From 981477c7856c5d7694561e0a13ebb0747518370e Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sat, 26 Jan 2013 19:24:18 -0800
Subject: Re-order register page variables to match the order registers are
 defined in the protocol header.

---
 apps/px4io/protocol.h  |   2 +-
 apps/px4io/registers.c | 108 +++++++++++++++++++++++++++++++------------------
 2 files changed, 70 insertions(+), 40 deletions(-)

diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index 6dbe16229..54f2fa27c 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -109,7 +109,7 @@
 #define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT	(1 << 2) /* servo current limit was exceeded */
 #define PX4IO_P_STATUS_ALARMS_ACC_CURRENT	(1 << 3) /* accessory current limit was exceeded */
 #define PX4IO_P_STATUS_ALARMS_FMU_LOST		(1 << 4) /* timed out waiting for controls from FMU */
-#define PX4IO_P_STATUS_ALARMS_RC_LOST		(1 << 5)
+#define PX4IO_P_STATUS_ALARMS_RC_LOST		(1 << 5) /* timed out waiting for RC input */
 
 #define PX4IO_P_STATUS_VBATT			4	/* battery voltage in mV */
 #define PX4IO_P_STATUS_IBATT			5	/* battery current in cA */
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c
index 1c6fbf4fb..c60491f93 100644
--- a/apps/px4io/registers.c
+++ b/apps/px4io/registers.c
@@ -50,33 +50,8 @@
 static int	registers_set_one(uint8_t page, uint8_t offset, uint16_t value);
 
 /**
- * Setup registers
- */
-volatile uint16_t	r_page_setup[] =
-{
-	[PX4IO_P_SETUP_FEATURES]		= 0,
-	[PX4IO_P_SETUP_ARMING]			= 0,
-	[PX4IO_P_SETUP_PWM_RATES]		= 0,
-	[PX4IO_P_SETUP_PWM_LOWRATE]		= 50,
-	[PX4IO_P_SETUP_PWM_HIGHRATE]		= 200,
-	[PX4IO_P_SETUP_RELAYS]			= 0,
-	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
-	[PX4IO_P_SETUP_IBATT_SCALE]		= 0,
-	[PX4IO_P_SETUP_IBATT_BIAS]		= 0
-};
-
-#define PX4IO_P_SETUP_FEATURES_VALID	(PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK)
-#define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_ARM_OK | \
-					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE)
-#define PX4IO_P_SETUP_RATES_VALID	((1 << IO_SERVO_COUNT) - 1)
-#define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
-
-/**
- * Control values from the FMU.
- */
-volatile uint16_t	r_page_controls[PX4IO_CONTROL_CHANNELS];
-
-/**
+ * PAGE 0
+ *
  * Static configuration parameters.
  */
 static const uint16_t	r_page_config[] = {
@@ -92,6 +67,8 @@ static const uint16_t	r_page_config[] = {
 };
 
 /**
+ * PAGE 1
+ *
  * Status values.
  */
 uint16_t		r_page_status[] = {
@@ -104,26 +81,33 @@ uint16_t		r_page_status[] = {
 };
 
 /**
- * ADC input buffer.
- */
-uint16_t		r_page_adc[ADC_CHANNEL_COUNT];
-
-/**
+ * PAGE 2
+ *
  * Post-mixed actuator values.
  */
 uint16_t 		r_page_actuators[IO_SERVO_COUNT];
 
 /**
+ * PAGE 3
+ *
  * Servo PWM values
  */
 uint16_t		r_page_servos[IO_SERVO_COUNT];
 
 /**
- * Servo PWM values
+ * PAGE 4
+ *
+ * Raw RC input
  */
-uint16_t		r_page_servo_failsafe[IO_SERVO_COUNT];
+uint16_t		r_page_raw_rc_input[] =
+{
+	[PX4IO_P_RAW_RC_COUNT]			= 0,
+	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
+};
 
 /**
+ * PAGE 5
+ *
  * Scaled/routed RC input
  */
 uint16_t		r_page_rc_input[] = {
@@ -132,25 +116,71 @@ uint16_t		r_page_rc_input[] = {
 };
 
 /**
- * Raw RC input
+ * PAGE 6
+ *
+ * Raw ADC input.
  */
-uint16_t		r_page_raw_rc_input[] =
+uint16_t		r_page_adc[ADC_CHANNEL_COUNT];
+
+/**
+ * PAGE 100
+ *
+ * Setup registers
+ */
+volatile uint16_t	r_page_setup[] =
 {
-	[PX4IO_P_RAW_RC_COUNT]			= 0,
-	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
+	[PX4IO_P_SETUP_FEATURES]		= 0,
+	[PX4IO_P_SETUP_ARMING]			= 0,
+	[PX4IO_P_SETUP_PWM_RATES]		= 0,
+	[PX4IO_P_SETUP_PWM_LOWRATE]		= 50,
+	[PX4IO_P_SETUP_PWM_HIGHRATE]		= 200,
+	[PX4IO_P_SETUP_RELAYS]			= 0,
+	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
+	[PX4IO_P_SETUP_IBATT_SCALE]		= 0,
+	[PX4IO_P_SETUP_IBATT_BIAS]		= 0
 };
 
+#define PX4IO_P_SETUP_FEATURES_VALID	(PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK)
+#define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_ARM_OK | \
+					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE)
+#define PX4IO_P_SETUP_RATES_VALID	((1 << IO_SERVO_COUNT) - 1)
+#define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
+
+/**
+ * PAGE 101
+ *
+ * Control values from the FMU.
+ */
+volatile uint16_t	r_page_controls[PX4IO_CONTROL_CHANNELS];
+
+/*
+ * PAGE 102 does not have a buffer.
+ */
+
 /**
+ * PAGE 103
+ *
  * R/C channel input configuration.
  */
 uint16_t		r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
 
+/* valid options excluding ENABLE */
 #define PX4IO_P_RC_CONFIG_OPTIONS_VALID	PX4IO_P_RC_CONFIG_OPTIONS_REVERSE
 
+/*
+ * PAGE 104 uses r_page_servos.
+ */
+
+/**
+ * PAGE 105
+ *
+ * Failsafe servo PWM values
+ */
+uint16_t		r_page_servo_failsafe[IO_SERVO_COUNT];
+
 void
 registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
 {
-	system_state.fmu_data_received_time = hrt_absolute_time();
 
 	switch (page) {
 
-- 
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