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| author | px4dev <px4@purgatory.org> | 2013-07-06 23:59:35 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-07-06 23:59:35 -0700 |
| commit | 8fa226c909d5d34606e8f28bb0b54aeda8f91010 (patch) | |
| tree | 58549c9596aa5568057f8844a111c4e596ee77f7 /src/modules/px4iofirmware/px4io.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/px4io.h')
| -rw-r--r-- | src/modules/px4iofirmware/px4io.h | 58 |
1 files changed, 33 insertions, 25 deletions
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 0779ffd8f..b32782285 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -54,8 +54,9 @@ /* * Constants and limits. */ -#define MAX_CONTROL_CHANNELS 12 -#define IO_SERVO_COUNT 8 +#define PX4IO_SERVO_COUNT 8 +#define PX4IO_CONTROL_CHANNELS 8 +#define PX4IO_INPUT_CHANNELS 12 /* * Debug logging @@ -124,34 +125,41 @@ extern struct sys_state_s system_state; /* * GPIO handling. */ -#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) -#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) -#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) +#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) +#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) +#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) + +#ifdef CONFIG_ARCH_BOARD_PX4IOV2 + +# define PX4IO_RELAY_CHANNELS 0 +# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s)) + +# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT)) + +# define PX4IO_ADC_CHANNEL_COUNT 2 +# define ADC_VSERVO 4 +# define ADC_RSSI 5 + +#else /* CONFIG_ARCH_BOARD_PX4IOV1 */ + +# define PX4IO_RELAY_CHANNELS 4 +# define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) +# define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) +# define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) +# define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) +# define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) + +# define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT)) +# define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT)) + +# define PX4IO_ADC_CHANNEL_COUNT 2 +# define ADC_VBATT 4 +# define ADC_IN5 5 -#ifdef GPIO_SERVO_PWR_EN -# define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) -#endif -#ifdef GPIO_ACC1_PWR_EN -# define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) -#endif -#ifdef GPIO_ACC2_PWR_EN -# define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) -#endif -#ifdef GPIO_RELAY1_EN -# define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) -#endif -#ifdef GPIO_RELAY2_EN -# define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) #endif -#define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT)) -#define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT)) #define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) -#define ADC_VBATT 4 -#define ADC_IN5 5 -#define ADC_CHANNEL_COUNT 2 - /* * Mixer */ |