/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
/**
* @file protocol.h
*
* PX4IO I2C interface protocol.
*
* Communication is performed via writes to and reads from 16-bit virtual
* registers organised into pages of 255 registers each.
*
* The first two bytes of each write select a page and offset address
* respectively. Subsequent reads and writes increment the offset within
* the page.
*
* Most pages are readable or writable but not both.
*
* Note that some pages may permit offset values greater than 255, which
* can only be achieved by long writes. The offset does not wrap.
*
* Writes to unimplemented registers are ignored. Reads from unimplemented
* registers return undefined values.
*
* As convention, values that would be floating point in other parts of
* the PX4 system are expressed as signed integer values scaled by 10000,
* e.g. control values range from -10000..10000.
*
* Note that the implementation of readable pages prefers registers within
* readable pages to be densely packed. Page numbers do not need to be
* packed.
*/
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */
#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */
#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */
#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */
#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */
#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */
#define PX4IO_P_CONFIG_POWERSW_COUNT 9 /* harcoded # of switched power outputs */
/* dynamic status page */
#define PX4IO_PAGE_STATUS 1
#define PX4IO_P_STATUS_FREEMEM 0
#define PX4IO_P_STATUS_CPULOAD 1
#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */
#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */
#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 2) /* PPM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 3) /* DSM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 4) /* SBUS input is valid */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */
#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */
#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_AP_LOST (1 << 4)
#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */
#define PX4IO_P_STATUS_TEMPERATURE 5 /* temperature in (units tbd) */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* array of PWM servo output values, microseconds */
#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* array of raw RC input values, microseconds */
#define PX4IO_PAGE_RAW_RC_INPUT 4 /* 0..CONFIG_RC_INPUT_COUNT-1 */
/* array of scaled RC input values, -10000..10000 */
#define PX4IO_PAGE_RAW_RC_INPUT 5 /* 0..CONFIG_RC_INPUT_COUNT-1 */
/* array of raw ADC values */
#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
/* setup page */
#define PX4IO_PAGE_SETUP 100
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE (1 << 1) /* request local override */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_LOWRATE 3 /* 'low' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_PWM_HIGHRATE 4 /* 'high' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_POWERSW 6 /* bitmask of switched power outputs, 0 = off, 1 = on */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 101 /* 0..STATUS_CONTROL_COUNT */
/* raw text load to the mixer parser - ignores offset */
#define PX4IO_PAGE_MIXERLOAD 102
/*
* Old serial PX4FMU <-> PX4IO messaging protocol.
*
* This initial version of the protocol is very simple; each side transmits a
* complete update with each frame. This avoids the sending of many small
* messages and the corresponding complexity involved.
*/
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 4
#pragma pack(push, 1)
/**
* Periodic command from FMU to IO.
*/
struct px4io_command {
uint16_t f2i_magic;
#define F2I_MAGIC 0x636d
uint16_t servo_rate;
uint16_t output_control[PX4IO_CONTROL_CHANNELS]; /**< PWM output rate in Hz */
bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */
bool arm_ok; /**< FMU allows full arming */
bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */
bool manual_override_ok; /**< if true, IO performs a direct manual override */
};
/**
* Periodic report from IO to FMU
*/
struct px4io_report {
uint16_t i2f_magic;
#define I2F_MAGIC 0x7570
uint16_t rc_channel[PX4IO_INPUT_CHANNELS];
bool armed;
uint8_t channel_count;
uint16_t battery_mv;
uint16_t adc_in;
uint8_t overcurrent;
};
/**
* As-needed config message from FMU to IO
*/
struct px4io_config {
uint16_t f2i_config_magic;
#define F2I_CONFIG_MAGIC 0x6366
uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */
uint16_t rc_min[4]; /**< min value for each channel */
uint16_t rc_trim[4]; /**< trim value for each channel */
uint16_t rc_max[4]; /**< max value for each channel */
int8_t rc_rev[4]; /**< rev value for each channel */
uint16_t rc_dz[4]; /**< dz value for each channel */
};
/**
* As-needed mixer data upload.
*
* This message adds text to the mixer text buffer; the text
* buffer is drained as the definitions are consumed.
*/
struct px4io_mixdata {
uint16_t f2i_mixer_magic;
#define F2I_MIXER_MAGIC 0x6d74
uint8_t action;
#define F2I_MIXER_ACTION_RESET 0
#define F2I_MIXER_ACTION_APPEND 1
char text[0]; /* actual text size may vary */
};
/* maximum size is limited by the HX frame size */
#define F2I_MIXER_MAX_TEXT (HX_STREAM_MAX_FRAME - sizeof(struct px4io_mixdata))
#pragma pack(pop)
