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Diffstat (limited to 'apps/px4io/protocol.h')
| -rw-r--r-- | apps/px4io/protocol.h | 204 |
1 files changed, 0 insertions, 204 deletions
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h deleted file mode 100644 index 8d8b7e941..000000000 --- a/apps/px4io/protocol.h +++ /dev/null @@ -1,204 +0,0 @@ -/**************************************************************************** - * - * 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. - * - ****************************************************************************/ - -#pragma once - -/** - * @file protocol.h - * - * PX4IO I2C interface protocol. - * - * Communication is performed via writes to and reads from 16-bit virtual - * registers organised into pages of 255 registers each. - * - * The first two bytes of each write select a page and offset address - * respectively. Subsequent reads and writes increment the offset within - * the page. - * - * Most pages are readable or writable but not both. - * - * Note that some pages may permit offset values greater than 255, which - * can only be achieved by long writes. The offset does not wrap. - * - * Writes to unimplemented registers are ignored. Reads from unimplemented - * registers return undefined values. - * - * As convention, values that would be floating point in other parts of - * the PX4 system are expressed as signed integer values scaled by 10000, - * e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and - * SIGNED_TO_REG macros to convert between register representation and - * the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float. - * - * Note that the implementation of readable pages prefers registers within - * readable pages to be densely packed. Page numbers do not need to be - * packed. - */ - -#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)) - -#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)) - -/* 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_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 */ -#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */ -#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 /* harcoded # of relay outputs */ - -/* dynamic status page */ -#define PX4IO_PAGE_STATUS 1 -#define PX4IO_P_STATUS_FREEMEM 0 -#define PX4IO_P_STATUS_CPULOAD 1 - -#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ -#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */ -#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ -#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ -#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ -#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ -#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ -#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ -#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ -#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ -#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ -#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ - -#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_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_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_VBATT 4 /* battery voltage in mV */ -#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ - -/* array of post-mix actuator outputs, -10000..10000 */ -#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ - -/* array of PWM servo output values, microseconds */ -#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ - -/* array of raw RC input values, microseconds */ -#define PX4IO_PAGE_RAW_RC_INPUT 4 -#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ -#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */ - -/* array of scaled RC input values, -10000..10000 */ -#define PX4IO_PAGE_RC_INPUT 5 -#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ -#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ - -/* array of raw ADC values */ -#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ - -/* PWM servo information */ -#define PX4IO_PAGE_PWM_INFO 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_P_SETUP_FEATURES 0 - -#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ -#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */ -#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ -#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */ -#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ - -#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_IBATT_SCALE 7 /* battery current scaling factor (float) */ -#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */ -#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 */ - -/* raw text load to the mixer parser - ignores offset */ -#define PX4IO_PAGE_MIXERLOAD 102 - -/* R/C channel config */ -#define PX4IO_PAGE_RC_CONFIG 103 /* 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 */ - -/* PWM output - overrides mixer */ -#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ - -/* PWM failsafe values - zero disables the output */ -#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */ - -/** - * As-needed mixer data upload. - * - * This message adds text to the mixer text buffer; the text - * buffer is drained as the definitions are consumed. - */ -#pragma pack(push, 1) -struct px4io_mixdata { - uint16_t f2i_mixer_magic; -#define F2I_MIXER_MAGIC 0x6d74 - - uint8_t action; -#define F2I_MIXER_ACTION_RESET 0 -#define F2I_MIXER_ACTION_APPEND 1 - - char text[0]; /* actual text size may vary */ -}; -#pragma pack(pop) - |