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Pixracer Spektrum fixes

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This commit is contained in:
kevindehecker
2017-01-11 16:38:11 +01:00
parent 33fd002d54
commit a900939a80
8 changed files with 52 additions and 34 deletions
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conf/boards/px4fmu_4.0.makefile
+1 -1
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@@ -39,7 +39,7 @@ SYS_TIME_LED ?= 1
# #
# default UART configuration (RC receiver, telemetry modem, GPS) # 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 #RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART7
MODEM_PORT ?= UART2 MODEM_PORT ?= UART2
sw/airborne/boards/opa_ftd_1.0.h
+1 -1
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@@ -146,7 +146,7 @@
* Spektrum * Spektrum
*/ */
/* Define power pin */ /* Define power pin */
#define RADIO_CONTROL_POWER GPIOC #define RADIO_CONTROL_POWER_PORT GPIOC
#define RADIO_CONTROL_POWER_PIN GPIO13 #define RADIO_CONTROL_POWER_PIN GPIO13
#define RADIO_CONTROL_POWER_ON gpio_set #define RADIO_CONTROL_POWER_ON gpio_set
#define RADIO_CONTROL_POWER_OFF gpio_clear #define RADIO_CONTROL_POWER_OFF gpio_clear
sw/airborne/boards/px4fmu_4.0.h
+26 -20
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@@ -88,6 +88,11 @@
#define UART4_GPIO_PORT_TX GPIOA #define UART4_GPIO_PORT_TX GPIOA
#define UART4_GPIO_TX GPIO0 #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 */ /* 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_AF GPIO_AF8
#define UART7_GPIO_PORT_RX GPIOE #define UART7_GPIO_PORT_RX GPIOE
@@ -103,30 +108,31 @@
#define UART8_GPIO_TX GPIO1 #define UART8_GPIO_TX GPIO1
/* Soft binding Spektrum */ /* Soft binding Spektrum */
#define RADIO_CONTROL_POWER GPIOB //ok
#define RADIO_CONTROL_POWER_PIN GPIO0 #define RADIO_CONTROL_POWER_PORT GPIOC
#define RADIO_CONTROL_POWER_PIN GPIO5
#define RADIO_CONTROL_POWER_ON gpio_set #define RADIO_CONTROL_POWER_ON gpio_set
#define RADIO_CONTROL_POWER_OFF gpio_clear #define RADIO_CONTROL_POWER_OFF gpio_clear
//FIXME Check #define PERIPHERAL3V3_ENABLE_PORT GPIOE
#define SPEKTRUM_UART1_RCC RCC_USART1 #define PERIPHERAL3V3_ENABLE_PIN GPIO4
#define SPEKTRUM_UART1_BANK GPIOB #define PERIPHERAL3V3_ENABLE_ON gpio_clear // yes, inverted
#define SPEKTRUM_UART1_PIN GPIO0 #define PERIPHERAL3V3_ENABLE_OFF gpio_set
#define SPEKTRUM_UART1_AF GPIO_AF7
#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ /* Turn SBUS invert */
#define SPEKTRUM_UART1_ISR usart1_isr //ok
#define SPEKTRUM_UART1_DEV USART1 #define RC_POLARITY_GPIO_PORT GPIOC
//FIXME Check #define RC_POLARITY_GPIO_PIN GPIO13
/*
#define SPEKTRUM_UART2_RCC RCC_USART2 //ok
#define SPEKTRUM_UART2_BANK GPIOC #define SPEKTRUM_UART6_RCC RCC_USART6
#define SPEKTRUM_UART2_PIN GPIO7 #define SPEKTRUM_UART6_BANK GPIOC
#define SPEKTRUM_UART2_AF GPIO_AF7 #define SPEKTRUM_UART6_PIN GPIO7
#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ #define SPEKTRUM_UART6_AF GPIO_AF8
#define SPEKTRUM_UART2_ISR usart2_isr #define SPEKTRUM_UART6_IRQ NVIC_USART6_IRQ
#define SPEKTRUM_UART2_DEV USART2 #define SPEKTRUM_UART6_ISR usart6_isr
*/ #define SPEKTRUM_UART6_DEV USART6
/* SPI */ /* SPI */
sw/airborne/boards/px4io_2.4.h
+1 -1
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@@ -66,7 +66,7 @@
* Spektrum * Spektrum
*/ */
