[telemetry] Bluegiga: cleanup

- LED not hardcoded
- SPI LINK configurable form airframe file
- subsystem for shared and fixedwing

Makefile

@@ -283,7 +283,6 @@ clean:
 	$(Q)rm -f  $(GEN_HEADERS)
 	$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
 	$(Q)$(MAKE) -C $(EXT) clean
-	$(Q)$(MAKE) -C $(TOOLS)/bluegiga_usb_dongle clean
 	$(Q)find . -name '*~' -exec rm -f {} \;
 
 cleanspaces:

conf/boards/lisa_s_1.0.makefile

@@ -33,6 +33,7 @@ BARO_LED           ?= none
 AHRS_ALIGNER_LED   ?= 2
 GPS_LED            ?= none
 SYS_TIME_LED       ?= 1
+MODEM_LED          ?= 3
 
 #
 # default uart configuration

conf/firmwares/subsystems/fixedwing/telemetry_bluegiga.makefile

@@ -0,0 +1,14 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# include shared part for ap
+ifeq ($(TARGET),ap)
+include $(CFG_SHARED)/telemetry_bluegiga.makefile
+endif
+
+ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c
+
+# avoid fbw_telemetry_mode error
+ap.srcs += $(SRC_FIRMWARE)/fbw_downlink.c
+
+fbw.srcs += $(SRC_FIRMWARE)/fbw_downlink.c
+

conf/firmwares/subsystems/rotorcraft/telemetry_bluegiga.makefile

@@ -1,17 +1,9 @@
 #
-# The bluegiga module as telemetry downlink/uplink
+# The bluegiga module as telemetry downlink/uplink for rotorcraft
 #
-#
-ap.CFLAGS += -DUSE_$(MODEM_PORT)
-ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=bluegiga_p
+ifeq ($(TARGET), ap)
-ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=BLUEGIGA
+include $(CFG_SHARED)/telemetry_bluegiga.makefile
-#ap.CFLAGS += -DDefaultPeriodic='&telemetry_Main'
+endif
-ap.CFLAGS += -DUSE_SPI2_SLAVE -DSPI_SLAVE
 
-# for some reason the following line required to get GPS over datalink working
-ap.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B38400
-
-ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/bluegiga.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c

conf/firmwares/subsystems/shared/telemetry_bluegiga.makefile

@@ -0,0 +1,35 @@
+#
+# The bluegiga module as telemetry downlink/uplink
+#
+# On Lisa-s, the Superbit-RF module can be replaced with a
+# bluegiga-bluetooth 4 low power board. This subsystem puts
+# the telemetry over this bluetooth 4 link.
+#
+# Bluegiga is a SPI-slave device without Chip select but with a compulsory DRDY
+#
+# Required:
+# #define BLUEGIGA_SPI_DEV: the SPI device which MUST have a SLAVE mode without chipselect
+#
+# Optional: (defaults to SUPERBITRF DRDY)
+# #define BLUEGIGA_DRDY_GPIO
+# #define BLUEGIGA_DRDY_GPIO_PIN
+
+# Include SPI if not yet included
+include $(CFG_SHARED)/spi_master.makefile
+
+# Set downlink to paparazzi transport over bluegiga protocol over SPI slave
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=bluegiga_p
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=BLUEGIGA
+
+BLUEGIGA_SPI_DEV ?= SPI2
+BLUEGIGA_SPI_DEV_LOWER=$(shell echo $(BLUEGIGA_SPI_DEV) | tr A-Z a-z)
+ap.CFLAGS += -DUSE_$(BLUEGIGA_SPI_DEV)_SLAVE -DSPI_SLAVE -DBLUEGIGA_SPI_DEV=$(BLUEGIGA_SPI_DEV_LOWER)
+
+# LED
+MODEM_LED ?= none
+ifneq ($(MODEM_LED),none)
+ap.CFLAGS += -DMODEM_LED=$(MODEM_LED)
+endif
+
+ap.srcs += $(SRC_SUBSYSTEMS)/datalink/downlink.c $(SRC_SUBSYSTEMS)/datalink/bluegiga.c
+ap.srcs += $(SRC_SUBSYSTEMS)/datalink/pprz_transport.c $(SRC_SUBSYSTEMS)/datalink/telemetry.c

sw/airborne/arch/stm32/mcu_periph/spi_arch.c

@@ -1313,7 +1313,7 @@ void dma1_channel2_isr(void) {
 
 // SPI arch slave init
 #if USE_SPI2_SLAVE
-#warning "STM32-SPI2 slave: Configured not to use the NSS pin"
+PRINT_CONFIG_MSG("STM32-SPI2 slave: Configured not to use the NSS pin")
 
 #ifndef STM32F1
 #error "SPI2 slave on STM32 only implemented for STM32F1"

sw/airborne/subsystems/datalink/bluegiga.c

@@ -31,19 +31,16 @@
 #include "mcu_periph/gpio.h"
 
