You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
188 lines
5.9 KiB
188 lines
5.9 KiB
/**************************************************************************** |
|
* |
|
* 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...) 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 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 */ |
|
|
|
/* |
|
* 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_rc_valid r_page_rc_input[PX4IO_P_RC_VALID] |
|
#define r_rc_values (&r_page_rc_input[PX4IO_P_RAW_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] |
|
#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] |
|
|
|
#define r_control_values (&r_page_controls[0]) |
|
|
|
/* |
|
* System state structure. |
|
*/ |
|
struct sys_state_s { |
|
|
|
volatile uint64_t rc_channels_timestamp; |
|
|
|
/** |
|
* Last FMU receive time, in microseconds since system boot |
|
*/ |
|
volatile uint64_t fmu_data_received_time; |
|
|
|
}; |
|
|
|
extern struct sys_state_s system_state; |
|
|
|
/* |
|
* 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 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. |
|
* |
|
* 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 int sbus_init(const char *device); |
|
extern bool sbus_input(uint16_t *values, uint16_t *num_values); |
|
|
|
/** 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, ...); |
|
|
|
void i2c_dump(void); |
|
void i2c_reset(void); |
|
|
|
|