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[Sponsored by Holybro] Support for Kakute H743-Wing (#24669)

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* hrt: Fix PPM input on channel 2

The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2,
which was setting bits for channel 1 instead of channel 2. This prevented
PPM input from functioning properly on channel 2.

Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly
configures the CC2S bits for input capture mode on TI2.

This fixes an issue noted in the existing code comment:
"FIXME! There is an interaction in the CCMR registers that prevents
using Chan 1 as the timer and chan 2 as the PPM"

Tested on STM32H743 with PPM input on PC7 (TIM8_CH2).

* rc_input: enable sharing serial and PPM pin

By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to
use the same pin on the STM32 for PPM input as well as serial input.

* boards: Add support for Holybro KakuteH7-Wing
This commit is contained in:
Julian Oes
2025-05-04 14:44:11 -08:00
committed by GitHub
parent 2fece23c64
commit 3c39095271
31 changed files with 5998 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/rc_input/RCInput.cpp
+30
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@@ -108,6 +108,18 @@ RCInput::init()
#ifdef GPIO_PPM_IN
// disable CPPM input by mapping it away from the timer capture input
px4_arch_unconfiggpio(GPIO_PPM_IN);
#ifdef RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
// If we use the same STM32 pin for PPM input as well as serial input, we
// need to configure the serial port, as long as we're actually using that
// serial device.
if (strcmp(_device, RC_SERIAL_PORT) == 0) {
px4_arch_configgpio(RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX);
}
#endif // RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
#endif // GPIO_PPM_IN
rc_io_invert(false);
@@ -661,6 +673,15 @@ void RCInput::Run()
#ifdef HRT_PPM_CHANNEL
if (_rc_scan_begin == 0) {
_rc_scan_begin = cycle_timestamp;
#ifdef RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
if (strcmp(_device, RC_SERIAL_PORT) == 0) {
px4_arch_unconfiggpio(RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX);
}
#endif // RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
// Configure timer input pin for CPPM
px4_arch_configgpio(GPIO_PPM_IN);
@@ -684,6 +705,15 @@ void RCInput::Run()
} else {
// disable CPPM input by mapping it away from the timer capture input
px4_arch_unconfiggpio(GPIO_PPM_IN);
#ifdef RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
if (strcmp(_device, RC_SERIAL_PORT) == 0) {
px4_arch_configgpio(RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX);
}
#endif // RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX
// Scan the next protocol
set_rc_scan_state(RC_SCAN_CRSF);
}