Merge branch 'MJ666-AlienWii32_spectrum_bind'

src/main/config/config.c

@@ -334,6 +334,7 @@ static void resetConf(void)
     resetTelemetryConfig(&masterConfig.telemetryConfig);
 
     masterConfig.rxConfig.serialrx_provider = 0;
+    masterConfig.rxConfig.spektrum_sat_bind = 0;
     masterConfig.rxConfig.midrc = 1500;
     masterConfig.rxConfig.mincheck = 1100;
     masterConfig.rxConfig.maxcheck = 1900;

src/main/drivers/system.h

@@ -30,6 +30,7 @@ void failureMode(uint8_t mode);
 // bootloader/IAP
 void systemReset(void);
 void systemResetToBootloader(void);
+bool isMPUSoftReset(void);
 
 void enableGPIOPowerUsageAndNoiseReductions(void);
 // current crystal frequency - 8 or 12MHz

src/main/drivers/system_stm32f10x.c

@@ -22,11 +22,19 @@
 #include "platform.h"
 
 #include "gpio.h"
+#include "system.h"
 
 #define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)
+#define BKP_SOFTRESET (0x50F7B007)
 
 void systemReset(void)
 {
+    // write magic value that we're doing a soft reset
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_APB1Periph_BKP, ENABLE);
+    PWR->CR |= PWR_CR_DBP;
+    *((uint16_t *)BKP_BASE + 0x04) = BKP_SOFTRESET & 0xffff;
+    *((uint16_t *)BKP_BASE + 0x08) = (BKP_SOFTRESET & 0xffff0000) >> 16;
+
     // Generate system reset
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
@@ -52,3 +60,11 @@ void enableGPIOPowerUsageAndNoiseReductions(void)
     gpioInit(GPIOB, &gpio);
     gpioInit(GPIOC, &gpio);
 }
+
+bool isMPUSoftReset(void)
+{
+    if ((*((uint16_t *)BKP_BASE + 0x04) | *((uint16_t *)BKP_BASE + 0x08) << 16) == BKP_SOFTRESET)
+        return true;
+    else
+        return false;
+}

src/main/drivers/system_stm32f30x.c

@@ -67,3 +67,11 @@ void enableGPIOPowerUsageAndNoiseReductions(void)
     gpioInit(GPIOE, &gpio);
     gpioInit(GPIOF, &gpio);
 }
+
+bool isMPUSoftReset(void)
+{
+    if (RCC->CSR & RCC_CSR_SFTRSTF)
+        return true;
+    else
+        return false;
+}

src/main/io/serial_cli.c

@@ -51,6 +51,7 @@
 #include "io/rc_controls.h"
 #include "io/serial.h"
 #include "io/ledstrip.h"
+#include "rx/spektrum.h"
 #include "sensors/battery.h"
 #include "sensors/boardalignment.h"
 #include "sensors/sensors.h"
@@ -271,6 +272,7 @@ const clivalue_t valueTable[] = {
 #endif
 
     { "serialrx_provider",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.serialrx_provider, 0, SERIALRX_PROVIDER_MAX },
+    { "spektrum_sat_bind",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.spektrum_sat_bind, SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX},
 
     { "telemetry_provider",         VAR_UINT8  | MASTER_VALUE,  &masterConfig.telemetryConfig.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
     { "telemetry_switch",           VAR_UINT8  | MASTER_VALUE,  &masterConfig.telemetryConfig.telemetry_switch, 0, 1 },

src/main/io/serial_msp.c

@@ -1016,6 +1016,8 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize16(masterConfig.rxConfig.maxcheck);
         serialize16(masterConfig.rxConfig.midrc);
         serialize16(masterConfig.rxConfig.mincheck);
+        serialize8(masterConfig.rxConfig.spektrum_sat_bind);
+        break;
 
     case MSP_RSSI_CONFIG:
         headSerialReply(1);
@@ -1291,6 +1293,7 @@ static bool processInCommand(void)
         masterConfig.rxConfig.maxcheck = read16();
         masterConfig.rxConfig.midrc = read16();
         masterConfig.rxConfig.mincheck = read16();
+        masterConfig.rxConfig.spektrum_sat_bind = read8();
         break;
 
     case MSP_SET_RSSI_CONFIG:

src/main/main.c

@@ -105,7 +105,7 @@ void imuInit(void);
 void displayInit(rxConfig_t *intialRxConfig);
 void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, failsafe_t* failsafeToUse);
 void loop(void);
-
+void spektrumBind(rxConfig_t *rxConfig);
 
 #ifdef STM32F303xC
 // from system_stm32f30x.c
@@ -150,6 +150,20 @@ void init(void)
 
     systemInit();
 
