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175 lines
4.5 KiB
175 lines
4.5 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file px4io.h |
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* |
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* General defines and structures for the PX4IO module firmware. |
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*/ |
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#include <nuttx/config.h> |
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#include <stdbool.h> |
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#include <stdint.h> |
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#include <drivers/boards/px4io/px4io_internal.h> |
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#include "protocol.h" |
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/* |
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* Constants and limits. |
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*/ |
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#define MAX_CONTROL_CHANNELS 12 |
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#define IO_SERVO_COUNT 8 |
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/* |
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* Debug logging |
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*/ |
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#if 1 |
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# define debug(fmt, ...) lib_lowprintf(fmt "\n", ##args) |
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#else |
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# define debug(fmt, ...) do {} while(0) |
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#endif |
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/* |
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* System state structure. |
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*/ |
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struct sys_state_s |
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{ |
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bool armed; /* IO armed */ |
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bool arm_ok; /* FMU says OK to arm */ |
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/* |
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* Data from the remote control input(s) |
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*/ |
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int rc_channels; |
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uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS]; |
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/* |
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* Control signals from FMU. |
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*/ |
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uint16_t fmu_channel_data[PX4IO_OUTPUT_CHANNELS]; |
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/* |
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* Relay controls |
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*/ |
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bool relays[PX4IO_RELAY_CHANNELS]; |
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/* |
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* If true, we are using the FMU controls. |
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*/ |
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bool mixer_use_fmu; |
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/* |
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* If true, state that should be reported to FMU has been updated. |
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*/ |
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bool fmu_report_due; |
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/* |
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* If true, new control data from the FMU has been received. |
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*/ |
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bool fmu_data_received; |
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/* |
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* Current serial interface mode, per the serial_rx_mode parameter |
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* in the config packet. |
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*/ |
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uint8_t serial_rx_mode; |
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}; |
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extern struct sys_state_s system_state; |
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extern int frame_rx; |
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extern int frame_bad; |
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/* |
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* Software countdown timers. |
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* |
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* Each timer counts down to zero at one tick per ms. |
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*/ |
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#define TIMER_BLINK_AMBER 0 |
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#define TIMER_BLINK_BLUE 1 |
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#define TIMER_STATUS_PRINT 2 |
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#define TIMER_SANITY 7 |
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#define TIMER_NUM_TIMERS 8 |
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extern volatile int timers[TIMER_NUM_TIMERS]; |
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/* |
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* GPIO handling. |
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*/ |
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#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) |
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#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) |
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#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) |
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#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) |
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#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_SERVO_ACC1_EN, (_s)) |
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#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_SERVO_ACC2_EN, (_s)) |
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#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) |
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#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) |
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#define OVERCURRENT_ACC stm32_gpioread(GPIO_ACC_OC_DETECT) |
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#define OVERCURRENT_SERVO stm32_gpioread(GPIO_SERVO_OC_DETECT |
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#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) |
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/* |
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* Mixer |
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*/ |
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extern int mixer_init(void); |
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/* |
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* Safety switch/LED. |
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*/ |
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extern void safety_init(void); |
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/* |
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* FMU communications |
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*/ |
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extern void comms_init(void); |
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extern void comms_check(void); |
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/* |
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* Serial receiver decoders. |
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*/ |
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extern void dsm_init(unsigned mode); |
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extern void dsm_input(int fd); |
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extern void sbus_init(unsigned mode); |
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extern void sbus_input(int fd); |
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/* |
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* Assertion codes |
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*/ |
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#define A_GPIO_OPEN_FAIL 100 |
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#define A_SERVO_OPEN_FAIL 101 |
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#define A_INPUTQ_OPEN_FAIL 102
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