Added Spektrum SPI driver.

src/main/drivers/rx/rx_a7105.c

@@ -56,14 +56,15 @@ void A7105Init(uint32_t id, IO_t extiPin, IO_t txEnPin)
 {
     spiDeviceByInstance(RX_SPI_INSTANCE);
     rxIntIO = extiPin; /* config receiver IRQ pin */
-    IOInit(rxIntIO, OWNER_RX_SPI, 0);
+    IOInit(rxIntIO, OWNER_RX_SPI_EXTI, 0);
     EXTIHandlerInit(&a7105extiCallbackRec, a7105extiHandler);
     EXTIConfig(rxIntIO, &a7105extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IPD, EXTI_TRIGGER_RISING);
     EXTIEnable(rxIntIO, false);
 
     if (txEnPin) {
         txEnIO = txEnPin;
-        IOInit(txEnIO, OWNER_RX_SPI_CS, 0);
+        //TODO: Create resource for this if it ever gets used
+        IOInit(txEnIO, OWNER_RX_SPI_CC2500_TX_EN, 0);
         IOConfigGPIO(txEnIO, IOCFG_OUT_PP);
     } else {
         txEnIO = IO_NONE;

src/main/drivers/rx/rx_cyrf6936.c

@@ -69,11 +69,11 @@ bool cyrf6936RxFinished(uint32_t *timeStamp)
     return false;
 }
 
-bool cyrf6936Init(void)
+bool cyrf6936Init(IO_t extiPin)
 {
     spiDeviceByInstance(RX_SPI_INSTANCE);
-    rxIntIO = IOGetByTag(IO_TAG(RX_EXTI_PIN));
+    rxIntIO = extiPin;
-    IOInit(rxIntIO, OWNER_RX_SPI_CS, 0);
+    IOInit(rxIntIO, OWNER_RX_SPI_EXTI, 0);
     EXTIHandlerInit(&cyrf6936extiCallbackRec, cyrf6936ExtiHandler);
     EXTIConfig(rxIntIO, &cyrf6936extiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IPD, EXTI_TRIGGER_FALLING);
     EXTIEnable(rxIntIO, false);

src/main/drivers/rx/rx_cyrf6936.h

@@ -203,7 +203,7 @@ enum {
 
 extern volatile bool isError;
 
-bool cyrf6936Init(void);
+bool cyrf6936Init(IO_t extiPin);
 
 bool cyrf6936RxFinished(uint32_t *timeStamp);
 
@@ -223,4 +223,4 @@ void cyrf6936SetDataCode(const uint8_t *datacode);
 
 void cyrf6936SendLen(const uint8_t *data, const uint8_t length);
 void cyrf6936StartRecv(void);
-void cyrf6936RecvLen(uint8_t *data, const uint8_t length);
+void cyrf6936RecvLen(uint8_t *data, const uint8_t length);

src/main/pg/rx_spi_cc2500.h

@@ -30,7 +30,7 @@ typedef enum {
   FRSKY_SPI_A1_SOURCE_CONST
 } frSkySpiA1Source_e;
 
-typedef struct rxFrSkySpiConfig_s {
+typedef struct rxCc2500SpiConfig_s {
     uint8_t autoBind;
     uint8_t bindTxId[2];
     int8_t  bindOffset;

src/main/rx/cc2500_common.c

@@ -133,19 +133,19 @@ bool cc2500SpiInit(void)
         return false;
     }
 
-    IOInit(gdoPin, OWNER_RX_SPI, 0);
+    IOInit(gdoPin, OWNER_RX_SPI_EXTI, 0);
     IOConfigGPIO(gdoPin, IOCFG_IN_FLOATING);
 #if defined(USE_RX_CC2500_SPI_PA_LNA)
     if (rxCc2500SpiConfig()->lnaEnIoTag) {
         rxLnaEnPin = IOGetByTag(rxCc2500SpiConfig()->lnaEnIoTag);
-        IOInit(rxLnaEnPin, OWNER_RX_SPI, 0);
+        IOInit(rxLnaEnPin, OWNER_RX_SPI_CC2500_LNA_EN, 0);
         IOConfigGPIO(rxLnaEnPin, IOCFG_OUT_PP);
 
