diff options
Diffstat (limited to 'apps/px4io/px4io.h')
| -rw-r--r-- | apps/px4io/px4io.h | 170 |
1 files changed, 56 insertions, 114 deletions
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index 3ce6afc31..6944776a9 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -64,129 +64,58 @@ #endif /* - * System state structure. + * Registers. */ -struct sys_state_s { - - bool armed; /* IO armed */ - bool arm_ok; /* FMU says OK to arm */ - uint16_t servo_rate; /* output rate of servos in Hz */ - - /** - * Remote control input(s) channel mappings - */ - uint8_t rc_map[4]; - - /** - * Remote control channel attributes - */ - uint16_t rc_min[4]; - uint16_t rc_trim[4]; - uint16_t rc_max[4]; - int16_t rc_rev[4]; - uint16_t rc_dz[4]; +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 */ - /** - * Data from the remote control input(s) - */ - unsigned rc_channels; - uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS]; - uint64_t rc_channels_timestamp; - - /** - * Control signals from FMU. - */ - uint16_t fmu_channel_data[PX4IO_CONTROL_CHANNELS]; +/* + * 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] - /** - * Mixed servo outputs - */ - uint16_t servos[IO_SERVO_COUNT]; +#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]) - /** - * Relay controls - */ - bool relays[PX4IO_RELAY_CHANNELS]; +#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_lowrate r_page_setup[PX4IO_P_SETUP_PWM_LOWRATE] +#define r_setup_pwm_highrate r_page_setup[PX4IO_P_SETUP_PWM_HIGHRATE] +#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] - /** - * If true, we are using the FMU controls, else RC input if available. - */ - bool mixer_manual_override; +#define r_control_values (&r_page_controls[0]) - /** - * If true, FMU input is available. - */ - bool mixer_fmu_available; +/* + * System state structure. + */ +struct sys_state_s { - /** - * If true, state that should be reported to FMU has been updated. - */ - bool fmu_report_due; + uint64_t rc_channels_timestamp; /** * Last FMU receive time, in microseconds since system boot */ uint64_t fmu_data_received_time; - /** - * Current serial interface mode, per the serial_rx_mode parameter - * in the config packet. - */ - uint8_t serial_rx_mode; - - /** - * If true, the RC signal has been lost for more than a timeout interval - */ - bool rc_lost; - - /** - * If true, the connection to FMU has been lost for more than a timeout interval - */ - bool fmu_lost; - - /** - * If true, FMU is ready for autonomous position control. Only used for LED indication - */ - bool vector_flight_mode_ok; - - /** - * If true, IO performs an on-board manual override with the RC channel values - */ - bool manual_override_ok; - - /* - * Measured battery voltage in mV - */ - uint16_t battery_mv; - - /* - * ADC IN5 measurement - */ - uint16_t adc_in5; - - /* - * Power supply overcurrent status bits. - */ - uint8_t overcurrent; - }; extern struct sys_state_s system_state; -#if 0 -/* - * Software countdown timers. - * - * Each timer counts down to zero at one tick per ms. - */ -#define TIMER_BLINK_AMBER 0 -#define TIMER_BLINK_BLUE 1 -#define TIMER_STATUS_PRINT 2 -#define TIMER_SANITY 7 -#define TIMER_NUM_TIMERS 8 -extern volatile int timers[TIMER_NUM_TIMERS]; -#endif - /* * GPIO handling. */ @@ -206,6 +135,7 @@ extern volatile int timers[TIMER_NUM_TIMERS]; #define ADC_VBATT 4 #define ADC_IN5 5 +#define ADC_CHANNEL_COUNT 2 /* * Mixer @@ -222,6 +152,13 @@ extern void safety_init(void); * FMU communications */ extern void comms_main(void) __attribute__((noreturn)); +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 @@ -231,16 +168,21 @@ 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_main(void); extern int dsm_init(const char *device); -extern bool dsm_input(void); +extern bool dsm_input(uint16_t *values, uint16_t *num_values); extern int sbus_init(const char *device); -extern bool sbus_input(void); +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); -/* - * Assertion codes - */ -#define A_GPIO_OPEN_FAIL 100 -#define A_SERVO_OPEN_FAIL 101 -#define A_INPUTQ_OPEN_FAIL 102 |