diff options
Diffstat (limited to 'src/modules/px4iofirmware/px4io.h')
| -rw-r--r-- | src/modules/px4iofirmware/px4io.h | 199 |
1 files changed, 199 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h new file mode 100644 index 000000000..272cdb7bf --- /dev/null +++ b/src/modules/px4iofirmware/px4io.h @@ -0,0 +1,199 @@ +/**************************************************************************** + * + * 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)) +#ifdef GPIO_ACC1_PWR_EN + #define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) +#endif +#ifdef GPIO_ACC2_PWR_EN + #define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) +#endif +#ifdef GPIO_RELAY1_EN + #define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) +#endif +#ifdef GPIO_RELAY2_EN + #define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) +#endif + +#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); + +#ifdef CONFIG_STM32_I2C1 +/** + * FMU communications + */ +extern void i2c_init(void); +#endif + +/** + * 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, ...); + +#ifdef CONFIG_STM32_I2C1 +void i2c_dump(void); +void i2c_reset(void); +#endif |