Fresh import of the PX4 firmware sources.

1 files changed, 142 insertions, 0 deletions

diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
new file mode 100644
index 000000000..d90f7e36b
--- /dev/null
+++ b/apps/px4io/px4io.h
@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+ /**
+  * @file General defines and structures for the PX4IO module firmware.
+  */
+
+#include <arch/board/drv_gpio.h>
+#include "protocol.h"
+
+/*
+ * Constants and limits.
+ */
+#define MAX_CONTROL_CHANNELS	12
+#define IO_SERVO_COUNT		8
+
+/*
+ * System state structure.
+ */
+struct sys_state_s 
+{
+
+	bool		armed;		/* actually armed */
+	bool		arm_ok;		/* FMU says OK to arm */
+
+	/*
+	 * Data from the remote control input(s)
+	 */
+	int		rc_channels;
+	uint16_t	rc_channel_data[PX4IO_INPUT_CHANNELS];
+
+	/*
+	 * Control signals from FMU.
+	 */
+	uint16_t	fmu_channel_data[PX4IO_OUTPUT_CHANNELS];
+
+	/*
+	 * Relay controls
+	 */
+	bool		relays[PX4IO_RELAY_CHANNELS];
+
+	/*
+	 * If true, we are using the FMU controls.
+	 */
+	bool		mixer_use_fmu;
+
+	/*
+	 * If true, state that should be reported to FMU has been updated.
+	 */
+	bool		fmu_report_due;
+
+	/*
+	 * If true, new control data from the FMU has been received.
+	 */
+	bool		fmu_data_received;
+};
+
+extern struct sys_state_s system_state;
+
+/*
+ * Software countdown timers.
+ *
+ * Each timer counts down to zero at one tick per ms.
+ */
+#define TIMER_BLINK_AMBER	0
+#define TIMER_BLINK_BLUE	1
+#define TIMER_STATUS_PRINT	2
+#define TIMER_SANITY		7
+#define TIMER_NUM_TIMERS	8
+extern volatile int	timers[TIMER_NUM_TIMERS];
+
+/*
+ * GPIO handling.
+ */
+extern int gpio_fd;
+
+#define POWER_SERVO(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_POWER), (_s))
+#define POWER_ACC1(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC1), (_s))
+#define POWER_ACC2(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC2), (_s))
+#define POWER_RELAY1(_s)	ioctl(gpio_fd, GPIO_SET(GPIO_RELAY1, (_s))
+#define POWER_RELAY2(_s)	ioctl(gpio_fd, GPIO_SET(GPIO_RELAY2, (_s))
+
+#define LED_AMBER(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_LED_AMBER), !(_s))
+#define LED_BLUE(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_LED_BLUE), !(_s))
+#define LED_SAFETY(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_LED_SAFETY), !(_s))
+
+#define OVERCURRENT_ACC		ioctl(gpio_fd, GPIO_GET(GPIO_ACC_OVERCURRENT), 0)
+#define OVERCURRENT_SERVO	ioctl(gpio_fd, GPIO_GET(GPIO_SERVO_OVERCURRENT), 0)
+#define BUTTON_SAFETY		ioctl(gpio_fd, GPIO_GET(GPIO_SAFETY_BUTTON), 0)
+
+/*
+ * Mixer
+ */
+extern int	mixer_init(const char *mq_name);
+
+/*
+ * Safety switch/LED.
+ */
+extern void	safety_init(void);
+
+/*
+ * FMU communications
+ */
+extern void	comms_init(void);
+extern void	comms_check(void);
+
+/*
+ * Assertion codes
+ */
+#define A_GPIO_OPEN_FAIL		100
+#define A_SERVO_OPEN_FAIL		101
+#define A_INPUTQ_OPEN_FAIL		102