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Refactor board level RC_IN definitions and useage #6777

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merged 12 commits into from Mar 31, 2017
Merged

Refactor board level RC_IN definitions and useage #6777

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0848680
tap-v1 Remove GPIO_RC_OUT and vetted RC_IN wiring
Mar 11, 2017
f2ff4a3
fmu: Remove Legacy FMUv4 and use the abstaction SPEKTRUM_POWER
Mar 11, 2017
f4dbd0c
dsm Use the abstaction SPEKTRUM_POWER to enable the interface
Mar 11, 2017
fab88d3
mindpx-v2 Remove GPIO_RC_OUT and vetted RC_IN wiring
Mar 11, 2017
f838dc4
px4fmu-v4 Remove GPIO_RC_OUT and vetted RC_IN wiring
Mar 11, 2017
81722ed
px4fmu-v4pro Remove GPIO_RC_OUT and vetted RC_IN wiring
Mar 11, 2017
ac79487
px4fmu-v5 Remove GPIO_RC_OUT and vetted RC_IN wiring
Mar 11, 2017
283507f
px4io-v1 Remove GPIO_RC_OUT and vetted RC_IN wiring
Mar 11, 2017
f79e8cc
px4io-v2 Remove GPIO_RC_OUT and vetted RC_IN wiring
Mar 11, 2017
58ab63a
px4nucleoF767ZI-v1 Remove GPIO_RC_OUT and vetted RC_IN wiring
Mar 11, 2017
04a837a
aerofc-v1 Remove GPIO_RC_OUT and vetted RC_IN wiring
Mar 11, 2017
b472201
Removed all SPEKTUM Power and Bind Control
Mar 13, 2017
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2 changes: 1 addition & 1 deletion src/drivers/boards/aerofc-v1/board_config.h
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Expand Up @@ -124,7 +124,7 @@
/* RC Serial port
*/
#define RC_SERIAL_PORT "/dev/ttyS3"
#define INVERT_RC_INPUT(_s) while(0)
#define INVERT_RC_INPUT(_invert_true) while(0)

/* High-resolution timer
*/
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33 changes: 20 additions & 13 deletions src/drivers/boards/mindpx-v2/board_config.h
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Expand Up @@ -276,22 +276,29 @@

#define RC_SERIAL_PORT "/dev/ttyS0"

// #define GPIO_RSSI_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
#define INVERT_RC_INPUT(_s) px4_arch_gpiowrite(GPIO_SBUS_INV, _s);
// #define GPIO_RSSI_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
#define INVERT_RC_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);

#define GPIO_FRSKY_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
#define INVERT_FRSKY(_s) px4_arch_gpiowrite(GPIO_FRSKY_INV, _s);
#define GPIO_FRSKY_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
#define INVERT_FRSKY(_invert_true) px4_arch_gpiowrite(GPIO_FRSKY_INV, _invert_true);

/* Power switch controls */
#define GPIO_SPEKTRUM_PWR_EN
#define POWER_SPEKTRUM(_s) do { } while (0)
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)

/* MindPXv2 has a separate GPIO for serial RC output */
#define GPIO_RC_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
#define SPEKTRUM_RX_AS_GPIO() px4_arch_configgpio(GPIO_RC_OUT)
#define SPEKTRUM_RX_HIGH(_s) px4_arch_gpiowrite(GPIO_RC_OUT, (_s))
#define SPEKTRUM_POWER(_on_true) do { } while (0)

/*
* MindPXv2 has one RC_IN
*
* GPIO PPM_IN on PC6 T8CH1
* SPEKTRUM_RX (it's TX or RX in Bind) on PC6 UART1
* Inversion is possible via the 74LVC2G86 controlled by the FMU
* The FMU can drive GPIO PPM_IN as an output
*/

#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

#define BOARD_NAME "MINDPX_V2"

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2 changes: 0 additions & 2 deletions src/drivers/boards/mindpx-v2/mindpx2_init.c
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Expand Up @@ -152,8 +152,6 @@ stm32_boardinitialize(void)
/* configure power supply control/sense pins */

px4_arch_configgpio(GPIO_SBUS_INV);
px4_arch_configgpio(GPIO_RC_OUT); /* Serial RC output pin */
px4_arch_gpiowrite(GPIO_RC_OUT, 1); /* set it high to pull RC input up */
px4_arch_configgpio(GPIO_FRSKY_INV);

/* configure the GPIO pins to outputs and keep them low */
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27 changes: 17 additions & 10 deletions src/drivers/boards/px4fmu-v4/board_config.h
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Expand Up @@ -236,10 +236,10 @@
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)

/* High-resolution timer */
#define HRT_TIMER 3 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel */
#define HRT_TIMER 3 /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */

#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

#define RC_SERIAL_PORT "/dev/ttyS4"
Expand All @@ -255,7 +255,7 @@
#define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
/* for R12, this signal is active high */
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define INVERT_RC_INPUT(_s) px4_arch_gpiowrite(GPIO_SBUS_INV, _s)
#define INVERT_RC_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)

