Changes to sonar for new IO

src/main/drivers/pwm_mapping.c

@@ -189,12 +189,11 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 #endif
 
 #ifdef SONAR
-        if (init->sonarGPIOConfig && 
+        if (init->sonarConfig && 
             (
-                CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->triggerPin) ||
+                timerHardwarePtr->pin == init->sonarConfig->triggerPin ||
-                CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->echoPin)
+                timerHardwarePtr->pin == init->sonarConfig->echoPin
-            )
+            )) {
-        ) {
             continue;
         }
 #endif

src/main/drivers/pwm_mapping.h

@@ -16,7 +16,7 @@
  */
 
 #pragma once
-#include "gpio.h"
+
 #include "timer.h"
 
 #define MAX_PWM_MOTORS  12
@@ -42,11 +42,10 @@
 #define ONESHOT42_TIMER_MHZ 24
 #define ONESHOT125_TIMER_MHZ 8
 
-typedef struct sonarGPIOConfig_s {
+typedef struct sonarIOConfig_s {
-    GPIO_TypeDef *gpio;
+    ioTag_t triggerPin;
-    uint16_t triggerPin;
+    ioTag_t echoPin;
-    uint16_t echoPin;
+} sonarIOConfig_t;
-} sonarGPIOConfig_t;
 
 typedef struct drv_pwm_config_s {
     bool useParallelPWM;
@@ -78,7 +77,7 @@ typedef struct drv_pwm_config_s {
     uint16_t motorPwmRate;
     uint16_t idlePulse;  // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
                          // some higher value (used by 3d mode), or 0, for brushed pwm drivers.
-    sonarGPIOConfig_t *sonarGPIOConfig;
+    sonarIOConfig_t *sonarConfig;
 } drv_pwm_config_t;
 
 enum {

src/main/drivers/sonar_hcsr04.c

@@ -22,7 +22,6 @@
 #include "build_config.h"
 
 #include "system.h"
-#include "gpio.h"
 #include "nvic.h"
 #include "io.h"
 #include "exti.h"
@@ -43,8 +42,9 @@ static uint32_t lastMeasurementAt;
 static sonarHardware_t const *sonarHardware;
 
 extiCallbackRec_t hcsr04_extiCallbackRec;
+
 static IO_t echoIO;
-//static IO_t triggerIO;
+static IO_t triggerIO;
 
 void hcsr04_extiHandler(extiCallbackRec_t* cb)
 {
@@ -52,7 +52,7 @@ void hcsr04_extiHandler(extiCallbackRec_t* cb)
     uint32_t timing_stop;
     UNUSED(cb);
 
-    if (digitalIn(sonarHardware->echo_gpio, sonarHardware->echo_pin) != 0) {
+    if (IORead(echoIO) != 0) {
         timing_start = micros();
     }
     else {
@@ -71,32 +71,27 @@ void hcsr04_init(const sonarHardware_t *initialSonarHardware, sonarRange_t *sona
     sonarRange->detectionConeExtendedDeciDegrees = HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES;
 
 #if !defined(UNIT_TEST)
-    gpio_config_t gpio;
 
 #ifdef STM32F10X
     // enable AFIO for EXTI support
     RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
 #endif
 
-#ifdef STM32F303xC
+#if defined(STM32F3) || defined(STM32F4)
-    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
-
     /* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
     RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
 #endif
 
     // trigger pin
-    gpio.pin = sonarHardware->trigger_pin;
+    triggerIO = IOGetByTag(sonarHardware->triggerIO);
-    gpio.mode = Mode_Out_PP;
+    IOInit(triggerIO, OWNER_SONAR, RESOURCE_INPUT);
-    gpio.speed = Speed_2MHz;
+    IOConfigGPIO(triggerIO, IOCFG_OUT_PP);
-    gpioInit(sonarHardware->trigger_gpio, &gpio);
     
     // echo pin
-    gpio.pin = sonarHardware->echo_pin;
+    echoIO = IOGetByTag(sonarHardware->echoIO);
-    gpio.mode = Mode_IN_FLOATING;
+    IOInit(echoIO, OWNER_SONAR, RESOURCE_INPUT);
-    gpioInit(sonarHardware->echo_gpio, &gpio);
+    IOConfigGPIO(echoIO, IOCFG_IN_FLOATING);
 
