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/****************************************************************************
*
* 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...) 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);
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