AV-X configure default serial on UART5 (J116)

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

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 GPS_DEFAULT_UART_PORT "/dev/ttyS5" /* UART1 on FMUv5 */
+#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" /* UART7 */
 
 /* Power switch controls ******************************************************/
 

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
  *

src/drivers/boards/av-x-v1/manifest.c

+/****************************************************************************
+ *
+ *   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 <px4_config.h>
+#include <stdbool.h>
+#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;
+}