MindPX: Support serial RC input.

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -135,6 +135,7 @@ set(config_module_list
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
+	lib/rc
 	lib/ecl
 	lib/external_lgpl
 	lib/geo

nuttx-configs/mindpx-v2/include/board.h

@@ -199,8 +199,8 @@
 /*
  * UARTs.
  */
-#define GPIO_USART1_RX	GPIO_USART1_RX_1	/* console in from IO */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2	/* RC_INPUT */
-#define GPIO_USART1_TX	0			/* USART1 is RX-only */
+#define GPIO_USART1_TX	GPIO_USART1_TX_2
 
 #define GPIO_USART2_RX	GPIO_USART2_RX_2
 #define GPIO_USART2_TX	GPIO_USART2_TX_2
@@ -215,8 +215,8 @@
 #define GPIO_UART4_RX	GPIO_UART4_RX_1
 #define GPIO_UART4_TX	GPIO_UART4_TX_1
 
-#define GPIO_USART6_RX	GPIO_USART6_RX_1
+#define GPIO_USART6_RX	GPIO_USART6_RX_2
-#define GPIO_USART6_TX	GPIO_USART6_TX_1
+#define GPIO_USART6_TX	GPIO_USART6_TX_2
 
 #define GPIO_UART7_RX	GPIO_UART7_RX_1
 #define GPIO_UART7_TX	GPIO_UART7_TX_1

src/drivers/boards/mindpx-v2/board_config.h

@@ -57,17 +57,6 @@
  ****************************************************************************************************/
 /* Configuration ************************************************************************************/
 
-/* PX4IO connection configuration */
-#define PX4IO_SERIAL_DEVICE	"/dev/ttyS4"
-#define PX4IO_SERIAL_TX_GPIO	GPIO_USART6_TX
-#define PX4IO_SERIAL_RX_GPIO	GPIO_USART6_RX
-#define PX4IO_SERIAL_BASE	STM32_USART6_BASE	/* hardwired on the board */
-#define PX4IO_SERIAL_VECTOR	STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP	DMAMAP_USART6_TX_2
-#define PX4IO_SERIAL_RX_DMAMAP	DMAMAP_USART6_RX_2
-#define PX4IO_SERIAL_CLOCK	STM32_PCLK2_FREQUENCY
-#define PX4IO_SERIAL_BITRATE	1500000			/* 1.5Mbps -> max rate for IO */
-
 
 /* PX4FMU GPIOs ***********************************************************************************/
 /* LEDs */
@@ -287,11 +276,27 @@
 
 #define HRT_PPM_CHANNEL		1
 #define GPIO_PPM_IN		GPIO_TIM8_CH1IN_1
+
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER		3
 #define PWMIN_TIMER_CHANNEL	1
 #define GPIO_PWM_IN		GPIO_TIM3_CH1IN_3
 
+#define RC_SERIAL_PORT		"/dev/ttyS0"
+
+#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);
+
+/* 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 BOARD_NAME "MINDPX_V2"
 
 /* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC

src/drivers/boards/mindpx-v2/mindpx2_init.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015, 2016 Airmind Development Team. All rights reserved.
+ *   Copyright (c) 2015, 2016 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
@@ -12,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name Airmind nor the names of its contributors may be
+ * 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.
  *
@@ -183,6 +183,9 @@ __EXPORT int nsh_archinitialize(void)
 	// px4_arch_configgpio(GPIO_VDD_SERVO_VALID);
 	// px4_arch_configgpio(GPIO_VDD_5V_HIPOWER_OC);
 	// px4_arch_configgpio(GPIO_VDD_5V_PERIPH_OC);
+	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 */
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();