Pixracer Spektrum fixes

conf/boards/px4fmu_4.0.makefile

@@ -39,7 +39,7 @@ SYS_TIME_LED       ?= 1
 #
 # default UART configuration (RC receiver, telemetry modem, GPS)
 #
-RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   ?= UART1
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   ?= UART6
 #RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT   ?= UART7
 
 MODEM_PORT ?= UART2

sw/airborne/boards/opa_ftd_1.0.h

@@ -146,7 +146,7 @@
  * Spektrum
  */
 /* Define power pin */
-#define RADIO_CONTROL_POWER GPIOC
+#define RADIO_CONTROL_POWER_PORT GPIOC
 #define RADIO_CONTROL_POWER_PIN GPIO13
 #define RADIO_CONTROL_POWER_ON gpio_set
 #define RADIO_CONTROL_POWER_OFF gpio_clear

sw/airborne/boards/px4fmu_4.0.h

@@ -88,6 +88,11 @@
 #define UART4_GPIO_PORT_TX GPIOA
 #define UART4_GPIO_TX GPIO0
 
+/* Spektrum (only rx)*/
+#define UART6_GPIO_AF GPIO_AF8
+#define UART6_GPIO_PORT_RX GPIOC
+#define UART6_GPIO_RX GPIO7
+
 /* Serial Debugging Connector, not used with PPRZ, use JTAG, can be put to other good use */
 #define UART7_GPIO_AF GPIO_AF8
 #define UART7_GPIO_PORT_RX GPIOE
@@ -103,30 +108,31 @@
 #define UART8_GPIO_TX GPIO1
 
 /* Soft binding Spektrum */
-#define RADIO_CONTROL_POWER GPIOB
-#define RADIO_CONTROL_POWER_PIN GPIO0
+//ok
+#define RADIO_CONTROL_POWER_PORT GPIOC
+#define RADIO_CONTROL_POWER_PIN GPIO5
 #define RADIO_CONTROL_POWER_ON gpio_set
 #define RADIO_CONTROL_POWER_OFF gpio_clear
 
 
-//FIXME Check
-#define SPEKTRUM_UART1_RCC RCC_USART1
-#define SPEKTRUM_UART1_BANK GPIOB
-#define SPEKTRUM_UART1_PIN GPIO0
-#define SPEKTRUM_UART1_AF GPIO_AF7
-#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
-#define SPEKTRUM_UART1_ISR usart1_isr
-#define SPEKTRUM_UART1_DEV USART1
-//FIXME Check
-/*
-#define SPEKTRUM_UART2_RCC RCC_USART2
-#define SPEKTRUM_UART2_BANK GPIOC
-#define SPEKTRUM_UART2_PIN GPIO7
-#define SPEKTRUM_UART2_AF GPIO_AF7
-#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ
-#define SPEKTRUM_UART2_ISR usart2_isr
-#define SPEKTRUM_UART2_DEV USART2
-*/
+#define PERIPHERAL3V3_ENABLE_PORT GPIOE
+#define PERIPHERAL3V3_ENABLE_PIN GPIO4
+#define PERIPHERAL3V3_ENABLE_ON gpio_clear // yes, inverted
+#define PERIPHERAL3V3_ENABLE_OFF gpio_set
+
+/* Turn SBUS invert */
+//ok
+#define RC_POLARITY_GPIO_PORT GPIOC
+#define RC_POLARITY_GPIO_PIN GPIO13
+
+//ok
+#define SPEKTRUM_UART6_RCC RCC_USART6
+#define SPEKTRUM_UART6_BANK GPIOC
+#define SPEKTRUM_UART6_PIN GPIO7
+#define SPEKTRUM_UART6_AF GPIO_AF8
+#define SPEKTRUM_UART6_IRQ NVIC_USART6_IRQ
+#define SPEKTRUM_UART6_ISR usart6_isr
+#define SPEKTRUM_UART6_DEV USART6
 
