Improvement: Add support for upto 18 channels. Allow RSSI to be read

from any channel, not just AUX1-4.

See documentation changes in this commit.

docs/Configuration.md

@@ -120,8 +120,18 @@ set frsky_inversion = 1
 
 ## CLI command differences from baseflight
 
-```
+### gps_provider / gps_type
-gps_provider = gps_type
+reason: renamed for consistency
-serialrx_provider = serialrx_type
+
-```
+### serialrx_provider / serialrx_type
+reason: renamed for consistency
+
+### rssi_channel / rssi_aux_channel
+reason: improved functionality
+
+Cleanflight supports using any RX channel for rssi.  Baseflight only supports AUX1 to 4.
+
+In Cleanflight a value of 0 disables the feature, a higher value indicates the channel number to read RSSI information from.
+
+Example, to use RSSI on AUX1 in Cleanflight set the value to 5, since 5 is the first AUX channel.
 

docs/Rx.md

@@ -0,0 +1,29 @@
+# Receivers (RX)
+
+## Parallel PWM
+
+8 channel support, 1 channel per input pin.  On some platforms using parallel input will disable the use of serial ports
+and softserial making it hard to use telemetry or gps features.
+
+## PPM (PPM SUM)
+
+12 channels via a single input pin, not as accurate or jitter free as methods that use serial communications.
+
+## MultiWii serial protocol (MSP)
+
+Allows you to use MSP commands as the RC input.  Only 8 channel support to maintain compatibility with MSP.
+
+## Spektrum
+
+12 channels via serial currently supported.
+
+## SUMD
+
+8 channels supported currently, 12 or more is technically possible.
+
+## SBUS
+
+12 channels via serial supported currently.
+
+ 
+

src/config.c

@@ -54,7 +54,7 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
 master_t masterConfig;      // master config struct with data independent from profiles
 profile_t currentProfile;   // profile config struct
 
-static const uint8_t EEPROM_CONF_VERSION = 66;
+static const uint8_t EEPROM_CONF_VERSION = 67;
 
 static void resetAccelerometerTrims(int16_flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -198,6 +198,8 @@ static void resetConf(void)
     masterConfig.rxConfig.midrc = 1500;
     masterConfig.rxConfig.mincheck = 1100;
     masterConfig.rxConfig.maxcheck = 1900;
+    masterConfig.rxConfig.rssi_channel = 0;
+
     masterConfig.retarded_arm = 0;              // disable arm/disarm on roll left/right
     masterConfig.airplaneConfig.flaps_speed = 0;
     masterConfig.fixedwing_althold_dir = 1;
@@ -215,7 +217,6 @@ static void resetConf(void)
 
     masterConfig.looptime = 3500;
     masterConfig.emf_avoidance = 0;
-    masterConfig.rssi_aux_channel = 0;
 
     currentProfile.pidController = 0;
     resetPidProfile(&currentProfile.pidProfile);

src/config_master.h

@@ -48,7 +48,7 @@ typedef struct master_t {
     airplaneConfig_t airplaneConfig;
     int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
 
-    uint8_t rssi_aux_channel;               // Read rssi from channel. 1+ = AUX1+, 0 to disable.
+    uint8_t rssi_channel;               // Read rssi from channel. 0 to disable, 1 = channel 1, etc.
 
     // gps-related stuff
     gpsProvider_e gps_provider;

src/drivers/pwm_mapping.h

@@ -3,8 +3,6 @@
 #define MAX_PWM_MOTORS  12
 #define MAX_PWM_SERVOS  8
 
-#define MAX_PWM_INPUT_PORTS 8
-
 #define MAX_MOTORS  12
 #define MAX_SERVOS  8
 #define MAX_PWM_OUTPUT_PORTS MAX_PWM_MOTORS // must be set to the largest of either MAX_MOTORS or MAX_SERVOS

src/drivers/pwm_rx.c

@@ -12,6 +12,16 @@
 
 #include "pwm_rx.h"
 