         IOHi(rxLnaEnPin); // always on at the moment
     }
     if (rxCc2500SpiConfig()->txEnIoTag) {
         txEnPin = IOGetByTag(rxCc2500SpiConfig()->txEnIoTag);
-        IOInit(txEnPin, OWNER_RX_SPI, 0);
+        IOInit(txEnPin, OWNER_RX_SPI_CC2500_TX_EN, 0);
         IOConfigGPIO(txEnPin, IOCFG_OUT_PP);
     } else {
         txEnPin = IO_NONE;
@@ -153,7 +153,7 @@ bool cc2500SpiInit(void)
 #if defined(USE_RX_CC2500_SPI_DIVERSITY)
     if (rxCc2500SpiConfig()->antSelIoTag) {
         antSelPin = IOGetByTag(rxCc2500SpiConfig()->antSelIoTag);
-        IOInit(antSelPin, OWNER_RX_SPI, 0);
+        IOInit(antSelPin, OWNER_RX_SPI_CC2500_ANT_SEL, 0);
         IOConfigGPIO(antSelPin, IOCFG_OUT_PP);
 
         IOHi(antSelPin);

src/main/rx/cyrf6936_spektrum.c

@@ -374,11 +374,16 @@ static void dsmReceiverStartTransfer(void)
 
 bool spektrumSpiInit(const struct rxSpiConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig)
 {
+    IO_t extiPin = IOGetByTag(rxConfig->extiIoTag);
+    if (!extiPin) {
+        return false;
+    }
+
     rxSpiCommonIOInit(rxConfig);
 
     rxRuntimeConfig->channelCount = DSM_MAX_CHANNEL_COUNT;
 
-    if (!cyrf6936Init()) {
+    if (!cyrf6936Init(extiPin)) {
         return false;
     }
 
@@ -607,4 +612,4 @@ rx_spi_received_e spektrumSpiDataReceived(uint8_t *payload)
     return result;
 }
 
-#endif /* USE_RX_SPEKTRUM */
+#endif /* USE_RX_SPEKTRUM */

src/main/target/CJMCU/target.h

@@ -67,7 +67,7 @@
 // Nordic Semiconductor uses 'CSN', STM uses 'NSS'
 #define RX_CE_PIN               PA4
 #define RX_NSS_PIN              PA11
-#define RX_EXTI_PIN             PA8
+#define RX_SPI_EXTI_PIN         PA8
 // CJMCU has NSS on PA11, rather than the standard PA4
 #define SPI1_NSS_PIN            RX_NSS_PIN
 

src/main/target/CRAZYBEEF3FR/target.h

@@ -117,7 +117,7 @@
 #define FLYSKY_2A_CHANNEL_COUNT 14
 #define RX_SPI_INSTANCE         SPI2
 #define RX_NSS_PIN              SPI2_NSS_PIN
-#define RX_EXTI_PIN             PA8
+#define RX_SPI_EXTI_PIN         PA8
 #define BINDPLUG_PIN            PA9
 #define RX_SPI_LED_PIN          PA10
 #define DEFAULT_FEATURES        (FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_MOTOR_STOP)

src/main/target/EACHIF3/target.h

@@ -58,7 +58,7 @@
 #define FLYSKY_2A_CHANNEL_COUNT 10
 
 #define RX_SPI_INSTANCE         SPI2
-#define RX_EXTI_PIN             PB12
+#define RX_SPI_EXTI_PIN         PB12
 #define SPI2_NSS_PIN            PA4
 #define SPI2_SCK_PIN            PB13
 #define SPI2_MISO_PIN           PB14

src/main/target/MATEKF411RX/target.h

@@ -106,7 +106,7 @@
 #define RX_CHANNELS_AETR
 #define RX_SPI_DEFAULT_PROTOCOL RX_SPI_A7105_FLYSKY_2A
 #define FLYSKY_2A_CHANNEL_COUNT 14
-#define RX_EXTI_PIN             PA14
+#define RX_SPI_EXTI_PIN         PA14
 #define USE_RX_FLYSKY_SPI_LED
 #define RX_SPI_LED_PIN          PB9
 

src/main/target/OMNIBUSF4/target.h

@@ -181,7 +181,7 @@
 #define RX_SPI_DEFAULT_PROTOCOL RX_SPI_CYRF6936_DSM
 #define RX_SPI_INSTANCE         SPI3
 #define RX_NSS_PIN              PD2
-#define RX_EXTI_PIN             PA0 // instead of rssi input
+#define RX_SPI_EXTI_PIN         PA0 // instead of rssi input
 #endif
 
 #define USE_VCP

src/main/target/STM32F411/target.h

@@ -112,9 +112,8 @@
 
 #define USE_RX_FLYSKY
 
-//TODO: Make this work with runtime configurability
+#define USE_RX_SPEKTRUM
-//#define USE_RX_SPEKTRUM
+#define USE_RX_SPEKTRUM_TELEMETRY
-//#define USE_RX_SPEKTRUM_TELEMETRY
 
