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| author | px4dev <px4@purgatory.org> | 2013-03-10 16:34:21 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-03-12 22:22:49 -0700 |
| commit | 6cf0758b24de1e0e28e1bb65fa33a0b49b1601b9 (patch) | |
| tree | 0e7a44edee6ad28d4b184341c277fea6a958acd4 /apps/px4io/protocol.h | |
| parent | 6b947a67d07eadc7dc882edf4505377085979784 (diff) | |
| download | px4-firmware-6cf0758b24de1e0e28e1bb65fa33a0b49b1601b9.tar.gz px4-firmware-6cf0758b24de1e0e28e1bb65fa33a0b49b1601b9.tar.bz2 px4-firmware-6cf0758b24de1e0e28e1bb65fa33a0b49b1601b9.zip | |
Changes for multi-rate PWM output; default and alternate rates. ioctl protocol, PX4IO support.
Diffstat (limited to 'apps/px4io/protocol.h')
| -rw-r--r-- | apps/px4io/protocol.h | 23 |
1 files changed, 14 insertions, 9 deletions
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 14d221b5b..8d8b7e941 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -76,7 +76,7 @@ #define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) /* static configuration page */ -#define PX4IO_PAGE_CONFIG 0 +#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? */ @@ -88,7 +88,7 @@ #define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */ /* dynamic status page */ -#define PX4IO_PAGE_STATUS 1 +#define PX4IO_PAGE_STATUS 1 #define PX4IO_P_STATUS_FREEMEM 0 #define PX4IO_P_STATUS_CPULOAD 1 @@ -112,28 +112,33 @@ #define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */ #define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ #define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ +#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ #define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ #define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ /* array of post-mix actuator outputs, -10000..10000 */ -#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#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 */ +#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /* array of raw RC input values, microseconds */ -#define PX4IO_PAGE_RAW_RC_INPUT 4 +#define PX4IO_PAGE_RAW_RC_INPUT 4 #define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ #define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */ /* array of scaled RC input values, -10000..10000 */ -#define PX4IO_PAGE_RC_INPUT 5 +#define PX4IO_PAGE_RC_INPUT 5 #define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ #define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ /* array of raw ADC values */ -#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ +#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ + +/* PWM servo information */ +#define PX4IO_PAGE_PWM_INFO 7 +#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ /* setup page */ #define PX4IO_PAGE_SETUP 100 @@ -146,8 +151,8 @@ #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ #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_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ +#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ #define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ #define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */ |