Added support for a total of four control groups to the IO driver and IO firmware. This allows to run auxiliary payload. Cleaned up defines for RC input channel counts, this needs another sweep to then finally allow up to 16 mapped channels and up to 20-24 RAW RC channels

1 files changed, 34 insertions, 20 deletions

diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 5e5396782..832369f00 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 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
@@ -63,7 +63,7 @@
  * readable pages to be densely packed. Page numbers do not need to be
  * packed.
  *
- * Definitions marked 1 are only valid on PX4IOv1 boards. Likewise, 
+ * Definitions marked [1] are only valid on PX4IOv1 boards. Likewise, 
  * [2] denotes definitions specific to the PX4IOv2 board.
  */
 
@@ -76,6 +76,9 @@
 
 #define PX4IO_PROTOCOL_VERSION		4
 
+/* maximum allowable sizes on this protocol version */
+#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT	8	/**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */
+
 /* static configuration page */
 #define PX4IO_PAGE_CONFIG		0
 #define PX4IO_P_CONFIG_PROTOCOL_VERSION		0	/* PX4IO_PROTOCOL_VERSION */
@@ -87,6 +90,7 @@
 #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	/* hardcoded # of relay outputs */
+#define PX4IO_P_CONFIG_CONTROL_GROUP_COUNT	8	/**< hardcoded # of control groups*/
 
 /* dynamic status page */
 #define PX4IO_PAGE_STATUS		1
@@ -184,44 +188,54 @@ enum {							/* DSM bind states */
 	dsm_bind_reinit_uart
 };
  					     /*	8 */
-#define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
+#define PX4IO_P_SETUP_SET_DEBUG			9		/* debug level for IO board */
 
 /* autopilot control values, -10000..10000 */
-#define PX4IO_PAGE_CONTROLS		51		/* 0..CONFIG_CONTROL_COUNT */
+#define PX4IO_PAGE_CONTROLS			51		/**< actuator control groups, one after the other, 8 wide */
+#define PX4IO_P_CONTROLS_GROUP_0		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+#define PX4IO_P_CONTROLS_GROUP_1		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+#define PX4IO_P_CONTROLS_GROUP_2		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+#define PX4IO_P_CONTROLS_GROUP_3		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+
+#define PX4IO_P_CONTROLS_GROUP_VALID		64
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0	(1 << 0) /* group 0 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1	(1 << 1) /* group 1 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2	(1 << 2) /* group 2 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3	(1 << 3) /* group 3 is valid / received */
 
 /* raw text load to the mixer parser - ignores offset */
-#define PX4IO_PAGE_MIXERLOAD		52
+#define PX4IO_PAGE_MIXERLOAD			52
 
 /* R/C channel config */
-#define PX4IO_PAGE_RC_CONFIG		53		/* R/C input configuration */
-#define PX4IO_P_RC_CONFIG_MIN			0	/* lowest input value */
-#define PX4IO_P_RC_CONFIG_CENTER		1	/* center input value */
-#define PX4IO_P_RC_CONFIG_MAX			2	/* highest input value */
-#define PX4IO_P_RC_CONFIG_DEADZONE		3	/* band around center that is ignored */
-#define PX4IO_P_RC_CONFIG_ASSIGNMENT		4	/* mapped input value */
-#define PX4IO_P_RC_CONFIG_OPTIONS		5	/* channel options bitmask */
+#define PX4IO_PAGE_RC_CONFIG			53		/**< R/C input configuration */
+#define PX4IO_P_RC_CONFIG_MIN			0		/**< lowest input value */
+#define PX4IO_P_RC_CONFIG_CENTER		1		/**< center input value */
+#define PX4IO_P_RC_CONFIG_MAX			2		/**< highest input value */
+#define PX4IO_P_RC_CONFIG_DEADZONE		3		/**< band around center that is ignored */
+#define PX4IO_P_RC_CONFIG_ASSIGNMENT		4		/**< mapped input value */
+#define PX4IO_P_RC_CONFIG_OPTIONS		5		/**< channel options bitmask */
 #define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED	(1 << 0)
 #define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE	(1 << 1)
-#define PX4IO_P_RC_CONFIG_STRIDE		6	/* spacing between channel config data */
+#define PX4IO_P_RC_CONFIG_STRIDE		6		/**< spacing between channel config data */
 
 /* PWM output - overrides mixer */
-#define PX4IO_PAGE_DIRECT_PWM		54		/* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_DIRECT_PWM			54		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
 
 /* PWM failsafe values - zero disables the output */
-#define PX4IO_PAGE_FAILSAFE_PWM		55		/* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_FAILSAFE_PWM			55		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
 
 /* Debug and test page - not used in normal operation */
-#define PX4IO_PAGE_TEST			127
-#define PX4IO_P_TEST_LED			0	/* set the amber LED on/off */
+#define PX4IO_PAGE_TEST				127
+#define PX4IO_P_TEST_LED			0		/**< set the amber LED on/off */
 
 /* PWM minimum values for certain ESCs */
-#define PX4IO_PAGE_CONTROL_MIN_PWM		106	/* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_CONTROL_MIN_PWM		106		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
 
 /* PWM maximum values for certain ESCs */
-#define PX4IO_PAGE_CONTROL_MAX_PWM		107	/* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_CONTROL_MAX_PWM		107		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
 
 /* PWM disarmed values that are active, even when SAFETY_SAFE */
-#define PX4IO_PAGE_DISARMED_PWM		108	/* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_DISARMED_PWM		108			/* 0..CONFIG_ACTUATOR_COUNT-1 */
 
 /**
  * As-needed mixer data upload.