Initial cut on PINIO mode

make/source.mk

@@ -42,6 +42,7 @@ COMMON_SRC = \
             drivers/pwm_esc_detect.c \
             drivers/pwm_mapping.c \
             drivers/pwm_output.c \
+            drivers/pinio.c \
             drivers/rcc.c \
             drivers/rx_pwm.c \
             drivers/serial.c \
@@ -79,6 +80,7 @@ COMMON_SRC = \
             io/beeper.c \
             io/lights.c \
             io/pwmdriver_i2c.c \
+            io/piniobox.c \
             io/serial.c \
             io/serial_4way.c \
             io/serial_4way_avrootloader.c \

src/main/config/parameter_group_ids.h

@@ -101,7 +101,8 @@
 #define PG_OPFLOW_CONFIG 1012
 #define PG_DISPLAY_CONFIG 1013
 #define PG_LIGHTS_CONFIG 1014
-#define PG_INAV_END 1014
+#define PG_PINIOBOX_CONFIG 1015
+#define PG_INAV_END 1015
 
 // OSD configuration (subject to change)
 //#define PG_OSD_FONT_CONFIG 2047

src/main/drivers/pinio.c

@@ -0,0 +1,104 @@
+/*
+ * This file is part of Cleanflight, Betaflight and INAV
+ *
+ * Cleanflight, Betaflight and INAV are free software. You can 
+ * redistribute this software and/or modify this software under 
+ * the terms of the GNU General Public License as published by 
+ * the Free Software Foundation, either version 3 of the License, 
+ * or (at your option) any later version.
+ *
+ * Cleanflight, Betaflight and INAV are distributed in the hope that 
+ * they will be useful, but WITHOUT ANY WARRANTY; without even the 
+ * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
+ * PURPOSE. See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_PINIO
+
+#include "build/debug.h"
+#include "common/memory.h"
+#include "drivers/io.h"
+#include "drivers/pinio.h"
+
+/*** Hardware definitions ***/
+const pinioHardware_t pinioHardware[] = {
+#if defined(PINIO1_PIN)
+    { .ioTag = IO_TAG(PINIO1_PIN), .ioMode = IOCFG_OUT_PP, .flags = 0 },
+#endif
+
+#if defined(PINIO2_PIN)
+    { .ioTag = IO_TAG(PINIO2_PIN), .ioMode = IOCFG_OUT_PP, .flags = 0 },
+#endif
+
+#if defined(PINIO3_PIN)
+    { .ioTag = IO_TAG(PINIO3_PIN), .ioMode = IOCFG_OUT_PP, .flags = 0 },
+#endif
+
+#if defined(PINIO4_PIN)
+    { .ioTag = IO_TAG(PINIO4_PIN), .ioMode = IOCFG_OUT_PP, .flags = 0 },
+#endif
+};
+
+const int pinioHardwareCount = sizeof(pinioHardware) / sizeof(pinioHardware[0]);
+
+/*** Runtime configuration ***/
+typedef struct pinioRuntime_s {
+    IO_t io;
+    bool inverted;
+    bool state;
+} pinioRuntime_t;
+
+static pinioRuntime_t pinioRuntime[PINIO_COUNT];
+
+void pinioInit(void)
+{
+    if (pinioHardwareCount == 0) {
+        return;
+    }
+
+    for (int i = 0; i < pinioHardwareCount; i++) {
+        IO_t io = IOGetByTag(pinioHardware[i].ioTag);
+
+        if (!io) {
+            continue;
+        }
+
+        IOInit(io, OWNER_PINIO, RESOURCE_OUTPUT, RESOURCE_INDEX(i));
+        IOConfigGPIO(io, pinioHardware[i].ioMode);
+
+        if (pinioHardware[i].flags & PINIO_FLAGS_INVERTED) {
+            pinioRuntime[i].inverted = true;
+            IOHi(io);
+        } else {
+            pinioRuntime[i].inverted = false;
+            IOLo(io);
+        }
+
+        pinioRuntime[i].io = io;
+        pinioRuntime[i].state = false;
+    }
+}
+
+void pinioSet(int index, bool on)
+{
+    const bool newState = on ^ pinioRuntime[index].inverted;
+
+    if (!pinioRuntime[index].io) {
+        return;
+    }
+
+    if (newState != pinioRuntime[index].state) {
+        IOWrite(pinioRuntime[index].io, newState);
+        pinioRuntime[index].state = newState;
+    }
+}
+#endif