+
+#define PPM_CAPTURE_COUNT 12
+#define PWM_INPUT_PORT_COUNT 8
+
+#if PPM_CAPTURE_COUNT > MAX_PWM_INPUT_PORTS
+#define PWM_PORTS_OR_PPM_CAPTURE_COUNT PPM_CAPTURE_COUNT
+#else
+#define PWM_PORTS_OR_PPM_CAPTURE_COUNT PWM_INPUT_PORT_COUNT
+#endif
+
 void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity); // from pwm_output.c
 
 typedef enum {
@@ -31,9 +41,9 @@ typedef struct {
     const timerHardware_t *timerHardware;
 } pwmInputPort_t;
 
-static pwmInputPort_t pwmInputPorts[MAX_PWM_INPUT_PORTS];
+static pwmInputPort_t pwmInputPorts[PWM_INPUT_PORT_COUNT];
 
-static uint16_t captures[MAX_PWM_INPUT_PORTS];
+static uint16_t captures[PWM_PORTS_OR_PPM_CAPTURE_COUNT];
 
 static void ppmCallback(uint8_t port, captureCompare_t capture)
 {
@@ -50,7 +60,7 @@ static void ppmCallback(uint8_t port, captureCompare_t capture)
     if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
         chan = 0;
     } else {
-        if (chan < MAX_PWM_INPUT_PORTS) {
+        if (chan < PPM_CAPTURE_COUNT) {
             captures[chan] = diff;
         }
         chan++;

src/flight_mixer.c

@@ -197,7 +197,7 @@ int16_t determineServoMiddleOrForwardFromChannel(int nr)
 {
     uint8_t channelToForwardFrom = servoConf[nr].forwardFromChannel;
 
-    if (channelToForwardFrom != CHANNEL_FORWARDING_DISABLED && channelToForwardFrom << MAX_SUPPORTED_RC_CHANNEL_COUNT) {
+    if (channelToForwardFrom != CHANNEL_FORWARDING_DISABLED && channelToForwardFrom < rxRuntimeConfig.channelCount) {
         return rcData[channelToForwardFrom];
     }
 

src/mw.c

@@ -103,7 +103,7 @@ void annexCode(void)
 
     for (axis = 0; axis < 3; axis++) {
         tmp = min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
-        if (axis != 2) {        // ROLL & PITCH
+        if (axis == ROLL || axis == PITCH) {
             if (currentProfile.deadband) {
                 if (tmp > currentProfile.deadband) {
                     tmp -= currentProfile.deadband;
@@ -116,7 +116,8 @@ void annexCode(void)
             rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
             prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.rollPitchRate * tmp / 500;
             prop1 = (uint16_t)prop1 * prop2 / 100;
-        } else {                // YAW
+        }
+        if (axis == YAW) {
             if (currentProfile.yaw_deadband) {
                 if (tmp > currentProfile.yaw_deadband) {
                     tmp -= currentProfile.yaw_deadband;
@@ -127,6 +128,7 @@ void annexCode(void)
             rcCommand[axis] = tmp * -masterConfig.yaw_control_direction;
             prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.yawRate * abs(tmp) / 500;
         }
+        // FIXME axis indexes into pids.  use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
         dynP8[axis] = (uint16_t)currentProfile.pidProfile.P8[axis] * prop1 / 100;
         dynI8[axis] = (uint16_t)currentProfile.pidProfile.I8[axis] * prop1 / 100;
         dynD8[axis] = (uint16_t)currentProfile.pidProfile.D8[axis] * prop1 / 100;
@@ -262,9 +264,8 @@ void loop(void)
         }
 
         // Read value of AUX channel as rssi
-        // 0 is disable, 1-4 is AUX{1..4}
+        if (masterConfig.rxConfig.rssi_channel > 0) {
-        if (masterConfig.rssi_aux_channel > 0) {
+            const int16_t rssiChannelData = rcData[masterConfig.rxConfig.rssi_channel - 1];
-            const int16_t rssiChannelData = rcData[AUX1 + masterConfig.rssi_aux_channel - 1];
             // Range of rssiChannelData is [1000;2000]. rssi should be in [0;1023];
             rssi = (uint16_t)((constrain(rssiChannelData - 1000, 0, 1000) / 1000.0f) * 1023.0f);
         }

src/rx_common.c

@@ -128,14 +128,19 @@ bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
     return false;
 }
 
