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/****************************************************************************
*
* Copyright (c) 2012-2014 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 <board_config.h>
#include "protocol.h"
#include <systemlib/pwm_limit/pwm_limit.h>
/*
* Constants and limits.
*/
#define PX4IO_SERVO_COUNT 8
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_CONTROL_GROUPS 2
#define PX4IO_RC_INPUT_CHANNELS 18
#define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */
/*
* 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 uint16_t r_page_safelink[]; /* PX4IO_PAGE_SAFELINK */
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 */
extern uint16_t r_page_servo_control_min[]; /* PX4IO_PAGE_CONTROL_MIN_PWM */
extern uint16_t r_page_servo_control_max[]; /* PX4IO_PAGE_CONTROL_MAX_PWM */
extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_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_raw_rc_flags r_page_raw_rc_input[PX4IO_P_RAW_RC_FLAGS]
#define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID]
#define r_rc_values (&r_page_rc_input[PX4IO_P_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]
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS]
#endif
#define r_control_values (&r_page_controls[0])
#define r_safelink_values (&r_page_safelink[PX4IO_P_SAFELINK_BASE])
#define r_safelink_count r_page_safelink[PX4IO_P_SAFELINK_COUNT]
/*
* System state structure.
*/
struct sys_state_s {
volatile uint64_t rc_channels_timestamp_received;
volatile uint64_t rc_channels_timestamp_valid;
/**
* Last FMU receive time, in microseconds since system boot
*/
volatile uint64_t fmu_data_received_time;
};
extern struct sys_state_s system_state;
/*
* PWM limit structure
*/
extern pwm_limit_t pwm_limit;
/*
* 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))
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
# define PX4IO_RELAY_CHANNELS 4
# 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 PX4IO_ADC_CHANNEL_COUNT 2
# define ADC_VBATT 4
# define ADC_IN5 5
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
# define PX4IO_RELAY_CHANNELS 0
# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
# define ENABLE_SBUS_OUT(_s) stm32_gpiowrite(GPIO_SBUS_OENABLE, !(_s))
# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
# define PX4IO_ADC_CHANNEL_COUNT 2
# define ADC_VSERVO 4
# define ADC_RSSI 5
#endif
#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY)
#define CONTROL_PAGE_INDEX(_group, _channel) (_group * PX4IO_CONTROL_CHANNELS + _channel)
/*
* Mixer
*/
extern void mixer_tick(void);
extern int mixer_handle_text(const void *buffer, size_t length);
/**
* Safety switch/LED.
*/
extern void safety_init(void);
extern void failsafe_led_init(void);
/**
* FMU communications
*/
extern void interface_init(void);
extern void interface_tick(void);
/**
* Register space
*/
extern int 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 void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
extern void sbus1_output(uint16_t *values, uint16_t num_values);
extern void sbus2_output(uint16_t *values, uint16_t num_values);
extern int safelink_init(int fd);
extern void safelink_output(uint16_t *values, uint16_t num_values);
extern bool safelink_input(uint16_t *values, uint16_t *num_values, bool *failsafe, uint16_t max_channels);
/** 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, ...);
/** schedule a reboot */
extern void schedule_reboot(uint32_t time_delta_usec);
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