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

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)
PX4 · Jul 16, 2019 · b7a0e1e · b7a0e1e
1 parent 9a1ad97
commit b7a0e1e
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Showing 18 changed files with 139 additions and 307 deletions.
diff --git a/boards/airmind/mindpx-v2/src/board_config.h b/boards/airmind/mindpx-v2/src/board_config.h
@@ -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);

diff --git a/boards/av/x-v1/nuttx-config/nsh/defconfig b/boards/av/x-v1/nuttx-config/nsh/defconfig
@@ -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

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

diff --git a/boards/av/x-v1/src/board_config.h b/boards/av/x-v1/src/board_config.h
@@ -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 ******************************************************/
 

diff --git a/boards/av/x-v1/src/init.c b/boards/av/x-v1/src/init.c
@@ -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
  *

diff --git a/boards/av/x-v1/src/manifest.c b/boards/av/x-v1/src/manifest.c
diff --git a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
@@ -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

diff --git a/boards/nxp/fmuk66-v3/src/board_config.h b/boards/nxp/fmuk66-v3/src/board_config.h
@@ -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
 

diff --git a/boards/nxp/fmuk66-v3/src/init.c b/boards/nxp/fmuk66-v3/src/init.c
@@ -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
  *

diff --git a/boards/px4/fmu-v4/src/board_config.h b/boards/px4/fmu-v4/src/board_config.h
@@ -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)
 

diff --git a/boards/px4/fmu-v4pro/src/board_config.h b/boards/px4/fmu-v4pro/src/board_config.h
@@ -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)

diff --git a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
@@ -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

diff --git a/boards/px4/fmu-v5/src/board_config.h b/boards/px4/fmu-v5/src/board_config.h
@@ -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

diff --git a/boards/px4/fmu-v5/src/init.c b/boards/px4/fmu-v5/src/init.c
@@ -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
  *

diff --git a/boards/px4/fmu-v5/src/manifest.c b/boards/px4/fmu-v5/src/manifest.c
@@ -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
  *
-Original file line number
+Diff line change
@@ Expand Up / @@ -33,7 +33,6 @@ @@
     add_library(drivers_board
     	init.c
-    	manifest.c
     	sdio.c
     	spi.cpp
     	timer_config.c
@@ Expand Down @@