Implement Spektrum DSM pairing in V2

- Bind control for V2
- Relays and accessory power not supported on V2 hardware

src/modules/px4iofirmware/dsm.c

@@ -243,28 +243,35 @@ dsm_init(const char *device)
 void
 dsm_bind(uint16_t cmd, int pulses)
 {
+#if !(defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4IO_V2))
+	#warning DSM BIND NOT IMPLEMENTED ON UNKNOWN PLATFORM
+#else
 	const uint32_t usart1RxAsOutp =
 		GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10;
 
 	if (dsm_fd < 0)
 		return;
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
-	// XXX implement
-	#warning DSM BIND NOT IMPLEMENTED ON PX4IO V2
-#else
 	switch (cmd) {
 
 	case dsm_bind_power_down:
 
 		/*power down DSM satellite*/
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 		POWER_RELAY1(0);
+#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */
+		POWER_SPEKTRUM(0);
+#endif
 		break;
 
 	case dsm_bind_power_up:
 
 		/*power up DSM satellite*/
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 		POWER_RELAY1(1);
+#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */
+		POWER_SPEKTRUM(1);
+#endif
 		dsm_guess_format(true);
 		break;
 
@@ -387,8 +394,10 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
 		values[channel] = value;
 	}
 
-	if (dsm_channel_shift == 11)
+	if (dsm_channel_shift == 11) {
+		/* Set the 11-bit data indicator */
 		*num_values |= 0x8000;
+	}
 
 	/*
 	 * XXX Note that we may be in failsafe here; we need to work out how to detect that.
@@ -412,7 +421,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
  * Upon receiving a full dsm frame we attempt to decode it.
  *
  * @param[out] values pointer to per channel array of decoded values
- * @param[out] num_values pointer to number of raw channel values returned
+ * @param[out] num_values pointer to number of raw channel values returned, high order bit 0:10 bit data, 1:11 bit data
  * @return true=decoded raw channel values updated, false=no update
  */
 bool

src/modules/px4iofirmware/protocol.h

@@ -165,11 +165,13 @@
 #define PX4IO_P_SETUP_PWM_DEFAULTRATE		3	/* 'low' PWM frame output rate in Hz */
 #define PX4IO_P_SETUP_PWM_ALTRATE		4	/* 'high' PWM frame output rate in Hz */
 
+#if defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 #define PX4IO_P_SETUP_RELAYS			5	/* bitmask of relay/switch outputs, 0 = off, 1 = on */
 #define PX4IO_P_SETUP_RELAYS_POWER1		(1<<0)	/* hardware rev [1] power relay 1 */
 #define PX4IO_P_SETUP_RELAYS_POWER2		(1<<1)	/* hardware rev [1] power relay 2 */
 #define PX4IO_P_SETUP_RELAYS_ACC1		(1<<2)	/* hardware rev [1] accessory power 1 */
 #define PX4IO_P_SETUP_RELAYS_ACC2		(1<<3)	/* hardware rev [1] accessory power 2 */
+#endif
 
 #define PX4IO_P_SETUP_VBATT_SCALE		6	/* hardware rev [1] battery voltage correction factor (float) */
 #define PX4IO_P_SETUP_VSERVO_SCALE		6	/* hardware rev [2] servo voltage correction factor (float) */

src/modules/px4iofirmware/px4io.h

@@ -100,7 +100,9 @@ extern uint16_t			r_page_servo_idle[];	/* PX4IO_PAGE_IDLE_PWM */
 #define r_setup_pwm_rates	r_page_setup[PX4IO_P_SETUP_PWM_RATES]
 #define r_setup_pwm_defaultrate	r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE]
 #define r_setup_pwm_altrate	r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE]
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 #define r_setup_relays		r_page_setup[PX4IO_P_SETUP_RELAYS]
+#endif
 
 #define r_control_values	(&r_page_controls[0])
 

src/modules/px4iofirmware/registers.c

@@ -145,7 +145,9 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_PWM_RATES]		= 0,
 	[PX4IO_P_SETUP_PWM_DEFAULTRATE]		= 50,
 	[PX4IO_P_SETUP_PWM_ALTRATE]		= 200,
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 	[PX4IO_P_SETUP_RELAYS]			= 0,
+#endif
 #ifdef ADC_VSERVO
 	[PX4IO_P_SETUP_VSERVO_SCALE]		= 10000,
 #else
@@ -462,22 +464,16 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
 			break;
 
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 		case PX4IO_P_SETUP_RELAYS:
 			value &= PX4IO_P_SETUP_RELAYS_VALID;
 			r_setup_relays = value;
-#ifdef POWER_RELAY1
 			POWER_RELAY1((value & PX4IO_P_SETUP_RELAYS_POWER1) ? 1 : 0);
-#endif
-#ifdef POWER_RELAY2
 			POWER_RELAY2((value & PX4IO_P_SETUP_RELAYS_POWER2) ? 1 : 0);
-#endif
-#ifdef POWER_ACC1
 			POWER_ACC1((value & PX4IO_P_SETUP_RELAYS_ACC1) ? 1 : 0);
-#endif
-#ifdef POWER_ACC2
 			POWER_ACC2((value & PX4IO_P_SETUP_RELAYS_ACC2) ? 1 : 0);
-#endif
 			break;
+#endif
 
 		case PX4IO_P_SETUP_VBATT_SCALE:
 			r_page_setup[PX4IO_P_SETUP_VBATT_SCALE] = value;

src/modules/sensors/sensor_params.c

@@ -164,8 +164,9 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
 
-
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
+#endif
 PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */
 
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2