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boards: simplify RC port configuration by using NuttX ioctl's

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A board only needs to define:
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

Then it can optionally define one or more of the following:
 #define RC_SERIAL_SWAP_RXTX
 #define RC_SERIAL_SINGLEWIRE
 #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
This commit is contained in:
Beat Küng
2019-07-11 10:16:55 +02:00
parent 9a1ad97c11
commit b7a0e1ef03
18 changed files with 149 additions and 317 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
boards/airmind/mindpx-v2/src/board_config.h
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@@ -271,7 +271,7 @@
// #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 BOARD_INVERT_RC_INPUT(_invert_true, _na) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
#define RC_INVERT_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(_invert_true) px4_arch_gpiowrite(GPIO_FRSKY_INV, _invert_true);

3
boards/av/x-v1/nuttx-config/nsh/defconfig
View File

@@ -226,6 +226,9 @@ CONFIG_STM32F7_USART2=y
CONFIG_STM32F7_USART3=y
CONFIG_STM32F7_USART6=y
CONFIG_STM32F7_USART_BREAKS=y
CONFIG_STM32F7_USART_INVERT=y
CONFIG_STM32F7_USART_SINGLEWIRE=y
CONFIG_STM32F7_USART_SWAP=y
CONFIG_STM32F7_WWDG=y
CONFIG_SYSTEM_NSH=y
CONFIG_SYSTEM_PING=y

1
boards/av/x-v1/src/CMakeLists.txt
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@@ -33,7 +33,6 @@
add_library(drivers_board
init.c
manifest.c
sdio.c
spi.cpp
timer_config.c

5
boards/av/x-v1/src/board_config.h
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@@ -268,12 +268,7 @@
/* RC Serial port */
#define RC_UXART_BASE STM32_UART5_BASE
#define RC_SERIAL_PORT "/dev/ttyS4"
#define BOARD_HAS_SINGLE_WIRE 0 /* HW is capable of Single Wire */
#define BOARD_HAS_SINGLE_WIRE_ON_TX 0 /* HW default is wired as Single Wire On TX pin */
#define BOARD_HAS_RX_TX_SWAP 0 /* HW Can swap TX and RX */
#define RC_SERIAL_PORT_IS_SWAPED 0 /* Board wired with RC's TX is on cpu RX */
/* Power switch controls ******************************************************/

45
boards/av/x-v1/src/init.c
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@@ -75,51 +75,6 @@
static int configure_switch(void);
/************************************************************************************
* Name: board_rc_input
*
* Description:
* All boards my optionally provide this API to invert the Serial RC input.
* This is needed on SoCs that support the notion RXINV or TXINV as apposed to
* and external XOR controlled by a GPIO
*
************************************************************************************/
__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base)
{
irqstate_t irqstate = px4_enter_critical_section();
uint32_t cr1 = getreg32(STM32_USART_CR1_OFFSET + uxart_base);
uint32_t cr2 = getreg32(STM32_USART_CR2_OFFSET + uxart_base);
uint32_t regval = cr1;
/* {R|T}XINV bit fields can only be written when the USART is disabled (UE=0). */
regval &= ~USART_CR1_UE;
putreg32(regval, STM32_USART_CR1_OFFSET + uxart_base);
if (invert_on) {
#if defined(BOARD_HAS_RX_TX_SWAP) && RC_SERIAL_PORT_IS_SWAPED == 1
/* This is only ever turned on */
cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV | USART_CR2_SWAP);
#else
cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV);
#endif
} else {
cr2 &= ~(USART_CR2_RXINV | USART_CR2_TXINV);
}
putreg32(cr2, STM32_USART_CR2_OFFSET + uxart_base);
putreg32(cr1, STM32_USART_CR1_OFFSET + uxart_base);
leave_critical_section(irqstate);
}
/************************************************************************************
* Name: board_on_reset
*

67
boards/av/x-v1/src/manifest.c
View File

@@ -1,67 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file manifest.c
*
* This module supplies the interface to the manifest of hardware that is
* optional and dependent on the HW REV and HW VER IDs
*
* The manifest allows the system to know whether a hardware option
* say for example the PX4IO is an no-pop option vs it is broken.
*
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <board_config.h>
#include <stdbool.h>
#include "systemlib/px4_macros.h"
/************************************************************************************
* Name: board_rc_input
*
* Description:
* All boards my optionally provide this API to invert the Serial RC input.
* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
* and external XOR controlled by a GPIO
*
************************************************************************************/
__EXPORT bool board_supports_single_wire(uint32_t uxart_base)
{
return uxart_base == RC_UXART_BASE;
}

1
boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
View File

@@ -89,6 +89,7 @@ CONFIG_KINETIS_UART4_RXDMA=y
CONFIG_KINETIS_UARTFIFOS=y
CONFIG_KINETIS_UART_BREAKS=y
CONFIG_KINETIS_UART_EXTEDED_BREAK=y
CONFIG_KINETIS_UART_INVERT=y
CONFIG_KINETIS_USBDCD=y
CONFIG_KINETS_LPUART_LOWEST=y
CONFIG_LIBC_FLOATINGPOINT=y

1
boards/nxp/fmuk66-v3/src/board_config.h
View File

@@ -130,7 +130,6 @@ __BEGIN_DECLS
/* RC input */
#define RC_UXART_BASE KINETIS_UART1_BASE
#define RC_SERIAL_PORT "/dev/ttyS2" /* UART1 */
#define GPIO_RSSI_IN PIN_ADC1_SE13

