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Diffstat (limited to 'apps/px4io/px4io.h')
| -rw-r--r-- | apps/px4io/px4io.h | 188 |
1 files changed, 0 insertions, 188 deletions
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h deleted file mode 100644 index 202e9d9d9..000000000 --- a/apps/px4io/px4io.h +++ /dev/null @@ -1,188 +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. - * - ****************************************************************************/ - -/** - * @file px4io.h - * - * General defines and structures for the PX4IO module firmware. - */ - -#include <nuttx/config.h> - -#include <stdbool.h> -#include <stdint.h> - -#include <drivers/boards/px4io/px4io_internal.h> - -#include "protocol.h" - -/* - * Constants and limits. - */ -#define MAX_CONTROL_CHANNELS 12 -#define IO_SERVO_COUNT 8 - -/* - * Debug logging - */ - -#ifdef DEBUG -# include <debug.h> -# define debug(fmt, args...) lowsyslog(fmt "\n", ##args) -#else -# define debug(fmt, args...) do {} while(0) -#endif - -/* - * Registers. - */ -extern uint16_t r_page_status[]; /* PX4IO_PAGE_STATUS */ -extern uint16_t r_page_actuators[]; /* PX4IO_PAGE_ACTUATORS */ -extern uint16_t r_page_servos[]; /* PX4IO_PAGE_SERVOS */ -extern uint16_t r_page_raw_rc_input[]; /* PX4IO_PAGE_RAW_RC_INPUT */ -extern uint16_t r_page_rc_input[]; /* PX4IO_PAGE_RC_INPUT */ -extern uint16_t r_page_adc[]; /* PX4IO_PAGE_RAW_ADC_INPUT */ - -extern volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */ -extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */ -extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */ -extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */ - -/* - * Register aliases. - * - * Handy aliases for registers that are widely used. - */ -#define r_status_flags r_page_status[PX4IO_P_STATUS_FLAGS] -#define r_status_alarms r_page_status[PX4IO_P_STATUS_ALARMS] - -#define r_raw_rc_count r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT] -#define r_raw_rc_values (&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE]) -#define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID] -#define r_rc_values (&r_page_rc_input[PX4IO_P_RAW_RC_BASE]) - -#define r_setup_features r_page_setup[PX4IO_P_SETUP_FEATURES] -#define r_setup_arming r_page_setup[PX4IO_P_SETUP_ARMING] -#define r_setup_pwm_rates r_page_setup[PX4IO_P_SETUP_PWM_RATES] -#define r_setup_pwm_defaultrate r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE] -#define r_setup_pwm_altrate r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE] -#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] - -#define r_control_values (&r_page_controls[0]) - -/* - * System state structure. - */ -struct sys_state_s { - - volatile uint64_t rc_channels_timestamp; - - /** - * Last FMU receive time, in microseconds since system boot - */ - volatile uint64_t fmu_data_received_time; - -}; - -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 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 BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) - -#define ADC_VBATT 4 -#define ADC_IN5 5 -#define ADC_CHANNEL_COUNT 2 - -/* - * Mixer - */ -extern void mixer_tick(void); -extern void mixer_handle_text(const void *buffer, size_t length); - -/** - * Safety switch/LED. - */ -extern void safety_init(void); - -/** - * FMU communications - */ -extern void i2c_init(void); - -/** - * Register space - */ -extern void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); -extern int registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values); - -/** - * Sensors/misc inputs - */ -extern int adc_init(void); -extern uint16_t adc_measure(unsigned channel); - -/** - * R/C receiver handling. - * - * Input functions return true when they receive an update from the RC controller. - */ -extern void controls_init(void); -extern void controls_tick(void); -extern int dsm_init(const char *device); -extern bool dsm_input(uint16_t *values, uint16_t *num_values); -extern int sbus_init(const char *device); -extern bool sbus_input(uint16_t *values, uint16_t *num_values); - -/** global debug level for isr_debug() */ -extern volatile uint8_t debug_level; - -/* send a debug message to the console */ -extern void isr_debug(uint8_t level, const char *fmt, ...); - -void i2c_dump(void); -void i2c_reset(void); - |