#define GPIO_8266_GPIO0 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
Expand All @@ -264,14 +264,21 @@

/* Power switch controls ******************************************************/

#define POWER_SPEKTRUM(_s) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))

// FMUv4 has a separate GPIO for serial RC output
#define GPIO_RC_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define SPEKTRUM_RX_AS_GPIO() px4_arch_configgpio(GPIO_RC_OUT)
#define SPEKTRUM_RX_HIGH(_s) px4_arch_gpiowrite(GPIO_RC_OUT, (_s))
/*
* FMUv4 has separate RC_IN
*
* GPIO PPM_IN on PB0 T3C3
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
* Inversion is possible via the 74LVC2G86 controlled by the FMU
* The FMU can drive GPIO PPM_IN as an output
*/

#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

#define BOARD_NAME "PX4FMU_V4"

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5 changes: 0 additions & 5 deletions src/drivers/boards/px4fmu-v4/px4fmu_init.c
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Expand Up @@ -182,11 +182,6 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_8266_RST);
stm32_configgpio(GPIO_BTN_SAFETY);

#ifdef GPIO_RC_OUT
stm32_configgpio(GPIO_RC_OUT); /* Serial RC output pin */
stm32_gpiowrite(GPIO_RC_OUT, 1); /* set it high to pull RC input up */
#endif

/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
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30 changes: 12 additions & 18 deletions src/drivers/boards/px4fmu-v4pro/board_config.h
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Expand Up @@ -283,39 +283,33 @@ __BEGIN_DECLS
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)

/* High-resolution timer */
#define HRT_TIMER 3 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel */
#define HRT_TIMER 3 /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */

#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 2 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

//#define RC_SERIAL_PORT "/dev/ttyS4"

/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL 2
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL 2
#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2

#define GPIO_RSSI_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
#define GPIO_BTN_SAFETY_FMU (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define INVERT_RC_INPUT(_s) px4_arch_gpiowrite(GPIO_SBUS_INV, _s)
#define INVERT_RC_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)

#define GPIO_8266_GPIO0 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
//TODO:VET#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
//TODO: fo not see on schematic #define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
#define GPIO_8266_PD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
#define GPIO_8266_RST (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)

/* Power switch controls ******************************************************/

#define POWER_SPEKTRUM(_s) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)

// FMUv4-pro has a separate GPIO for serial RC output
#define GPIO_RC_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define SPEKTRUM_RX_AS_GPIO() px4_arch_configgpio(GPIO_RC_OUT)
#define SPEKTRUM_RX_HIGH(_s) px4_arch_gpiowrite(GPIO_RC_OUT, (_s))

/* No Power switch controls or binding control *********************************************
* V4 Pro does not have control to bind SPEKTRUM - there is only 5V VCC on
* the connector interface and Spektrum requires VDD 3v3 to be controllable
*/

#define BOARD_NAME "PX4FMU_V4PRO"

Expand Down
5 changes: 0 additions & 5 deletions src/drivers/boards/px4fmu-v4pro/px4fmu_init.c
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Expand Up @@ -196,11 +196,6 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_8266_RST);
stm32_configgpio(GPIO_BTN_SAFETY_FMU);

#ifdef GPIO_RC_OUT
stm32_configgpio(GPIO_RC_OUT); /* Serial RC output pin */
stm32_gpiowrite(GPIO_RC_OUT, 1); /* set it high to pull RC input up */
#endif

/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
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22 changes: 15 additions & 7 deletions src/drivers/boards/px4fmu-v5/board_config.h
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Expand Up @@ -338,18 +338,26 @@ __BEGIN_DECLS
#define GPIO_LED_SAFETY /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
#define GPIO_BTN_SAFETY /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)

#define INVERT_RC_INPUT(_s) board_rc_input(_s);
#define INVERT_RC_INPUT(_invert_true) board_rc_input(_invert_true);


/* Power switch controls ******************************************************/

#define POWER_SPEKTRUM(_s) px4_arch_gpiowrite(GPIO_SPEKTRUM_POWER_EN, (1-_s))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART6_RX) /* NOT FMUv5 test HW ONLY*/
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_POWER_EN, (_on_true))

// FMUv5 has a separate GPIO for serial RC output
#define GPIO_RC_OUT /* PG9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN9)
#define SPEKTRUM_RX_AS_GPIO() px4_arch_configgpio(GPIO_RC_OUT)
#define SPEKTRUM_RX_HIGH(_s) px4_arch_gpiowrite(GPIO_RC_OUT, (_s))
/*
* FMUv5 has a separate RC_IN
*
* GPIO PPM_IN on PI5 T8CH1
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
* In version is possible in the UART
* and can drive GPIO PPM_IN as an output
*/

#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

#define SDIO_SLOTNO 0 /* Only one slot */
#define SDIO_MINOR 0
Expand Down
4 changes: 0 additions & 4 deletions src/drivers/boards/px4fmu-v5/px4fmu_init.c
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Expand Up @@ -257,10 +257,6 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_LED_SAFETY);
stm32_configgpio(GPIO_BTN_SAFETY);