35
boards/nxp/fmuk66-v3/src/init.c
View File

@@ -140,41 +140,6 @@ int board_read_VBUS_state(void)
return BOARD_ADC_USB_CONNECTED ? 0 : 1;
}
/************************************************************************************
* Name: board_rc_input
*
* Description:
* All boards my optionally provide this API to invert the Serial RC input.
* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
* and external XOR controlled by a GPIO
*
************************************************************************************/
__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base)
{
irqstate_t irqstate = px4_enter_critical_section();
uint8_t s2 = getreg8(KINETIS_UART_S2_OFFSET + uxart_base);
uint8_t c3 = getreg8(KINETIS_UART_C3_OFFSET + uxart_base);
/* {R|T}XINV bit fields can written any time */
if (invert_on) {
s2 |= (UART_S2_RXINV);
c3 |= (UART_C3_TXINV);
} else {
s2 &= ~(UART_S2_RXINV);
c3 &= ~(UART_C3_TXINV);
}
putreg8(s2, KINETIS_UART_S2_OFFSET + uxart_base);
putreg8(c3, KINETIS_UART_C3_OFFSET + uxart_base);
leave_critical_section(irqstate);
}
/************************************************************************************
* Name: board_peripheral_reset
*

2
boards/px4/fmu-v4/src/board_config.h
View File

@@ -306,7 +306,7 @@
/* 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 BOARD_INVERT_RC_INPUT(_invert_true, _na) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
#define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)

1
boards/px4/fmu-v4pro/src/board_config.h
View File

@@ -306,7 +306,6 @@
*/
#define GPIO_BTN_SAFETY_FMU (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4)
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define BOARD_INVERT_RC_INPUT(_invert_true, _na) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
#define GPIO_8266_GPIO0 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
//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)

2
boards/px4/fmu-v5/nuttx-config/nsh/defconfig
View File

@@ -205,7 +205,9 @@ CONFIG_STM32F7_USART2=y
CONFIG_STM32F7_USART3=y
CONFIG_STM32F7_USART6=y
CONFIG_STM32F7_USART_BREAKS=y
CONFIG_STM32F7_USART_INVERT=y
CONFIG_STM32F7_USART_SINGLEWIRE=y
CONFIG_STM32F7_USART_SWAP=y
CONFIG_STM32F7_WWDG=y
CONFIG_SYSTEM_CDCACM=y
CONFIG_SYSTEM_NSH=y

6
boards/px4/fmu-v5/src/board_config.h
View File

@@ -496,12 +496,8 @@
/* RC Serial port */
#define RC_UXART_BASE STM32_USART6_BASE
#define RC_SERIAL_PORT "/dev/ttyS4"
#define BOARD_HAS_SINGLE_WIRE 1 /* HW is capable of Single Wire */
#define BOARD_HAS_SINGLE_WIRE_ON_TX 1 /* HW default is wired as Single Wire On TX pin */
#define BOARD_HAS_RX_TX_SWAP 1 /* HW Can swap TX and RX */
#define RC_SERIAL_PORT_IS_SWAPED 0 /* Board wired with RC's TX is on cpu RX */
#define RC_SERIAL_SINGLEWIRE
/* Input Capture Channels. */
#define INPUT_CAP1_TIMER 2

45
boards/px4/fmu-v5/src/init.c
View File

@@ -91,51 +91,6 @@ extern void led_off(int led);
__END_DECLS
/************************************************************************************
* Name: board_rc_input
*
* Description:
* All boards my optionally provide this API to invert the Serial RC input.
* This is needed on SoCs that support the notion RXINV or TXINV as apposed to
* and external XOR controlled by a GPIO
*
************************************************************************************/
__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base)
{
irqstate_t irqstate = px4_enter_critical_section();
uint32_t cr1 = getreg32(STM32_USART_CR1_OFFSET + uxart_base);
uint32_t cr2 = getreg32(STM32_USART_CR2_OFFSET + uxart_base);
uint32_t regval = cr1;
/* {R|T}XINV bit fields can only be written when the USART is disabled (UE=0). */
regval &= ~USART_CR1_UE;
putreg32(regval, STM32_USART_CR1_OFFSET + uxart_base);
if (invert_on) {
#if defined(BOARD_HAS_RX_TX_SWAP) && RC_SERIAL_PORT_IS_SWAPED == 1
/* This is only ever turned on */
cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV | USART_CR2_SWAP);
#else
cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV);
#endif
} else {
cr2 &= ~(USART_CR2_RXINV | USART_CR2_TXINV);
}
putreg32(cr2, STM32_USART_CR2_OFFSET + uxart_base);
putreg32(cr1, STM32_USART_CR1_OFFSET + uxart_base);
leave_critical_section(irqstate);
}
/************************************************************************************
* Name: board_peripheral_reset
*

14
boards/px4/fmu-v5/src/manifest.c
View File

@@ -96,20 +96,6 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
};
/************************************************************************************
* Name: board_rc_input
*
* Description:
* All boards my optionally provide this API to invert the Serial RC input.
* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
* and external XOR controlled by a GPIO
*
************************************************************************************/
__EXPORT bool board_supports_single_wire(uint32_t uxart_base)
{
return uxart_base == RC_UXART_BASE;
}
/************************************************************************************
* Name: board_query_manifest
*