Merge remote-tracking branch 'upstream/control_groups' into fw_autoland_att_tecs_navigator_termination_controlgroups

6 files changed, 52 insertions, 34 deletions

diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index fd3b72015..4d306d6d0 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -355,7 +355,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
 			continue;
 
 		/* ignore channels out of range */
-		if (channel >= PX4IO_INPUT_CHANNELS)
+		if (channel >= PX4IO_RC_INPUT_CHANNELS)
 			continue;
 
 		/* update the decoded channel count */
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 05897b4ce..9bb93ce9f 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -236,13 +236,13 @@ mixer_callback(uintptr_t handle,
 	       uint8_t control_index,
 	       float &control)
 {
-	if (control_group != 0)
+	if (control_group > 3)
 		return -1;
 
 	switch (source) {
 	case MIX_FMU:
 		if (control_index < PX4IO_CONTROL_CHANNELS) {
-			control = REG_TO_FLOAT(r_page_controls[control_index]);
+			control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]);
 			break;
 		}
 		return -1;
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.
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 4fea0288c..61eacd602 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -53,7 +53,9 @@
  */
 #define PX4IO_SERVO_COUNT		8
 #define PX4IO_CONTROL_CHANNELS		8
-#define PX4IO_INPUT_CHANNELS		8 // XXX this should be 18 channels
+#define PX4IO_CONTROL_GROUPS		2
+#define PX4IO_RC_INPUT_CHANNELS		8 // XXX this should be 18 channels
+#define PX4IO_RC_MAPPED_CONTROL_CHANNELS		8 /**< This is the maximum number of channels mapped/used */
 
 /*
  * Debug logging
@@ -169,6 +171,8 @@ extern pwm_limit_t pwm_limit;
 
 #define BUTTON_SAFETY		stm32_gpioread(GPIO_BTN_SAFETY)
 
+#define CONTROL_PAGE_INDEX(_group, _channel) (_group * PX4IO_CONTROL_CHANNELS + _channel)
+
 /*
  * Mixer
  */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 86a40bc22..0533f1d76 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -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
@@ -68,7 +68,7 @@ static const uint16_t	r_page_config[] = {
 	[PX4IO_P_CONFIG_MAX_TRANSFER]		= 64,	/* XXX hardcoded magic number */
 	[PX4IO_P_CONFIG_CONTROL_COUNT]		= PX4IO_CONTROL_CHANNELS,
 	[PX4IO_P_CONFIG_ACTUATOR_COUNT]		= PX4IO_SERVO_COUNT,
-	[PX4IO_P_CONFIG_RC_INPUT_COUNT]		= PX4IO_CONTROL_CHANNELS,
+	[PX4IO_P_CONFIG_RC_INPUT_COUNT]		= PX4IO_RC_INPUT_CHANNELS,
 	[PX4IO_P_CONFIG_ADC_INPUT_COUNT]	= PX4IO_ADC_CHANNEL_COUNT,
 	[PX4IO_P_CONFIG_RELAY_COUNT]		= PX4IO_RELAY_CHANNELS,
 };
@@ -112,7 +112,7 @@ uint16_t		r_page_servos[PX4IO_SERVO_COUNT];
 uint16_t		r_page_raw_rc_input[] =
 {
 	[PX4IO_P_RAW_RC_COUNT]			= 0,
-	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
+	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
 };
 
 /**
@@ -122,7 +122,7 @@ uint16_t		r_page_raw_rc_input[] =
  */
 uint16_t		r_page_rc_input[] = {
 	[PX4IO_P_RC_VALID]			= 0,
-	[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
+	[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_RC_MAPPED_CONTROL_CHANNELS)] = 0
 };
 
 /**
@@ -172,7 +172,7 @@ volatile uint16_t	r_page_setup[] =
  *
  * Control values from the FMU.
  */
-volatile uint16_t	r_page_controls[PX4IO_CONTROL_CHANNELS];
+volatile uint16_t	r_page_controls[PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS];
 
 /*
  * PAGE 102 does not have a buffer.
@@ -183,7 +183,7 @@ volatile uint16_t	r_page_controls[PX4IO_CONTROL_CHANNELS];
  *
  * R/C channel input configuration.
  */
-uint16_t		r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
+uint16_t		r_page_rc_input_config[PX4IO_RC_INPUT_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
 
 /* valid options */
 #define PX4IO_P_RC_CONFIG_OPTIONS_VALID	(PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
@@ -235,7 +235,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 	case PX4IO_PAGE_CONTROLS:
 
 		/* copy channel data */
-		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
+		while ((offset < PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
 
 			/* XXX range-check value? */
 			r_page_controls[offset] = *values;
@@ -525,7 +525,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 		unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
 		uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
 
-		if (channel >= PX4IO_CONTROL_CHANNELS)
+		if (channel >= PX4IO_RC_INPUT_CHANNELS)
 			return -1;
 
 		/* disable the channel until we have a chance to sanity-check it */
@@ -573,7 +573,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 				if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
 					count++;
 				}
-				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_CONTROL_CHANNELS) {
+				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
 					count++;
 				}
 
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index c523df6ca..68a52c413 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -239,7 +239,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
 	}
 
 	/* decode switch channels if data fields are wide enough */
-	if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) {
+	if (PX4IO_RC_INPUT_CHANNELS > 17 && chancount > 15) {
 		chancount = 18;
 
 		/* channel 17 (index 16) */