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author | px4dev <px4@purgatory.org> | 2013-07-06 23:59:35 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-07-06 23:59:35 -0700 |
commit | 8fa226c909d5d34606e8f28bb0b54aeda8f91010 (patch) | |
tree | 58549c9596aa5568057f8844a111c4e596ee77f7 /src/modules/px4iofirmware/protocol.h | |
parent | a65a1237f05c885245237e9ffecd79dee9de4dbc (diff) | |
download | px4-firmware-8fa226c909d5d34606e8f28bb0b54aeda8f91010.tar.gz px4-firmware-8fa226c909d5d34606e8f28bb0b54aeda8f91010.tar.bz2 px4-firmware-8fa226c909d5d34606e8f28bb0b54aeda8f91010.zip |
Tweak protocol register assignments and add new registers to accommodate differences in IOv2.
Diffstat (limited to 'src/modules/px4iofirmware/protocol.h')
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 52 |
1 files changed, 33 insertions, 19 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 48ad4316f..fa57dfc3f 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -62,12 +62,11 @@ * Note that the implementation of readable pages prefers registers within * readable pages to be densely packed. Page numbers do not need to be * packed. + * + * Definitions marked 1 are only valid on PX4IOv1 boards. Likewise, + * [2] denotes definitions specific to the PX4IOv2 board. */ -#define PX4IO_CONTROL_CHANNELS 8 -#define PX4IO_INPUT_CHANNELS 12 -#define PX4IO_RELAY_CHANNELS 4 - /* Per C, this is safe for all 2's complement systems */ #define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) #define SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) @@ -75,10 +74,12 @@ #define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) #define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) +#define PX4IO_PROTOCOL_VERSION 2 + /* static configuration page */ #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_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */ +#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */ #define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ #define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ #define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ @@ -107,16 +108,20 @@ #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe 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) /* VBatt is very close to regulator dropout */ +#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ #define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ -#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */ -#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] 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_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */ -#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ -#define PX4IO_P_STATUS_IBATT 5 /* battery current (raw ADC) */ +#define PX4IO_P_STATUS_VBATT 4 /* [1] battery voltage in mV */ +#define PX4IO_P_STATUS_IBATT 5 /* [1] battery current (raw ADC) */ +#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ +#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ +#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ @@ -142,7 +147,7 @@ #define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ /* setup page */ -#define PX4IO_PAGE_SETUP 100 +#define PX4IO_PAGE_SETUP 50 #define PX4IO_P_SETUP_FEATURES 0 #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ @@ -155,18 +160,27 @@ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #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_RELAYS_POWER1 (1<<0) /* [1] power relay 1 */ +#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* [1] power relay 2 */ +#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* [1] accessory power 1 */ +#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* [1] accessory power 2 */ + +#define PX4IO_P_SETUP_VBATT_SCALE 6 /* [1] battery voltage correction factor (float) */ +#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* [2] servo voltage correction factor (float) */ + /* 7 */ + /* 8 */ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ +#define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */ /* raw text load to the mixer parser - ignores offset */ -#define PX4IO_PAGE_MIXERLOAD 102 +#define PX4IO_PAGE_MIXERLOAD 52 /* R/C channel config */ -#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */ +#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 */ @@ -178,13 +192,13 @@ #define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ /* PWM output - overrides mixer */ -#define PX4IO_PAGE_DIRECT_PWM 104 /* 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 105 /* 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_PAGE_TEST 127 #define PX4IO_P_TEST_LED 0 /* set the amber LED on/off */ /** |