 #define TARGET_IO_PORTA 0xffff
 #define TARGET_IO_PORTB 0xffff

src/main/target/STM32F411/target.mk

@@ -7,11 +7,13 @@ TARGET_SRC = \
     $(addprefix drivers/barometer/,$(notdir $(wildcard $(SRC_DIR)/drivers/barometer/*.c))) \
     $(addprefix drivers/compass/,$(notdir $(wildcard $(SRC_DIR)/drivers/compass/*.c))) \
     drivers/max7456.c \
-    drivers/rx/rx_cc2500.c \
     rx/cc2500_common.c \
     rx/cc2500_frsky_shared.c \
     rx/cc2500_frsky_d.c \
     rx/cc2500_frsky_x.c \
     rx/cc2500_sfhss.c \
+    rx/a7105_flysky.c \
+    rx/cyrf6936_spektrum.c \
+    drivers/rx/rx_cc2500.c \
     drivers/rx/rx_a7105.c \
-    rx/a7105_flysky.c
+    drivers/rx/rx_cyrf6936.c

src/test/unit/rx_spi_spektrum_unittest.cc

@@ -23,6 +23,8 @@
 extern "C" {
     #include "platform.h"
 
+    #include "drivers/io.h"
+
     #include "pg/pg.h"
     #include "pg/pg_ids.h"
     #include "pg/rx_spi.h"
@@ -127,6 +129,10 @@ extern "C" {
             pkt[i * 2 + 1] = (value >> 0) & 0xff;
         }
     }
+
+    static const rxSpiConfig_t injectedConfig = {
+        .extiIoTag = IO_TAG(PA0),
+    };
 }
 
 #include "unittest_macros.h"
@@ -136,7 +142,7 @@ extern "C" {
 TEST(RxSpiSpektrumUnitTest, TestInitUnbound)
 {
     dsmReceiver = empty;
-    spektrumSpiInit(nullptr, &config);
+    spektrumSpiInit(&injectedConfig, &config);
     EXPECT_FALSE(dsmReceiver.bound);
     EXPECT_EQ(DSM_RECEIVER_BIND, dsmReceiver.status);
     EXPECT_EQ(DSM_INITIAL_BIND_CHANNEL, dsmReceiver.rfChannel);
@@ -154,7 +160,7 @@ TEST(RxSpiSpektrumUnitTest, TestInitBound)
 
     spektrumConfigMutable()->protocol = DSMX_11;
 
-    bool result = spektrumSpiInit(nullptr, &config);
+    bool result = spektrumSpiInit(&injectedConfig, &config);
 
     EXPECT_TRUE(result);
     EXPECT_TRUE(dsmReceiver.bound);
@@ -174,7 +180,7 @@ TEST(RxSpiSpektrumUnitTest, TestInitBound)
     dsmReceiver = empty;
     spektrumConfigMutable()->protocol = DSM2_11;
 
-    spektrumSpiInit(nullptr, &config);
+    spektrumSpiInit(&injectedConfig, &config);
 
     EXPECT_TRUE(dsmReceiver.bound);
     EXPECT_EQ(DSM2_11, dsmReceiver.protocol);
@@ -340,15 +346,13 @@ extern "C" {
     uint32_t micros(void) { return 0; }
     uint32_t millis(void) { return 0; }
 
-    void IOConfigGPIO(void) {}
     bool IORead(IO_t ) { return true; }
-    void IOInit(void) {}
+    IO_t IOGetByTag(ioTag_t ) { return (IO_t)1; }
-    IO_t IOGetByTag(ioTag_t ) { return IO_NONE; }
     void IOHi(IO_t ) {}
     void IOLo(IO_t ) {}
     void writeEEPROM(void) {}
 
-    bool cyrf6936Init(void) { return true; }
+    bool cyrf6936Init(IO_t ) { return true; }
     bool cyrf6936RxFinished (uint32_t *timestamp)
     {
         *timestamp = 0;
@@ -388,4 +392,4 @@ extern "C" {
     {
         return false;
     }
-}
+}

unified_targets/configs/CRAZYBEEF4FR.config

@@ -69,6 +69,7 @@ dmaopt pin A10 0
 # pin A10: DMA2 Stream 6 Channel 0
 
 # feature
+feature OSD
 feature RX_SPI
 
 # master
@@ -79,6 +80,7 @@ set adc_device = 1
 set motor_pwm_protocol = DSHOT600
 set current_meter = ADC
 set battery_meter = ADC
+set ibata_scale = 179
 set beeper_inversion = ON
 set beeper_od = OFF
 set system_hse_mhz = 8
@@ -86,3 +88,4 @@ set max7456_spi_bus = 2
 set cc2500_spi_chip_detect = ON
 set gyro_1_bustype = SPI
 set gyro_1_spibus = 1
+set gyro_1_sensor_align = CW90