diff --git a/src/drivers/boards/av-x-v1/CMakeLists.txt b/src/drivers/boards/av-x-v1/CMakeLists.txt index 69bf82f6a8..360e888a5e 100644 --- a/src/drivers/boards/av-x-v1/CMakeLists.txt +++ b/src/drivers/boards/av-x-v1/CMakeLists.txt @@ -33,6 +33,7 @@ px4_add_library(drivers_board init.c + manifest.c sdio.c spi.c timer_config.c diff --git a/src/drivers/boards/av-x-v1/board_config.h b/src/drivers/boards/av-x-v1/board_config.h index 8dcb410e8f..95e9d72a3c 100644 --- a/src/drivers/boards/av-x-v1/board_config.h +++ b/src/drivers/boards/av-x-v1/board_config.h @@ -314,10 +314,14 @@ #define HRT_TIMER 5 /* use timer5 for the HRT */ #define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */ -//#define RC_UXART_BASE STM32_USART6_BASE /* NOT FMUv5 test HW ONLY*/ -//#define RC_SERIAL_PORT "/dev/ttyS4" +#define RC_UXART_BASE STM32_UART5_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 GPS_DEFAULT_UART_PORT "/dev/ttyS5" /* UART1 on FMUv5 */ +#define GPS_DEFAULT_UART_PORT "/dev/ttyS5" /* UART7 */ /* Power switch controls ******************************************************/ diff --git a/src/drivers/boards/av-x-v1/init.c b/src/drivers/boards/av-x-v1/init.c index e66ed8f5ce..42ebae310e 100644 --- a/src/drivers/boards/av-x-v1/init.c +++ b/src/drivers/boards/av-x-v1/init.c @@ -85,6 +85,51 @@ #include "up_internal.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 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 * diff --git a/src/drivers/boards/av-x-v1/manifest.c b/src/drivers/boards/av-x-v1/manifest.c new file mode 100644 index 0000000000..ff3d87b94d --- /dev/null +++ b/src/drivers/boards/av-x-v1/manifest.c @@ -0,0 +1,66 @@ +/**************************************************************************** + * + * 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 +#include +#include "systemlib/px4_macros.h" +#include "px4_log.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; +}