diff options
Diffstat (limited to 'src/modules/px4iofirmware/protocol.h')
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 39 |
1 files changed, 31 insertions, 8 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index e575bd841..29107f79f 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -36,7 +36,7 @@ /** * @file protocol.h * - * PX4IO I2C interface protocol. + * PX4IO interface protocol. * * Communication is performed via writes to and reads from 16-bit virtual * registers organised into pages of 255 registers each. @@ -62,6 +62,27 @@ * Note that the implementation of readable pages prefers registers within * readable pages to be densely packed. Page numbers do not need to be * packed. + * + * PX4IO I2C interface notes: + * + * Register read/write operations are mapped directly to PX4IO register + * read/write operations. + * + * PX4IO Serial interface notes: + * + * The MSB of the page number is used to distinguish between read and + * write operations. If set, the operation is a write and additional + * data is expected to follow in the packet as for I2C writes. + * + * If clear, the packet is expected to contain a single byte giving the + * number of bytes to be read. PX4IO will respond with a packet containing + * the same header (page, offset) and the requested data. + * + * If a read is requested when PX4IO does not have buffer space to store + * the reply, the request will be dropped. PX4IO is always configured with + * enough space to receive one full-sized write and one read request, and + * to send one full-sized read response. + * */ #define PX4IO_CONTROL_CHANNELS 8 @@ -75,12 +96,14 @@ #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_PAGE_WRITE (1<<7) + /* 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_MAX_TRANSFER 3 /* maximum packet 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 */ @@ -141,7 +164,7 @@ #define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ /* setup page */ -#define PX4IO_PAGE_SETUP 100 +#define PX4IO_PAGE_SETUP 64 #define PX4IO_P_SETUP_FEATURES 0 #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ @@ -158,13 +181,13 @@ #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 */ +#define PX4IO_PAGE_CONTROLS 65 /* 0..CONFIG_CONTROL_COUNT */ /* raw text load to the mixer parser - ignores offset */ -#define PX4IO_PAGE_MIXERLOAD 102 +#define PX4IO_PAGE_MIXERLOAD 66 /* see px4io_mixdata structure below */ /* R/C channel config */ -#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */ +#define PX4IO_PAGE_RC_CONFIG 67 /* 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 */ @@ -176,10 +199,10 @@ #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 */ +#define PX4IO_PAGE_DIRECT_PWM 68 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /* PWM failsafe values - zero disables the output */ -#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_FAILSAFE_PWM 69 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /** * As-needed mixer data upload. |