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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-22 15:31:56 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-22 15:31:56 +0100 |
commit | 8942f7a39257477c6b6434b370d29c242c4139a1 (patch) | |
tree | c89fba648eba26c32a3578f92e16e828f2f2684f | |
parent | 70b875aeb621ef7c24a17e3dd563265456b736b7 (diff) | |
download | px4-firmware-8942f7a39257477c6b6434b370d29c242c4139a1.tar.gz px4-firmware-8942f7a39257477c6b6434b370d29c242c4139a1.tar.bz2 px4-firmware-8942f7a39257477c6b6434b370d29c242c4139a1.zip |
Safelink protocol support in IO firmware structures, not hooked up yet.
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 7 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.h | 7 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 10 |
3 files changed, 24 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index d48c6c529..0006b137c 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -111,6 +111,7 @@ #define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ #define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ +#define PX4IO_P_STATUS_FLAGS_SAFELINK_FS (1 << 13) /* SAFELINK failsave is active */ #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) /* [1] VBatt is very close to regulator dropout */ @@ -161,6 +162,10 @@ #define PX4IO_PAGE_PWM_INFO 7 #define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ +#define PX4IO_PAGE_SAFELINK 8 /**< redundancy link page */ +#define PX4IO_P_SAFELINK_COUNT 0 /**< number of inputs */ +#define PX4IO_P_SAFELINK_BASE 1 /**< index of safelink actuator zero */ + /* setup page */ #define PX4IO_PAGE_SETUP 50 #define PX4IO_P_SETUP_FEATURES 0 @@ -168,6 +173,8 @@ #define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /* enable S.Bus v2 output */ #define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /* enable PWM RSSI parsing */ #define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /* enable ADC RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_SAFELINK_IN (1 << 4) /* enable SAFELINK input parsing on S.BUS port */ +#define PX4IO_P_SETUP_FEATURES_SAFELINK_OUT (1 << 5) /* enable SAFELINK output on S.BUS port */ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 342db4b66..0a159f7f5 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -77,6 +77,7 @@ extern uint16_t r_page_servos[]; /* PX4IO_PAGE_SERVOS */ extern uint16_t r_page_raw_rc_input[]; /* PX4IO_PAGE_RAW_RC_INPUT */ extern uint16_t r_page_rc_input[]; /* PX4IO_PAGE_RC_INPUT */ extern uint16_t r_page_adc[]; /* PX4IO_PAGE_RAW_ADC_INPUT */ +extern uint16_t r_page_safelink[]; /* PX4IO_PAGE_SAFELINK */ extern volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */ extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */ @@ -110,6 +111,8 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ #endif #define r_control_values (&r_page_controls[0]) +#define r_safelink_values (&r_page_safelink[PX4IO_P_SAFELINK_BASE]) +#define r_safelink_count r_page_safelink[PX4IO_P_SAFELINK_COUNT] /* * System state structure. @@ -222,6 +225,10 @@ extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsa extern void sbus1_output(uint16_t *values, uint16_t num_values); extern void sbus2_output(uint16_t *values, uint16_t num_values); +extern int safelink_init(int fd); +extern void safelink_output(uint16_t *values, uint16_t num_values); +extern bool safelink_input(uint16_t *values, uint16_t *num_values, bool *failsafe, uint16_t max_channels); + /** global debug level for isr_debug() */ extern volatile uint8_t debug_level; diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 1335f52e1..6c183bbf9 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -142,6 +142,16 @@ uint16_t r_page_rc_input[] = { uint16_t r_page_scratch[32]; /** + * PAGE 8 + * + * Inputs from redundant autopilot + */ +uint16_t r_page_safelink[] = { + [PX4IO_P_SAFELINK_COUNT] = 0, + [PX4IO_P_SAFELINK_BASE ... (PX4IO_P_SAFELINK_BASE + PX4IO_SERVO_COUNT)] = 0 +}; + +/** * PAGE 100 * * Setup registers |