/* The line that is pulled low at power up to initiate the bind process */ /* 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_PIN GPIO13
#define RADIO_CONTROL_POWER_ON gpio_set #define RADIO_CONTROL_POWER_ON gpio_set
#define RADIO_CONTROL_POWER_OFF gpio_clear #define RADIO_CONTROL_POWER_OFF gpio_clear
sw/airborne/firmwares/rotorcraft/main.c
+1
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@@ -240,6 +240,7 @@ STATIC_INLINE void main_init(void)
// Do a failsafe check first // Do a failsafe check first
failsafe_check(); failsafe_check();
} }
STATIC_INLINE void handle_periodic_tasks(void) STATIC_INLINE void handle_periodic_tasks(void)
sw/airborne/mcu.c
+3 -3
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@@ -112,9 +112,9 @@ void mcu_init(void)
led_init(); led_init();
#endif #endif
/* First enable power of RC */ /* First enable power of RC */
#if defined RADIO_CONTROL_POWER #if defined RADIO_CONTROL_POWER_PORT
gpio_setup_output(RADIO_CONTROL_POWER, RADIO_CONTROL_POWER_PIN); gpio_setup_output(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER, RADIO_CONTROL_POWER_PIN); RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
#endif #endif
/* for now this means using spektrum */ /* 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 #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
+2 -2
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@@ -71,7 +71,7 @@ void opa_controller_periodic(void) {
AP_PWR_OFF(AP_PWR, AP_PWR_PIN); AP_PWR_OFF(AP_PWR, AP_PWR_PIN);
MAIN_PWR_OFF(MAIN_PWR, MAIN_PWR_PIN); MAIN_PWR_OFF(MAIN_PWR, MAIN_PWR_PIN);
BAL_PWR_OFF(BAL_PWR, BAL_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); MCU_PWR_OFF(MCU_PWR, MCU_PWR_PIN);
arming_led = false; arming_led = false;
return; return;
@@ -106,7 +106,7 @@ void opa_controller_periodic(void) {
MAIN_PWR_ON(MAIN_PWR, MAIN_PWR_PIN); MAIN_PWR_ON(MAIN_PWR, MAIN_PWR_PIN);
BAL_PWR_ON(BAL_PWR, BAL_PWR_PIN); BAL_PWR_ON(BAL_PWR, BAL_PWR_PIN);
//AP_PWR_ON(AP_PWR, AP_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 { } else {
arming_cnt++; arming_cnt++;
} }
sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c
+17 -6
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@@ -33,15 +33,24 @@
#include "mcu_periph/gpio.h" #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; uint8_t bind_soft_value;
void spektrum_soft_bind_click(uint8_t val __attribute__((unused))) void spektrum_soft_bind_click(uint8_t val __attribute__((unused)))
{ {
#ifndef INTER_MCU_AP #ifndef INTER_MCU_AP
send_spektrum_bind(); send_spektrum_bind();
#else #else
intermcu_send_spektrum_bind(); intermcu_send_spektrum_bind();
#endif #endif
} }
@@ -50,9 +59,11 @@ void spektrum_soft_bind_click(uint8_t val __attribute__((unused)))
void send_spektrum_bind(void) { void send_spektrum_bind(void) {
//power cycle the spektrum //power cycle the spektrum
RADIO_CONTROL_POWER_OFF(RADIO_CONTROL_POWER, RADIO_CONTROL_POWER_PIN); RADIO_CONTROL_POWER_OFF(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
sys_time_usleep(100000); sys_time_usleep(1000000);
RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER, RADIO_CONTROL_POWER_PIN); RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
//put to bind mode //put to bind mode
RADIO_CONTROL_BIND_IMPL_FUNC(); //basically = radio_control_spektrum_try_bind() RADIO_CONTROL_BIND_IMPL_FUNC(); //basically = radio_control_spektrum_try_bind()