#ifdef GPIO_RC_OUT
stm32_configgpio(GPIO_RC_OUT); /* Serial RC output pin */
#endif

/* configure SPI interfaces */
stm32_spiinitialize();

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8 changes: 4 additions & 4 deletions src/drivers/boards/px4io-v1/board_config.h
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Expand Up @@ -80,11 +80,11 @@
#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11)

#define GPIO_SPEKTRUM_PWR_EN GPIO_RELAY1_EN
#define POWER_SPEKTRUM(_s) px4_arch_gpiowrite(GPIO_RELAY1_EN, (_s))
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_RELAY1_EN, (_on_true))

#define SPEKTRUM_RX_HIGH(_s) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_RX_AS_GPIO() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)

/* Analog inputs ********************************************************************/

Expand Down
10 changes: 5 additions & 5 deletions src/drivers/boards/px4io-v2/board_config.h
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Expand Up @@ -83,12 +83,12 @@

/* Power switch controls ******************************************************/

#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define POWER_SPEKTRUM(_s) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true))

#define SPEKTRUM_RX_HIGH(_s) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_RX_AS_GPIO() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)

#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)

Expand Down
27 changes: 20 additions & 7 deletions src/drivers/boards/px4nucleoF767ZI-v1/board_config.h
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Expand Up @@ -252,6 +252,7 @@ __BEGIN_DECLS
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */

//todo:Needs to be moved to T14C1
#define HRT_PPM_CHANNEL /* PA7[CN12-15] */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PB0[CN11-34] */ GPIO_TIM3_CH3IN_1

Expand All @@ -268,7 +269,7 @@ __BEGIN_DECLS
#define GPIO_PERIPH_3V3_EN /* PG4[CN12-69] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)

#define GPIO_SBUS_INV /* PD10[CN12-65] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define INVERT_RC_INPUT(_s) px4_arch_gpiowrite(GPIO_SBUS_INV, _s);
#define INVERT_RC_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);

#define GPIO_8266_GPIO0 /* PD15[CN12-48] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
#define GPIO_SPEKTRUM_PWR_EN /* PE4[CN11-48] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
Expand All @@ -279,13 +280,25 @@ __BEGIN_DECLS

/* Power switch controls ******************************************************/

#define POWER_SPEKTRUM(_s) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))

/*
* FMUv5 has a separate RC_IN
*
* N.B. px4nucleoF767ZI-v1 is Deprecated - for Reference only
* These interfaces can not be realized with this HW without
* more work.
*
* GPIO PPM_IN on PA7 T14C1
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
* Inversion is possible in the UART
* FMU can drive GPIO PPM_IN as an output
*/
#define GPIO_PPM_IN_AS_OUT /* PE5[CN11-50] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

// FMUv4 has a separate GPIO for serial RC output
#define GPIO_RC_OUT /* PE5[CN11-50] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
#define SPEKTRUM_RX_AS_GPIO() px4_arch_configgpio(GPIO_RC_OUT)
#define SPEKTRUM_RX_HIGH(_s) px4_arch_gpiowrite(GPIO_RC_OUT, (_s))

#define SDIO_SLOTNO 0 /* Only one slot */
#define SDIO_MINOR 0
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5 changes: 0 additions & 5 deletions src/drivers/boards/px4nucleoF767ZI-v1/px4nucleo_init.c
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Expand Up @@ -187,11 +187,6 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_8266_RST);
stm32_configgpio(GPIO_BTN_SAFETY);

#ifdef GPIO_RC_OUT
stm32_configgpio(GPIO_RC_OUT); /* Serial RC output pin */
stm32_gpiowrite(GPIO_RC_OUT, 1); /* set it high to pull RC input up */
#endif

/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
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2 changes: 1 addition & 1 deletion src/drivers/boards/tap-v1/board_config.h
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Expand Up @@ -200,7 +200,7 @@
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN9)

#define RC_SERIAL_PORT "/dev/ttyS5"
#define INVERT_RC_INPUT(_s) while(0)
#define INVERT_RC_INPUT(_invert_true) while(0)

/* High-resolution timer
*/
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11 changes: 1 addition & 10 deletions src/drivers/px4fmu/fmu.cpp
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Expand Up @@ -941,15 +941,6 @@ void PX4FMU::set_rc_scan_state(RC_SCAN newState)
void PX4FMU::rc_io_invert(bool invert)
{
INVERT_RC_INPUT(invert);

#ifdef GPIO_RC_OUT

if (!invert) {
// set FMU_RC_OUTPUT high to pull RC_INPUT up
px4_arch_gpiowrite(GPIO_RC_OUT, 1);
}

#endif
}
#endif

Expand Down Expand Up @@ -2288,7 +2279,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}

#ifdef GPIO_SPEKTRUM_PWR_EN
#ifdef SPEKTRUM_POWER

case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
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