-	echoIO = IOGetByTag(sonarHardware->echoIO);
 #ifdef USE_EXTI
 	EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
 	EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
@@ -123,10 +118,10 @@ void hcsr04_start_reading(void)
 
     lastMeasurementAt = now;
 
-    digitalHi(sonarHardware->trigger_gpio, sonarHardware->trigger_pin);
+    IOHi(triggerIO);
     //  The width of trig signal must be greater than 10us
     delayMicroseconds(11);
-    digitalLo(sonarHardware->trigger_gpio, sonarHardware->trigger_pin);
+    IOLo(triggerIO);
 #endif
 }
 

src/main/drivers/sonar_hcsr04.h

@@ -21,10 +21,6 @@
 #include "io.h"
 
 typedef struct sonarHardware_s {
-    uint16_t trigger_pin;
-	GPIO_TypeDef* trigger_gpio;
-    uint16_t echo_pin;
-	GPIO_TypeDef* echo_gpio;
     ioTag_t triggerIO;
     ioTag_t echoIO;
 } sonarHardware_t;

src/main/main.c

@@ -265,12 +265,11 @@ void init(void)
 
     if (feature(FEATURE_SONAR)) {
         sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
-        sonarGPIOConfig_t sonarGPIOConfig = {
+        sonarIOConfig_t sonarConfig = {
-            .gpio = SONAR_GPIO,
+            .triggerPin = sonarHardware->triggerIO,
-            .triggerPin = sonarHardware->echo_pin,
+            .echoPin = sonarHardware->echoIO
-            .echoPin = sonarHardware->trigger_pin,
         };
-        pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
+	    pwm_params.sonarConfig = &sonarConfig;
     }
 #endif
 

src/main/sensors/sonar.c

@@ -26,7 +26,7 @@
 #include "common/axis.h"
 
 #include "drivers/sonar_hcsr04.h"
-#include "drivers/gpio.h"
+#include "drivers/io.h"
 #include "config/runtime_config.h"
 #include "config/config.h"
 
@@ -48,77 +48,14 @@ float sonarMaxTiltCos;
 
 static int32_t calculatedAltitude;
 
+#ifndef SONAR_CUSTOM_CONFIG
 const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig)
 {
-#if defined(NAZE) || defined(EUSTM32F103RC) || defined(PORT103R)
+#if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN)
-    static const sonarHardware_t const sonarPWM56 = {
-        .trigger_pin = Pin_8,   // PWM5 (PB8) - 5v tolerant
-        .trigger_gpio = GPIOB,
-        .echo_pin = Pin_9,      // PWM6 (PB9) - 5v tolerant
-        .echo_gpio = GPIOB,
-		.triggerIO = IO_TAG(PB8),
-		.echoIO = IO_TAG(PB9),
-    };
-    static const sonarHardware_t sonarRC78 = {
-        .trigger_pin = Pin_0,   // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
-        .trigger_gpio = GPIOB,
-        .echo_pin = Pin_1,      // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
-        .echo_gpio = GPIOB,
-		.triggerIO = IO_TAG(PB0),
-		.echoIO = IO_TAG(PB1),
-    };
-    // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
-    if (feature(FEATURE_SOFTSERIAL)
-            || feature(FEATURE_RX_PARALLEL_PWM )
-            || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
-        return &sonarPWM56;
-    } else {
-        return &sonarRC78;
-    }
-#elif defined(OLIMEXINO)
     UNUSED(batteryConfig);
     static const sonarHardware_t const sonarHardware = {
-        .trigger_pin = Pin_0,   // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
+		.triggerIO = IO_TAG(SONAR_TRIGGER_PIN),
-        .trigger_gpio = GPIOB,
+		.echoIO = IO_TAG(SONAR_ECHO_PIN),
-        .echo_pin = Pin_1,      // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
-        .echo_gpio = GPIOB,
-		.triggerIO = IO_TAG(PB0),
-		.echoIO = IO_TAG(PB1),
-    };
-    return &sonarHardware;
-#elif defined(CC3D)
-    UNUSED(batteryConfig);
-    static const sonarHardware_t const sonarHardware = {
-        .trigger_pin = Pin_5,   // (PB5)
-        .trigger_gpio = GPIOB,
-        .echo_pin = Pin_0,      // (PB0) - only 3.3v ( add a 1K Ohms resistor )
-        .echo_gpio = GPIOB,
-		.triggerIO = IO_TAG(PB5),
-		.echoIO = IO_TAG(PB0),
-    };
-    return &sonarHardware;
-    
-// TODO - move sonar pin selection to CLI
-#elif defined(SPRACINGF3) || defined(SPRACINGF3MINI) || defined(FURYF3) || defined(RMDO)
-    UNUSED(batteryConfig);
-    static const sonarHardware_t const sonarHardware = {
-        .trigger_pin = Pin_0,   // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
-        .trigger_gpio = GPIOB,
-        .echo_pin = Pin_1,      // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
-        .echo_gpio = GPIOB,
-		.triggerIO = IO_TAG(PB0),
-		.echoIO = IO_TAG(PB1),
-    };
-    return &sonarHardware;
-#elif defined(SPARKY)
-    UNUSED(batteryConfig);
-    static const sonarHardware_t const sonarHardware = {
-        .trigger_pin = Pin_2,   // PWM6 (PA2) - only 3.3v ( add a 1K Ohms resistor )
-        .trigger_gpio = GPIOA,
-        .echo_pin = Pin_1,      // PWM7 (PB1) - only 3.3v ( add a 1K Ohms resistor )
-        .echo_gpio = GPIOB,
-		.triggerIO = IO_TAG(PA2),
-		.echoIO = IO_TAG(PB1),
     };
     return &sonarHardware;
 #elif defined(UNIT_TEST)
@@ -128,7 +65,7 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon
 #error Sonar not defined for target
 #endif
 }
-
+#endif
 void sonarInit(const sonarHardware_t *sonarHardware)
 {
     sonarRange_t sonarRange;