src/main/drivers/pinio.h

@@ -0,0 +1,41 @@
+/*
+ * This file is part of Cleanflight, Betaflight and INAV
+ *
+ * Cleanflight, Betaflight and INAV are free software. You can 
+ * redistribute this software and/or modify this software under 
+ * the terms of the GNU General Public License as published by 
+ * the Free Software Foundation, either version 3 of the License, 
+ * or (at your option) any later version.
+ *
+ * Cleanflight, Betaflight and INAV are distributed in the hope that 
+ * they will be useful, but WITHOUT ANY WARRANTY; without even the 
+ * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
+ * PURPOSE. See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "drivers/io_types.h"
+
+#define PINIO_COUNT             4
+#define PINIO_FLAGS_INVERTED    0x80
+
+typedef struct pinioHardware_s {
+    ioTag_t     ioTag;
+    ioConfig_t  ioMode;
+    uint16_t    flags;
+} pinioHardware_t;
+
+extern const pinioHardware_t pinioHardware[];
+extern const int pinioHardwareCount;
+
+void pinioInit(void);
+void pinioSet(int index, bool on);

src/main/drivers/resource.h

@@ -53,6 +53,7 @@ typedef enum {
     OWNER_COMPASS,
     OWNER_AIRSPEED,
     OWNER_OLED_DISPLAY,
+    OWNER_PINIO,
     OWNER_TOTAL_COUNT
 } resourceOwner_e;
 

src/main/fc/fc_core.c

@@ -64,6 +64,7 @@
 #include "io/serial.h"
 #include "io/statusindicator.h"
 #include "io/asyncfatfs/asyncfatfs.h"
+#include "io/piniobox.h"
 
 #include "msp/msp_serial.h"
 
@@ -485,6 +486,10 @@ void processRx(timeUs_t currentTimeUs)
 
     updateActivatedModes();
 
+#ifdef USE_PINIOBOX
+    pinioBoxUpdate();
+#endif
+
     if (!cliMode) {
         bool canUseRxData = rxIsReceivingSignal() && !FLIGHT_MODE(FAILSAFE_MODE);
         updateAdjustmentStates(canUseRxData);

src/main/fc/fc_init.c

@@ -107,6 +107,7 @@
 #include "io/vtx_control.h"
 #include "io/vtx_smartaudio.h"
 #include "io/vtx_tramp.h"
+#include "io/piniobox.h"
 
 #include "msp/msp_serial.h"
 
@@ -482,6 +483,14 @@ void init(void)
     adcInit(&adc_params);
 #endif
 
+#ifdef USE_PINIO
+    pinioInit();
+#endif
+
+#ifdef USE_PINIOBOX
+    pinioBoxInit();
+#endif
+
 #if defined(USE_GPS) || defined(USE_MAG)
     delay(500);
 

src/main/fc/fc_msp_box.c

@@ -81,6 +81,8 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { BOXOSDALT3, "OSD ALT 3", 44 },
     { BOXNAVCRUISE, "NAV CRUISE", 45 },
     { BOXBRAKING, "MC BRAKING", 46 },
+    { BOXUSER1, "USER1", 47 },
+    { BOXUSER2, "USER2", 48 },
     { CHECKBOX_ITEM_COUNT, NULL, 0xFF }
 };
 
@@ -266,6 +268,12 @@ void initActiveBoxIds(void)
     activeBoxIds[activeBoxIdCount++] = BOXCAMERA3;
 #endif
 
+#ifdef USE_PINIOBOX
+    // USER modes are only used for PINIO at the moment
+    activeBoxIds[activeBoxIdCount++] = BOXUSER1;
+    activeBoxIds[activeBoxIdCount++] = BOXUSER2;
+#endif
+
 #if defined(USE_OSD) && defined(OSD_LAYOUT_COUNT)
 #if OSD_LAYOUT_COUNT > 0
     activeBoxIds[activeBoxIdCount++] = BOXOSDALT1;

src/main/fc/fc_msp_box.h

@@ -19,6 +19,8 @@
 
 #include "fc/rc_modes.h"
 
+#define PERMANENT_ID_NONE 255       // A permanent ID for no box mode
+
 typedef struct box_s {
     const uint8_t boxId;            // see boxId_e
     const char *boxName;            // GUI-readable box name

src/main/fc/rc_modes.h

@@ -23,6 +23,8 @@
 
 #include "config/parameter_group.h"
 
+#define BOXID_NONE 255
+
 typedef enum {
     BOXARM          = 0,
     BOXANGLE        = 1,
@@ -61,6 +63,8 @@ typedef enum {
     BOXOSDALT3      = 34,
     BOXNAVCRUISE    = 35,
     BOXBRAKING      = 36,
+    BOXUSER1        = 37,
+    BOXUSER2        = 38,
     CHECKBOX_ITEM_COUNT
 } boxId_e;
 

src/main/fc/settings.yaml

@@ -1719,3 +1719,22 @@ groups:
         min: VTX_SETTINGS_MIN_FREQUENCY_MHZ
         max: VTX_SETTINGS_MAX_FREQUENCY_MHZ
         condition: VTX_SETTINGS_FREQCMD
+
+  - name: PG_PINIOBOX_CONFIG
+    type: pinioBoxConfig_t
+    headers: ["io/piniobox.h"]
+    condition: USE_PINIOBOX
+    members:
+      - name: pinio_box1
+        field: permanentId[0]
+        type: uint8_t
+      - name: pinio_box2
+        field: permanentId[1]
+        type: uint8_t
+      - name: pinio_box3
+        field: permanentId[2]
+        type: uint8_t
+      - name: pinio_box4
+        field: permanentId[3]
+        type: uint8_t
+

