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Cleaned up RX initialisation. Updated Spektrum RX code to support 12

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channels when using Spektrum 2048 - untested.  Renamed and extracted
core_t.numRCChannels to rxConfig.channelCount so that future commits can
clean up core_t further since core_t contains completely unrelated
properties.
This commit is contained in:
Dominic Clifton 2014-04-18 17:25:53 +01:00
parent d777bac39d
commit f68fc17627
16 changed files with 137 additions and 74 deletions
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29
src/main.c
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@ -3,9 +3,6 @@
#include "mw.h"
#include "gps_common.h"
#include "rx_sbus.h"
#include "rx_sumd.h"
#include "rx_spektrum.h"
#include "rx_common.h"
#include "telemetry_common.h"
#include "boardalignment.h"
@ -53,7 +50,7 @@ int main(void)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SERIALRX); // spektrum/sbus support uses UART too
pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SERIALRX); // serial rx support uses UART too
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SERIALRX); // disable inputs if using spektrum
@ -82,30 +79,12 @@ int main(void)
pwmInit(&pwm_params);
// configure PWM/CPPM read function and max number of channels. spektrum or sbus below will override both of these, if enabled
for (i = 0; i < RC_CHANS; i++)
rcData[i] = 1502;
rcReadRawFunc = pwmReadRawRC;
core.numRCChannels = MAX_INPUTS;
rxInit(&mcfg.rxConfig);
if (feature(FEATURE_SERIALRX)) {
switch (mcfg.rxConfig.serialrx_type) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
spektrumInit(&mcfg.rxConfig, &rcReadRawFunc);
break;
case SERIALRX_SBUS:
sbusInit(&mcfg.rxConfig, &rcReadRawFunc);
break;
case SERIALRX_SUMD:
sumdInit(&mcfg.rxConfig, &rcReadRawFunc);
break;
}
} else { // spektrum and GPS are mutually exclusive
// Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.
// gpsInit will return if FEATURE_GPS is not enabled.
if (feature(FEATURE_GPS) && !feature(FEATURE_SERIALRX)) {
gpsInit(mcfg.gps_baudrate);
}
#ifdef SONAR
// sonar stuff only works with PPM
if (feature(FEATURE_PPM)) {