diff options
Diffstat (limited to 'src/modules/px4iofirmware/protocol.h')
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 19 |
1 files changed, 15 insertions, 4 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 2dda59124..f5fa0ba75 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -74,7 +74,7 @@ #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)) -#define PX4IO_PROTOCOL_VERSION 3 +#define PX4IO_PROTOCOL_VERSION 4 /* static configuration page */ #define PX4IO_PAGE_CONFIG 0 @@ -94,7 +94,7 @@ #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_OUTPUTS_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 */ @@ -106,7 +106,8 @@ #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_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ -#define PX4IO_P_STATUS_FLAGS_RC_DSM11 (1 << 12) /* DSM input is 11 bit data */ +#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ +#define PX4IO_P_STATUS_FLAGS_RC_DSM11 (1 << 13) /* DSM input is 11 bit data */ #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) /* [1] VBatt is very close to regulator dropout */ @@ -157,7 +158,8 @@ #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_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */ #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ -#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 5) /* Disable the IO-internal evaluation of the RC */ +#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ +#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */ #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 */ @@ -210,6 +212,15 @@ enum { /* DSM bind states */ #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 */ + +/* PWM maximum values for certain ESCs */ +#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM idle values that are active, even when SAFETY_SAFE */ +#define PX4IO_PAGE_IDLE_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + /** * As-needed mixer data upload. * |