/**************************************************************************** * * 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 #include #include #include #include "protocol.h" /* * Constants and limits. */ #define MAX_CONTROL_CHANNELS 12 #define IO_SERVO_COUNT 8 /* * Debug logging */ #ifdef DEBUG # include # define debug(fmt, args...) lib_lowprintf(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 */ /* * System state structure. * * XXX note that many fields here are deprecated and replaced by * 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]; /** * 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]; /** * Mixed servo outputs */ uint16_t servos[IO_SERVO_COUNT]; /** * Relay controls */ bool relays[PX4IO_RELAY_CHANNELS]; /** * If true, we are using the FMU controls, else RC input if available. */ bool mixer_manual_override; /** * If true, FMU input is available. */ bool mixer_fmu_available; /** * If true, state that should be reported to FMU has been updated. */ bool fmu_report_due; /** * Last FMU receive time, in microseconds since system boot */ uint64_t fmu_data_received_time; /** * 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. */ #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)) #define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) #define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) #define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) #define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) #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); /* * 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 */ extern int adc_init(void); extern uint16_t adc_measure(unsigned channel); /* * R/C receiver handling. */ extern void controls_main(void); extern int dsm_init(const char *device); extern bool dsm_input(void); extern int sbus_init(const char *device); extern bool sbus_input(void);