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| author | px4dev <px4@purgatory.org> | 2013-01-13 02:20:01 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-01-13 19:05:01 -0800 |
| commit | 8ebe21b27b279b5d941d4829e5ebee28b84b146c (patch) | |
| tree | b6c5aa838160180384454c573c966f74580864cd /apps/px4io/px4io.h | |
| parent | b0fb86a693db595c7adcd61c4179f0ddb8807c4e (diff) | |
| download | px4-firmware-8ebe21b27b279b5d941d4829e5ebee28b84b146c.tar.gz px4-firmware-8ebe21b27b279b5d941d4829e5ebee28b84b146c.tar.bz2 px4-firmware-8ebe21b27b279b5d941d4829e5ebee28b84b146c.zip | |
Checkpoint - I2C protocol register decode
Diffstat (limited to 'apps/px4io/px4io.h')
| -rw-r--r-- | apps/px4io/px4io.h | 36 |
1 files changed, 23 insertions, 13 deletions
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index afbaa78dc..fb0659602 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -64,7 +64,23 @@ #endif /* + * Registers. + */ +extern uint16_t r_page_status[]; /* PX4IO_PAGE_STATUS */ +extern uint16_t r_page_actuators[]; /* PX4IO_PAGE_ACTUATORS */ +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 volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */ +extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */ + +/* * System state structure. + * + * XXX note that many fields here are deprecated and replaced by + * registers. */ struct sys_state_s { @@ -129,12 +145,6 @@ struct sys_state_s { uint64_t fmu_data_received_time; /** - * Current serial interface mode, per the serial_rx_mode parameter - * in the config packet. - */ - uint8_t serial_rx_mode; - - /** * If true, the RC signal has been lost for more than a timeout interval */ bool rc_lost; @@ -206,6 +216,7 @@ extern volatile int timers[TIMER_NUM_TIMERS]; #define ADC_VBATT 4 #define ADC_IN5 5 +#define ADC_CHANNEL_COUNT 2 /* * Mixer @@ -225,6 +236,12 @@ extern void comms_main(void) __attribute__((noreturn)); extern void i2c_init(void); /* + * Register space + */ +extern void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); +extern int registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values); + +/* * Sensors/misc inputs */ extern int adc_init(void); @@ -238,10 +255,3 @@ extern int dsm_init(const char *device); extern bool dsm_input(void); extern int sbus_init(const char *device); extern bool sbus_input(void); - -/* - * Assertion codes - */ -#define A_GPIO_OPEN_FAIL 100 -#define A_SERVO_OPEN_FAIL 101 -#define A_INPUTQ_OPEN_FAIL 102 |