-uint8_t calculateChannelRemapping(uint8_t *rcmap, uint8_t channelToRemap) {
+uint8_t calculateChannelRemapping(uint8_t *channelMap, uint8_t channelMapEntryCount, uint8_t channelToRemap)
-    return rcmap[channelToRemap];
+{
+    if (channelToRemap < channelMapEntryCount) {
+        return channelMap[channelToRemap];
+    }
+    return channelToRemap;
 }
 
 void computeRC(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
 {
     uint8_t chan;
-    static int16_t rcSamples[MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT][PPM_AND_PWM_SAMPLE_COUNT], rcDataMean[MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT];
+    static int16_t rcSamples[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT][PPM_AND_PWM_SAMPLE_COUNT];
+    static int16_t rcDataMean[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT];
     static uint8_t rcSampleIndex = 0;
     uint8_t currentSampleIndex = 0;
 
@@ -148,14 +153,14 @@ void computeRC(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
         currentSampleIndex = rcSampleIndex % PPM_AND_PWM_SAMPLE_COUNT;
     }
 
-    for (chan = 0; chan < MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT; chan++) {
+    for (chan = 0; chan < rxRuntimeConfig->channelCount; chan++) {
 
         if (!rcReadRawFunc) {
             rcData[chan] = rxConfig->midrc;
             continue;
         }
 
-        uint8_t rawChannel = calculateChannelRemapping(rxConfig->rcmap, chan);
+        uint8_t rawChannel = calculateChannelRemapping(rxConfig->rcmap, REMAPPABLE_CHANNEL_COUNT, chan);
 
         // sample the channel
         uint16_t sample = rcReadRawFunc(rxRuntimeConfig, rawChannel);

src/rx_common.h

@@ -18,9 +18,16 @@ typedef enum {
 
 #define SERIALRX_PROVIDER_COUNT (SERIALRX_PROVIDER_MAX + 1)
 
-#define MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT 8
+#define MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT 12
+#define MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT 8
 #define MAX_SUPPORTED_RC_CHANNEL_COUNT (18)
 
+#if MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT > MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT
+#define MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT
+#else
+#define MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT
+#endif
+
 extern const char rcChannelLetters[];
 
 extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];       // interval [1000;2000]
@@ -31,8 +38,11 @@ typedef struct rxConfig_s {
     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
+    uint8_t rssi_channel;
 } rxConfig_t;
 
+#define REMAPPABLE_CHANNEL_COUNT (sizeof(((rxConfig_t *)0)->rcmap) / sizeof(((rxConfig_t *)0)->rcmap[0]))
+
 typedef struct rxRuntimeConfig_s {
     uint8_t channelCount;                  // number of rc channels as reported by current input driver
 } rxRuntimeConfig_t;

src/rx_msp.c

@@ -35,6 +35,7 @@ bool rxMspFrameComplete(void)
 
 bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 {
+    rxRuntimeConfig->channelCount = 8; // See MSP_SET_RAW_RC
     if (callback)
         *callback = rxMspReadRawRC;
 

src/rx_pwm.c

@@ -22,6 +22,12 @@ void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 {
     // configure PWM/CPPM read function and max number of channels. serial rx below will override both of these, if enabled
     *callback = pwmReadRawRC;
-    rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT;
+
+    if (feature(FEATURE_RX_PARALLEL_PWM)) {
+        rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT;
+    }
+    if (feature(FEATURE_RX_PPM)) {
+        rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT;
+    }
 }
 

src/rx_sbus.c

@@ -13,9 +13,7 @@
 #include "rx_common.h"
 #include "rx_sbus.h"
 