 #ifndef BLUEGIGA_SPI_DEV
-#define BLUEGIGA_SPI_DEV spi2
+#error "bluegiga: must define a BLUEGIGA_SPI_DEV"
-#endif
-
-#ifndef BLUEGIGA_SLAVE_IDX
-#define BLUEGIGA_SLAVE_IDX SPI_SLAVE2
 #endif
 
+// Bluegiga: DRDY defaults to SuperbitRf DRDY
 #ifndef BLUEGIGA_DRDY_GPIO
-#define BLUEGIGA_DRDY_GPIO GPIOC
+#define BLUEGIGA_DRDY_GPIO SUPERBITRF_DRDY_PORT
 #endif
 
 #ifndef BLUEGIGA_DRDY_GPIO_PIN
-#define BLUEGIGA_DRDY_GPIO_PIN GPIO6
+#define BLUEGIGA_DRDY_GPIO_PIN SUPERBITRF_DRDY_PIN
 #endif
 
 enum BlueGigaStatus coms_status;
@@ -73,14 +70,16 @@ static void trans_cb(struct spi_transaction *trans __attribute__((unused)))
 void bluegiga_init(void)
 {
 
-  LED_INIT(3);
+#ifdef MODEM_LED
+  LED_INIT(MODEM_LED);
+#endif
 
   // configure the SPI bus.
   bluegiga_spi.input_buf      = bluegiga_p.work_rx;
   bluegiga_spi.output_buf     = bluegiga_p.work_tx;
   bluegiga_spi.input_length   = 20;
   bluegiga_spi.output_length  = 20;
-  bluegiga_spi.slave_idx      = BLUEGIGA_SLAVE_IDX;
+  bluegiga_spi.slave_idx      = 0; // Not used for SPI-Slave: always NSS pin
   bluegiga_spi.select         = SPISelectUnselect;
   bluegiga_spi.cpol           = SPICpolIdleHigh;
   bluegiga_spi.cpha           = SPICphaEdge2;
@@ -191,7 +190,9 @@ void bluegiga_receive(void)
           bluegiga_p.tx_insert_idx    = 0;
           bluegiga_p.tx_extract_idx   = 0;
 
-          LED_OFF(3);
+#ifdef MODEM_LED
+          LED_OFF(MODEM_LED);
+#endif
           coms_status = BLUEGIGA_UNINIT;
           gpio_set(BLUEGIGA_DRDY_GPIO, BLUEGIGA_DRDY_GPIO_PIN);     // Reset interrupt pin
           break;

sw/airborne/subsystems/datalink/bluegiga.h

@@ -28,7 +28,6 @@
 #define BLUEGIGA_DATA_LINK_H
 
 #include "mcu_periph/link_device.h"
-#include "generated/airframe.h"
 
 /* The different statuses the communication can be in */
 enum BlueGigaStatus {
@@ -91,7 +90,9 @@ static inline void bluegiga_read_buffer(struct pprz_transport *t)
     // reached end of circular read buffer or message received
     // if received, decode and advance
     if (t->trans_rx.msg_received) {
-      LED_TOGGLE(3);
+#ifdef MODEM_LED
+      LED_TOGGLE(MODEM_LED);
+#endif
       pprz_parse_payload(t);
       t->trans_rx.msg_received = FALSE;
     }
@@ -99,7 +100,7 @@ static inline void bluegiga_read_buffer(struct pprz_transport *t)
   } while (BlueGigaChAvailable()); // continue till all messages read
 }
 
-// transmit previous date in buffer and parse data received
+// transmit previous data in buffer and parse data received
 #define BlueGigaCheckAndParse(_dev,_trans) {      \
     if (BlueGigaChAvailable())                    \
       bluegiga_read_buffer( &(_trans) );          \

sw/airborne/subsystems/datalink/datalink.h

@@ -106,7 +106,7 @@ static inline void DlCheckAndParse(void)
 #elif defined DATALINK && DATALINK == BLUEGIGA
 
 #define DatalinkEvent() {                       \
-    BlueGigaCheckAndParse(BLUEGIGA, pprz_tp);   \
+    BlueGigaCheckAndParse(BLUEGIGA_SPI_DEV, pprz_tp);   \
     DlCheckAndParse();                          \
   }
 

sw/airborne/subsystems/datalink/downlink.h

@@ -46,7 +46,9 @@
 #include "subsystems/datalink/pprzlog_transport.h"
 #include "subsystems/datalink/xbee.h"
 #include "subsystems/datalink/w5100.h"
+#if DATALINK == BLUEGIGA
 #include "subsystems/datalink/bluegiga.h"
+#endif
 #if USE_SUPERBITRF
 #include "subsystems/datalink/superbitrf.h"
 #endif