src/main/io/piniobox.c

@@ -0,0 +1,71 @@
+/*
+ * This file is part of Cleanflight, Betaflight and INAV
+ *
+ * Cleanflight, Betaflight and INAV are free software. You can 
+ * redistribute this software and/or modify this software under 
+ * the terms of the GNU General Public License as published by 
+ * the Free Software Foundation, either version 3 of the License, 
+ * or (at your option) any later version.
+ *
+ * Cleanflight, Betaflight and INAV are distributed in the hope that 
+ * they will be useful, but WITHOUT ANY WARRANTY; without even the 
+ * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
+ * PURPOSE. See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "platform.h"
+
+#ifdef USE_PINIOBOX
+
+#include "build/debug.h"
+#include "common/utils.h"
+
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+
+#include "fc/fc_msp.h"
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+
+
+PG_REGISTER_WITH_RESET_TEMPLATE(pinioBoxConfig_t, pinioBoxConfig, PG_PINIOBOX_CONFIG, 1);
+
+PG_RESET_TEMPLATE(pinioBoxConfig_t, pinioBoxConfig,
+    { PERMANENT_ID_NONE, PERMANENT_ID_NONE, PERMANENT_ID_NONE, PERMANENT_ID_NONE }
+);
+
+typedef struct pinioBoxRuntimeConfig_s {
+    uint8_t boxId[PINIO_COUNT];
+} pinioBoxRuntimeConfig_t;
+
+static pinioBoxRuntimeConfig_t pinioBoxRuntimeConfig;
+
+void pinioBoxInit(void)
+{
+    // Convert permanentId to boxId_e
+    for (int i = 0; i < PINIO_COUNT; i++) {
+        const box_t *box = findBoxByPermanentId(pinioBoxConfig()->permanentId[i]);
+
+        pinioBoxRuntimeConfig.boxId[i] = box ? box->boxId : BOXID_NONE;
+    }
+}
+
+void pinioBoxUpdate(void)
+{
+    for (int i = 0; i < PINIO_COUNT; i++) {
+        if (pinioBoxRuntimeConfig.boxId[i] != BOXID_NONE) {
+            pinioSet(i, IS_RC_MODE_ACTIVE(pinioBoxRuntimeConfig.boxId[i]));
+        }
+    }
+}
+
+#endif

src/main/io/piniobox.h

@@ -0,0 +1,36 @@
+/*
+ * This file is part of Cleanflight, Betaflight and INAV
+ *
+ * Cleanflight, Betaflight and INAV are free software. You can 
+ * redistribute this software and/or modify this software under 
+ * the terms of the GNU General Public License as published by 
+ * the Free Software Foundation, either version 3 of the License, 
+ * or (at your option) any later version.
+ *
+ * Cleanflight, Betaflight and INAV are distributed in the hope that 
+ * they will be useful, but WITHOUT ANY WARRANTY; without even the 
+ * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
+ * PURPOSE. See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "common/time.h"
+#include "drivers/pinio.h"
+
+typedef struct pinioBoxConfig_s {
+    uint8_t permanentId[PINIO_COUNT];
+} pinioBoxConfig_t;
+
+PG_DECLARE(pinioBoxConfig_t, pinioBoxConfig);
+
+void pinioBoxInit(void);
+void pinioBoxUpdate(void);

src/main/target/MATEKF722SE/config.c

@@ -0,0 +1,26 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include "platform.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = 47;
+    pinioBoxConfigMutable()->permanentId[1] = 48;
+}

src/main/target/MATEKF722SE/target.c

@@ -23,6 +23,7 @@
 #include "drivers/io.h"
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
+#include "drivers/pinio.h"
 
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN,       0,  DEVFLAGS_NONE);
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     MPU6500_EXTI_PIN,       1,  DEVFLAGS_NONE);

src/main/target/MATEKF722SE/target.h

@@ -20,6 +20,7 @@
 
 #define USE_TARGET_CONFIG
 
+#define USE_TARGET_CONFIG
 #define TARGET_BOARD_IDENTIFIER "MF7S"
 #define USBD_PRODUCT_STRING  "MatekF722SE"
 
@@ -164,12 +165,12 @@
 #define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
 #define RSSI_ADC_CHANNEL            ADC_CHN_3
 #define AIRSPEED_ADC_CHANNEL           ADC_CHN_4
-/*
+
+// *************** ADC *****************************
 #define USE_PINIO
+#define USE_PINIOBOX
 #define PINIO1_PIN                  PC8 // VTX power switcher
 #define PINIO2_PIN                  PC9 // 2xCamera switcher
-#define USE_PINIOBOX
-*/
 
 /*
 #define CAMERA_CONTROL_PIN   PA1 //RX4 pad with 200ohm