-// driver for SBUS receiver using UART2
+#define SBUS_MAX_CHANNEL 12
-
-#define SBUS_MAX_CHANNEL 8
 #define SBUS_FRAME_SIZE 25
 #define SBUS_SYNCBYTE 0x0F
 #define SBUS_OFFSET 988
@@ -118,7 +116,10 @@ bool sbusFrameComplete(void)
     sbusChannelData[5] = sbus.msg.chan5;
     sbusChannelData[6] = sbus.msg.chan6;
     sbusChannelData[7] = sbus.msg.chan7;
-    // need more channels? No problem. Add them.
+    sbusChannelData[8] = sbus.msg.chan8;
+    sbusChannelData[9] = sbus.msg.chan9;
+    sbusChannelData[10] = sbus.msg.chan10;
+    sbusChannelData[11] = sbus.msg.chan11;
     return true;
 }
 

src/rx_spektrum.c

@@ -13,7 +13,7 @@
 #include "rx_common.h"
 #include "rx_spektrum.h"
 
-// driver for spektrum satellite receiver / sbus using UART2 (freeing up more motor outputs for stuff)
+// driver for spektrum satellite receiver / sbus
 
 #define SPEKTRUM_MAX_SUPPORTED_CHANNEL_COUNT 12
 #define SPEKTRUM_2048_CHANNEL_COUNT 12

src/rx_sumd.c

@@ -15,9 +15,11 @@
 
 // driver for SUMD receiver using UART2
 
+// FIXME test support for more than 8 channels, should probably work up to 12 channels
+
 #define SUMD_SYNCBYTE 0xA8
 #define SUMD_MAX_CHANNEL 8
-#define SUMD_BUFFSIZE (SUMD_MAX_CHANNEL * 2 + 5) // 6 channels + 5 -> 17 bytes for 6 channels
+#define SUMD_BUFFSIZE (SUMD_MAX_CHANNEL * 2 + 5) // 6 channels + 5 = 17 bytes for 6 channels
 
 #define SUMD_BAUDRATE 115200
 

src/serial_cli.c

@@ -149,6 +149,7 @@ const clivalue_t valueTable[] = {
     { "midrc", VAR_UINT16, &masterConfig.rxConfig.midrc, 1200, 1700 },
     { "mincheck", VAR_UINT16, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
     { "maxcheck", VAR_UINT16, &masterConfig.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
+    { "rssi_channel", VAR_INT8, &masterConfig.rxConfig.rssi_channel, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT },
 
     { "minthrottle", VAR_UINT16, &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
     { "maxthrottle", VAR_UINT16, &masterConfig.escAndServoConfig.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
@@ -235,9 +236,6 @@ const clivalue_t valueTable[] = {
     { "failsafe_throttle", VAR_UINT16, &currentProfile.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
     { "failsafe_detect_threshold", VAR_UINT16, &currentProfile.failsafeConfig.failsafe_detect_threshold, 100, PWM_RANGE_MAX },
 
-    { "rssi_aux_channel", VAR_INT8, &masterConfig.rssi_aux_channel, 0, 4 },
-
-
     { "gimbal_flags", VAR_UINT8, &currentProfile.gimbalConfig.gimbal_flags, 0, 255},
 
     { "acc_hardware", VAR_UINT8, &masterConfig.acc_hardware, 0, 5 },

src/serial_msp.c

@@ -330,6 +330,7 @@ static void evaluateCommand(void)
 
     switch (cmdMSP) {
     case MSP_SET_RAW_RC:
+        // FIXME need support for more than 8 channels
         for (i = 0; i < 8; i++)
             rcData[i] = read16();
         headSerialReply(0);
@@ -505,8 +506,8 @@ static void evaluateCommand(void)
         s_struct((uint8_t *)motor, 16);
         break;
     case MSP_RC:
-        headSerialReply(16);
+        headSerialReply(2 * rxRuntimeConfig.channelCount);
-        for (i = 0; i < 8; i++)
+        for (i = 0; i < rxRuntimeConfig.channelCount; i++)
             serialize16(rcData[i]);
         break;
     case MSP_RAW_GPS: