bind(void);
+
+#endif
+

sw/airborne/subsystems/intermcu/intermcu_ap.c

@@ -30,6 +30,10 @@
 #include "pprzlink/pprz_transport.h"
 #include "mcu_periph/uart.h"
 
+#include "subsystems/datalink/telemetry.h"
+#include "subsystems/electrical.h"
+#include "autopilot.h"
+
 #if COMMANDS_NB > 8
 #error "INTERMCU UART CAN ONLY SEND 8 COMMANDS OR THE UART WILL BE OVERFILLED"
 #endif
@@ -70,6 +74,11 @@ void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode __attribute_
   }
 }
 
+void intermcu_send_spektrum_bind(void)
+{
+  if (!disable_comm) {
+    pprz_msg_send_IMCU_SPEKTRUM_SOFT_BIND(&(intermcu_transport.trans_tx), intermcu_device, INTERMCU_AP);
+  }
 }
 
 static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_frame_handler)(void))

sw/airborne/subsystems/intermcu/intermcu_ap.h

@@ -32,6 +32,7 @@
 
 void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode);
 void RadioControlEvent(void (*frame_handler)(void));
+void intermcu_send_spektrum_bind(void);
 void disable_inter_comm(bool_t value);
 
 /* We need radio defines for the Autopilot */

sw/airborne/subsystems/intermcu/intermcu_fbw.c

@@ -29,6 +29,7 @@
 #include "subsystems/radio_control.h"
 #include "mcu_periph/uart.h"
 #include "pprzlink/pprz_transport.h"
+#include "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h"
 
 #ifdef BOARD_PX4IO
 #include "libopencm3/cm3/scb.h"
@@ -97,6 +98,8 @@ static inline void intermcu_parse_msg(struct transport_rx *trans, void (*command
       uint8_t i;
       uint8_t size = DL_IMCU_COMMANDS_values_length(trans->payload);
       int16_t *new_commands = DL_IMCU_COMMANDS_values(trans->payload);
+      uint8_t status = DL_IMCU_COMMANDS_status(trans->payload);
+      autopilot_motors_on = status & 0x1;
       for (i = 0; i < size; i++) {
         intermcu_commands[i] = new_commands[i];
       }
@@ -107,6 +110,11 @@ static inline void intermcu_parse_msg(struct transport_rx *trans, void (*command
       break;
     }
 
+#if defined(SPEKTRUM_HAS_SOFT_BIND_PIN) //TODO: make subscribable module parser
+    case DL_IMCU_SPEKTRUM_SOFT_BIND:
+      received_spektrum_soft_bind();
+      break;
+#endif
     default:
       break;
   }
@@ -117,10 +125,15 @@ static inline void intermcu_parse_msg(struct transport_rx *trans, void (*command
 
 void InterMcuEvent(void (*frame_handler)(void))
 {
+
   /* Parse incoming bytes */
   if (intermcu_device->char_available(intermcu_device->periph)) {
     while (intermcu_device->char_available(intermcu_device->periph) && !intermcu_transport.trans_rx.msg_received) {
-      parse_pprz(&intermcu_transport, intermcu_device->get_byte(intermcu_device->periph));
+      unsigned char b = intermcu_device->get_byte(intermcu_device->periph);
+#ifdef BOARD_PX4IO
+      checkPx4RebootCommand(b);
+#endif
+      parse_pprz(&intermcu_transport, b);
     }
 
     if (intermcu_transport.trans_rx.msg_received) {
@@ -128,3 +141,44 @@ void InterMcuEvent(void (*frame_handler)(void))
     }
   }
 }
+#ifdef BOARD_PX4IO
+static inline void checkPx4RebootCommand(unsigned char b)
+{
+  if (!px4RebootTimeout) {
+
+
+    if (sys_time_check_and_ack_timer(px4bl_tid)) {
+      //time out the possibility to reboot to the px4 bootloader, to prevent unwanted restarts during flight
+      px4RebootTimeout = true;
+      sys_time_cancel_timer(px4bl_tid);
+      return;
+    }
+
+    LED_ON(SYS_TIME_LED);
+
+    if (b == px4RebootSequence[px4RebootSequenceCount]) {
+      px4RebootSequenceCount++;
+    } else {
+      px4RebootSequenceCount = 0;
+    }
+
+    if (px4RebootSequenceCount >= 6) { // 6 = length of rebootSequence + 1
+      px4RebootSequenceCount = 0; // should not be necessary...
+
+      //send some magic back
+      //this is the same as the Pixhawk IO code would send
+      intermcu_device->put_byte(intermcu_device->periph, 0x00);
+      intermcu_device->put_byte(intermcu_device->periph, 0xe5);
+      intermcu_device->put_byte(intermcu_device->periph, 0x32);
+      intermcu_device->put_byte(intermcu_device->periph, 0x0a);
+      intermcu_device->put_byte(intermcu_device->periph,
+                                0x66); // dummy byte, seems to be necessary otherwise one byte is missing at the fmu side...
+
+      while (((struct uart_periph *)(intermcu_device->periph))->tx_running) {LED_TOGGLE(SYS_TIME_LED);}  // tx_running is volatile now, so LED_TOGGLE not necessary anymore
+
+      LED_OFF(SYS_TIME_LED);
+      scb_reset_system();
+    }
+  }
+}
+#endif