+#ifdef SPEKTRUM_BIND
+    if (feature(FEATURE_RX_SERIAL)) {
+        switch (masterConfig.rxConfig.serialrx_provider) {
+            case SERIALRX_SPEKTRUM1024:
+            case SERIALRX_SPEKTRUM2048:
+                // Spektrum satellite binding if enabled on startup.
+                // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
+                // The rest of Spektrum initialization will happen later - via spektrumInit()
+                spektrumBind(&masterConfig.rxConfig);
+                break;
+        }
+    }
+#endif
+
     delay(100);
 
     timerInit();  // timer must be initialized before any channel is allocated

src/main/rx/rx.h

@@ -65,6 +65,7 @@ extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];       // interval [1000;2
 typedef struct rxConfig_s {
     uint8_t rcmap[MAX_MAPPABLE_RX_INPUTS];  // mapping of radio channels to internal RPYTA+ order
     uint8_t serialrx_provider;              // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
+    uint8_t spektrum_sat_bind;              // number of bind pulses for Spektrum satellite receivers
     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end

src/main/rx/spektrum.c

@@ -21,12 +21,15 @@
 
 #include "platform.h"
 
+#include "drivers/gpio.h"
 #include "drivers/system.h"
 
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
 #include "io/serial.h"
 
+#include "config/config.h"
+
 #include "rx/rx.h"
 #include "rx/spektrum.h"
 
@@ -138,3 +141,78 @@ static uint16_t spektrumReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t ch
 
     return data;
 }
+
+#ifdef SPEKTRUM_BIND
+
+bool spekShouldBind(uint8_t spektrum_sat_bind)
+{
+#ifdef HARDWARE_BIND_PLUG
+    gpio_config_t cfg = {
+        BINDPLUG_PIN,
+        Mode_IPU,
+        Speed_2MHz
+    };
+    gpioInit(BINDPLUG_PORT, &cfg);
+
+    // Check status of bind plug and exit if not active
+    delayMicroseconds(10);  // allow configuration to settle
+    if (digitalIn(BINDPLUG_PORT, BINDPLUG_PIN)) {
+        return false;
+    }
+#endif
+
+    return !(
+        isMPUSoftReset() ||
+        spektrum_sat_bind == SPEKTRUM_SAT_BIND_DISABLED ||
+        spektrum_sat_bind > SPEKTRUM_SAT_BIND_MAX
+    );
+}
+/* spektrumBind function ported from Baseflight. It's used to bind satellite receiver to TX.
+ * Function must be called immediately after startup so that we don't miss satellite bind window.
+ * Known parameters. Tested with DSMX satellite and DX8 radio. Framerate (11ms or 22ms) must be selected from TX.
+ * 9 = DSMX 11ms / DSMX 22ms
+ * 5 = DSM2 11ms 2048 / DSM2 22ms 1024
+ */
+void spektrumBind(rxConfig_t *rxConfig)
+{
+    int i;
+
+    if (!spekShouldBind(rxConfig->spektrum_sat_bind)) {
+        return;
+    }
+
+    gpio_config_t cfg = {
+        BIND_PIN,
+        Mode_Out_OD,
+        Speed_2MHz
+    };
+    gpioInit(BIND_PORT, &cfg);
+
+    // RX line, set high
+    digitalHi(BIND_PORT, BIND_PIN);
+
+    // Bind window is around 20-140ms after powerup
+    delay(60);
+
+    for (i = 0; i < rxConfig->spektrum_sat_bind; i++) {
+
+        // RX line, drive low for 120us
+        digitalLo(BIND_PORT, BIND_PIN);
+        delayMicroseconds(120);
+
+        // RX line, drive high for 120us
+        digitalHi(BIND_PORT, BIND_PIN);
+        delayMicroseconds(120);
+    }
+
+#ifndef HARDWARE_BIND_PLUG
+    // If we came here as a result of hard  reset (power up, with spektrum_sat_bind set), then reset it back to zero and write config
+    // Don't reset if hardware bind plug is present
+    if (!isMPUSoftReset()) {
+        rxConfig->spektrum_sat_bind = 0;
+        saveConfigAndNotify();
+    }
+#endif
+
+}
+#endif

src/main/rx/spektrum.h

@@ -17,5 +17,8 @@
 
 #pragma once
 
+#define SPEKTRUM_SAT_BIND_DISABLED 0
+#define SPEKTRUM_SAT_BIND_MAX 10
+
 bool spektrumFrameComplete(void);
 void spektrumUpdateSerialRxFunctionConstraint(functionConstraint_t *functionConstraint);

src/main/target/CC3D/target.h

@@ -76,3 +76,8 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
+
+#define SPEKTRUM_BIND
+// USART3, PB11 (Flexport)
+#define BIND_PORT  GPIOB
+#define BIND_PIN   Pin_11

src/main/target/CJMCU/target.h

@@ -61,3 +61,8 @@
 #define SENSORS_SET (SENSOR_ACC | SENSOR_MAG)
 
 #define SERIAL_RX
+
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PORT  GPIOA
+#define BIND_PIN   Pin_3

src/main/target/EUSTM32F103RC/target.h

@@ -99,3 +99,7 @@
 #define SERIAL_RX
 #define AUTOTUNE
 
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PORT  GPIOA
+#define BIND_PIN   Pin_3

src/main/target/NAZE/target.h

@@ -112,3 +112,8 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
+
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PORT  GPIOA
+#define BIND_PIN   Pin_3

src/main/target/NAZE32PRO/target.h

@@ -46,3 +46,8 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
+
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PORT  GPIOA
+#define BIND_PIN   Pin_3

src/main/target/SPARKY/target.h

@@ -82,3 +82,7 @@
 #define GPS
 #define DISPLAY
 
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PORT GPIOA
+#define BIND_PIN Pin_3