src/main/target/CC3D/target.h

@@ -118,6 +118,9 @@
 
 #define DISPLAY
 #define SONAR
+#define SONAR_ECHO_PIN      PB0
+#define SONAR_TRIGGER_PIN   PB5
+
 #undef GPS
 
 #undef BARO

src/main/target/EUSTM32F103RC/sonar_config.c

@@ -0,0 +1,30 @@
+
+#include "drivers/sonar_hcsr04.h"
+#include "drivers/io.h"
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "sensors/battery.h"
+#include "sensors/sonar.h"
+
+#ifdef SONAR_CUSTOM_CONFIG
+const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig)
+{
+    static const sonarHardware_t const sonarPWM56 = {
+		.triggerIO = IO_TAG(PB8),
+		.echoIO = IO_TAG(PB9),
+    };
+    static const sonarHardware_t sonarRC78 = {
+		.triggerIO = IO_TAG(PB0),
+		.echoIO = IO_TAG(PB1),
+    };
+    // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
+    if (feature(FEATURE_SOFTSERIAL)
+            || feature(FEATURE_RX_PARALLEL_PWM )
+            || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
+        return &sonarPWM56;
+    } else {
+        return &sonarRC78;
+    }
+}
+#endif

src/main/target/EUSTM32F103RC/target.h

@@ -69,6 +69,8 @@
 #define MAG_AK8975_ALIGN CW180_DEG_FLIP
 
 #define SONAR
+#define SONAR_CUSTOM_CONFIG
+
 #define DISPLAY
 
 #define USE_USART1

src/main/target/FURYF3/target.h

@@ -184,6 +184,9 @@
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
 
 #define SONAR
+#define SONAR_ECHO_PIN      PB1
+#define SONAR_TRIGGER_PIN   PB0
+
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
 #define DEFAULT_FEATURES FEATURE_BLACKBOX
 

src/main/target/NAZE/sonar_config.c

@@ -0,0 +1,30 @@
+
+#include "drivers/sonar_hcsr04.h"
+#include "drivers/io.h"
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "sensors/battery.h"
+#include "sensors/sonar.h"
+
+#ifdef SONAR_CUSTOM_CONFIG
+const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig)
+{
+    static const sonarHardware_t const sonarPWM56 = {
+		.triggerIO = IO_TAG(PB8),
+		.echoIO = IO_TAG(PB9),
+    };
+    static const sonarHardware_t sonarRC78 = {
+		.triggerIO = IO_TAG(PB0),
+		.echoIO = IO_TAG(PB1),
+    };
+    // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
+    if (feature(FEATURE_SOFTSERIAL)
+            || feature(FEATURE_RX_PARALLEL_PWM )
+            || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
+        return &sonarPWM56;
+    } else {
+        return &sonarRC78;
+    }
+}
+#endif

