allow using GPS in PWM input mode. This (obviously) reduces number of available channels by 2.

I heard thats not a problem since tarduino only allows 4RC+2AUX channels anyway! If you want more, upgrade to PPM.
So you use RC3/4 for GPS, and connect the rest of the channels as usual. Channels used for GPS uart are
skipped, so no changes to 'map' are necessary. Simply connect in order.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@212 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/drv_pwm.c

@@ -136,7 +136,7 @@ enum {
     TYPE_IP = 0x10,
     TYPE_IW = 0x20,
     TYPE_M = 0x40,
-    TYPE_S = 0x80,
+    TYPE_S = 0x80
 };
 
 static pwmPortData_t pwmPorts[MAX_PORTS];
@@ -477,6 +477,10 @@ bool pwmInit(drv_pwm_config_t *init)
         if (setup[i] == 0xFF) // terminator
             break;
 
+        // skip UART ports for GPS
+        if (init->useUART && (port == PWM3 || port == PWM4))
+            continue;
+
         // hacks to allow current functionality
         if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput)
             mask = 0;

src/drv_pwm.h

@@ -7,6 +7,7 @@
 typedef struct drv_pwm_config_t {
     bool enableInput;
     bool usePPM;
+    bool useUART;
     bool useServos;
     bool extraServos;    // configure additional 4 channels in PPM mode as servos, not motors
     bool airplane;       // fixed wing hardware config, lots of servos etc

src/main.c

@@ -57,12 +57,30 @@ int main(void)
     sensorsSet(SENSOR_ACC);
 #endif
 
+    if (feature(FEATURE_SPEKTRUM)) {
+        spektrumInit();
+        rcReadRawFunc = spektrumReadRawRC;
+    } 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.
+        if (feature(FEATURE_GPS))
+            gpsInit(cfg.gps_baudrate);
+    }
+#ifdef SONAR
+    // sonar stuff only works with PPM
+    if (feature(FEATURE_PPM)) {
+        if (feature(FEATURE_SONAR))
+            Sonar_init();
+    }
+#endif
+
     mixerInit(); // this will set useServo var depending on mixer type
     // when using airplane/wing mixer, servo/motor outputs are remapped
     if (cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_FLYING_WING)
         pwm_params.airplane = true;
     else
         pwm_params.airplane = false;
+    pwm_params.useUART = feature(FEATURE_GPS);
     pwm_params.usePPM = feature(FEATURE_PPM);
     pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
     pwm_params.useServos = useServo;
@@ -96,22 +114,6 @@ int main(void)
     if (feature(FEATURE_VBAT))
         batteryInit();
 
-    if (feature(FEATURE_SPEKTRUM)) {
-        spektrumInit();
-        rcReadRawFunc = spektrumReadRawRC;
-    } else {
-        // spektrum and GPS are mutually exclusive
-        // Optional GPS - available only when using PPM, otherwise required pins won't be usable
-        if (feature(FEATURE_PPM)) {
-            if (feature(FEATURE_GPS))
-                gpsInit(cfg.gps_baudrate);
-#ifdef SONAR
-            if (feature(FEATURE_SONAR))
-                Sonar_init();
-#endif
-        }
-    }
-
     previousTime = micros();
     if (cfg.mixerConfiguration == MULTITYPE_GIMBAL)
         calibratingA = 400;