 /* SPI */
 

sw/airborne/boards/px4io_2.4.h

@@ -66,7 +66,7 @@
  * Spektrum
  */
 /* The line that is pulled low at power up to initiate the bind process */
-#define RADIO_CONTROL_POWER GPIOC
+#define RADIO_CONTROL_POWER_PORT GPIOC
 #define RADIO_CONTROL_POWER_PIN GPIO13
 #define RADIO_CONTROL_POWER_ON gpio_set
 #define RADIO_CONTROL_POWER_OFF gpio_clear

sw/airborne/firmwares/rotorcraft/main.c

@@ -240,6 +240,7 @@ STATIC_INLINE void main_init(void)
 
   // Do a failsafe check first
   failsafe_check();
+
 }
 
 STATIC_INLINE void handle_periodic_tasks(void)

sw/airborne/mcu.c

@@ -112,9 +112,9 @@ void mcu_init(void)
   led_init();
 #endif
   /* First enable power of RC */
-#if defined RADIO_CONTROL_POWER
-  gpio_setup_output(RADIO_CONTROL_POWER, RADIO_CONTROL_POWER_PIN);
-  RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER, RADIO_CONTROL_POWER_PIN);
+#if defined RADIO_CONTROL_POWER_PORT
+  gpio_setup_output(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
+  RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
 #endif
   /* for now this means using spektrum */
 #if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC & defined SPEKTRUM_BIND_PIN_PORT

sw/airborne/modules/boards/opa_controller_fbw.c

@@ -71,7 +71,7 @@ void opa_controller_periodic(void) {
     AP_PWR_OFF(AP_PWR, AP_PWR_PIN);
     MAIN_PWR_OFF(MAIN_PWR, MAIN_PWR_PIN);
     BAL_PWR_OFF(BAL_PWR, BAL_PWR_PIN);
-    RADIO_CONTROL_POWER_OFF(RADIO_CONTROL_POWER,RADIO_CONTROL_POWER_PIN);
+    RADIO_CONTROL_POWER_OFF(RADIO_CONTROL_POWER_PORT,RADIO_CONTROL_POWER_PIN);
     MCU_PWR_OFF(MCU_PWR, MCU_PWR_PIN);
     arming_led = false;
     return;
@@ -106,7 +106,7 @@ void opa_controller_periodic(void) {
       MAIN_PWR_ON(MAIN_PWR, MAIN_PWR_PIN);
       BAL_PWR_ON(BAL_PWR, BAL_PWR_PIN);
       //AP_PWR_ON(AP_PWR, AP_PWR_PIN);
-      //RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER,RADIO_CONTROL_POWER_PIN);
+      //RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT,RADIO_CONTROL_POWER_PIN);
     } else {
       arming_cnt++;
     }

sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c

@@ -33,15 +33,24 @@
 
 #include "mcu_periph/gpio.h"
 
-void spektrum_soft_bind_init(void) {}
+void spektrum_soft_bind_init(void) {
+    gpio_setup_output(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
+    RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
+
+#ifdef PERIPHERAL3V3_ENABLE_PORT // px4fmu 4 (pixracer) has this
+    gpio_setup_output(PERIPHERAL3V3_ENABLE_PORT, PERIPHERAL3V3_ENABLE_PIN);
+    PERIPHERAL3V3_ENABLE_ON(PERIPHERAL3V3_ENABLE_PORT, PERIPHERAL3V3_ENABLE_PIN);    
+#endif
+
+}
 
 uint8_t bind_soft_value;
 void spektrum_soft_bind_click(uint8_t val __attribute__((unused)))
 {
 #ifndef INTER_MCU_AP
-    send_spektrum_bind();
+    send_spektrum_bind();    
 #else
-  intermcu_send_spektrum_bind();
+  intermcu_send_spektrum_bind();  
 #endif
 
 }
@@ -50,9 +59,11 @@ void spektrum_soft_bind_click(uint8_t val __attribute__((unused)))
 void send_spektrum_bind(void) {
 
     //power cycle the spektrum
-    RADIO_CONTROL_POWER_OFF(RADIO_CONTROL_POWER, RADIO_CONTROL_POWER_PIN);
-    sys_time_usleep(100000);
-    RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER, RADIO_CONTROL_POWER_PIN);
+    RADIO_CONTROL_POWER_OFF(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
+    sys_time_usleep(1000000);
+    RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
+
+
 
     //put to bind mode
     RADIO_CONTROL_BIND_IMPL_FUNC();    //basically  = radio_control_spektrum_try_bind()