src/main/target/NAZE/target.h

@@ -108,6 +108,7 @@
 #define MAG_HMC5883_ALIGN CW180_DEG
 
 #define SONAR
+#define SONAR_CUSTOM_CONFIG
 #define DISPLAY
 
 #define USE_USART1

src/main/target/OLIMEXINO/target.h

@@ -59,6 +59,8 @@
 #define USE_MAG_HMC5883
 
 #define SONAR
+#define SONAR_ECHO_PIN      PB1
+#define SONAR_TRIGGER_PIN   PB0
 
 #define USE_USART1
 #define USE_USART2

src/main/target/PORT103R/sonar_config.c

@@ -0,0 +1,30 @@
+
+#include "drivers/sonar_hcsr04.h"
+#include "drivers/io.h"
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "sensors/battery.h"
+#include "sensors/sonar.h"
+
+#ifdef SONAR_CUSTOM_CONFIG
+const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig)
+{
+    static const sonarHardware_t const sonarPWM56 = {
+		.triggerIO = IO_TAG(PB8),
+		.echoIO = IO_TAG(PB9),
+    };
+    static const sonarHardware_t sonarRC78 = {
+		.triggerIO = IO_TAG(PB0),
+		.echoIO = IO_TAG(PB1),
+    };
+    // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
+    if (feature(FEATURE_SOFTSERIAL)
+            || feature(FEATURE_RX_PARALLEL_PWM )
+            || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
+        return &sonarPWM56;
+    } else {
+        return &sonarRC78;
+    }
+}
+#endif

src/main/target/PORT103R/target.h

@@ -87,6 +87,8 @@
 #define USE_FLASH_M25P16
 
 #define SONAR
+#define SONAR_CUSTOM_CONFIG
+
 #define DISPLAY
 
 #define USE_USART1

src/main/target/RMDO/target.h

@@ -52,6 +52,8 @@
 #define USE_FLASH_M25P16
 
 #define SONAR
+#define SONAR_ECHO_PIN      PB1
+#define SONAR_TRIGGER_PIN   PB0
 
 #define USE_USART1
 #define USE_USART2

src/main/target/SPARKY/target.h

@@ -156,6 +156,9 @@
 // USART2, PA3
 #define BIND_PIN PA3
 
+//#define SONAR
+//#define SONAR_ECHO_PIN      PB1
+//#define SONAR_TRIGGER_PIN   PA2
 
 // available IO pins (from schematics)
 //#define TARGET_IO_PORTA (BIT(1)|BIT(2)|BIT(3)|BIT(4)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(10)|BIT(11)|BIT(12)|BIT(13)|BIT(14)|BIT(15))

src/main/target/SPRACINGF3/target.h

@@ -61,6 +61,8 @@
 #define USE_FLASH_M25P16
 
 #define SONAR
+#define SONAR_ECHO_PIN      PB1
+#define SONAR_TRIGGER_PIN   PB0
 
 #define USE_USART1
 #define USE_USART2

src/main/target/SPRACINGF3MINI/target.h

@@ -24,9 +24,9 @@
 // early prototype had slightly different pin mappings.
 //#define SPRACINGF3MINI_MKII_REVA
 
-#define LED0    PB3
+#define LED0            PB3
 
-#define BEEPER    PC15
+#define BEEPER          PC15
 #define BEEPER_INVERTED
 
 #define USABLE_TIMER_CHANNEL_COUNT 12 // 8 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
@@ -50,7 +50,7 @@
 //#define USE_FAKE_ACC
 #define USE_ACC_MPU6500
 
-#define ACC_MPU6500_ALIGN CW180_DEG
+#define ACC_MPU6500_ALIGN  CW180_DEG
 #define GYRO_MPU6500_ALIGN CW180_DEG
 
 #define BARO
@@ -64,11 +64,13 @@
 #define MAG_AK8975_ALIGN CW90_DEG_FLIP
 
 #define SONAR
+#define SONAR_ECHO_PIN      PB1
+#define SONAR_TRIGGER_PIN   PB0
 
 #define USB_IO
 #define USB_CABLE_DETECTION
 
-#define USB_DETECT_PIN                   PB5
+#define USB_DETECT_PIN      PB5
 
 #define USE_VCP
 #define USE_USART1