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.
198 lines
9.1 KiB
198 lines
9.1 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. |
|
* |
|
****************************************************************************/ |
|
|
|
#pragma once |
|
|
|
/** |
|
* @file protocol.h |
|
* |
|
* PX4IO I2C interface protocol. |
|
* |
|
* Communication is performed via writes to and reads from 16-bit virtual |
|
* registers organised into pages of 255 registers each. |
|
* |
|
* The first two bytes of each write select a page and offset address |
|
* respectively. Subsequent reads and writes increment the offset within |
|
* the page. |
|
* |
|
* Most pages are readable or writable but not both. |
|
* |
|
* Note that some pages may permit offset values greater than 255, which |
|
* can only be achieved by long writes. The offset does not wrap. |
|
* |
|
* Writes to unimplemented registers are ignored. Reads from unimplemented |
|
* registers return undefined values. |
|
* |
|
* As convention, values that would be floating point in other parts of |
|
* the PX4 system are expressed as signed integer values scaled by 10000, |
|
* e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and |
|
* SIGNED_TO_REG macros to convert between register representation and |
|
* the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float. |
|
* |
|
* Note that the implementation of readable pages prefers registers within |
|
* readable pages to be densely packed. Page numbers do not need to be |
|
* packed. |
|
*/ |
|
|
|
#define PX4IO_CONTROL_CHANNELS 8 |
|
#define PX4IO_INPUT_CHANNELS 12 |
|
#define PX4IO_RELAY_CHANNELS 4 |
|
|
|
/* Per C, this is safe for all 2's complement systems */ |
|
#define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) |
|
#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) |
|
|
|
#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) |
|
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) |
|
|
|
/* static configuration page */ |
|
#define PX4IO_PAGE_CONFIG 0 |
|
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ |
|
#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ |
|
#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ |
|
#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ |
|
#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ |
|
#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */ |
|
#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */ |
|
#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */ |
|
#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */ |
|
|
|
/* dynamic status page */ |
|
#define PX4IO_PAGE_STATUS 1 |
|
#define PX4IO_P_STATUS_FREEMEM 0 |
|
#define PX4IO_P_STATUS_CPULOAD 1 |
|
|
|
#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ |
|
#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */ |
|
#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ |
|
#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ |
|
#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ |
|
#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ |
|
#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ |
|
#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ |
|
#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ |
|
#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ |
|
#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ |
|
|
|
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ |
|
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ |
|
#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ |
|
#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */ |
|
#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */ |
|
#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ |
|
#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ |
|
|
|
#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ |
|
#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ |
|
|
|
/* array of post-mix actuator outputs, -10000..10000 */ |
|
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
|
|
|
/* array of PWM servo output values, microseconds */ |
|
#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
|
|
|
/* array of raw RC input values, microseconds */ |
|
#define PX4IO_PAGE_RAW_RC_INPUT 4 |
|
#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ |
|
#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */ |
|
|
|
/* array of scaled RC input values, -10000..10000 */ |
|
#define PX4IO_PAGE_RC_INPUT 5 |
|
#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ |
|
#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ |
|
|
|
/* array of raw ADC values */ |
|
#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ |
|
|
|
/* setup page */ |
|
#define PX4IO_PAGE_SETUP 100 |
|
#define PX4IO_P_SETUP_FEATURES 0 |
|
|
|
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ |
|
#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */ |
|
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ |
|
#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */ |
|
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ |
|
|
|
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ |
|
#define PX4IO_P_SETUP_PWM_LOWRATE 3 /* 'low' PWM frame output rate in Hz */ |
|
#define PX4IO_P_SETUP_PWM_HIGHRATE 4 /* 'high' PWM frame output rate in Hz */ |
|
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ |
|
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ |
|
#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */ |
|
#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */ |
|
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ |
|
|
|
/* autopilot control values, -10000..10000 */ |
|
#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ |
|
|
|
/* raw text load to the mixer parser - ignores offset */ |
|
#define PX4IO_PAGE_MIXERLOAD 102 |
|
|
|
/* R/C channel config */ |
|
#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */ |
|
#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */ |
|
#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */ |
|
#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */ |
|
#define PX4IO_P_RC_CONFIG_DEADZONE 3 /* band around center that is ignored */ |
|
#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /* mapped input value */ |
|
#define PX4IO_P_RC_CONFIG_OPTIONS 5 /* channel options bitmask */ |
|
#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) |
|
#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) |
|
#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ |
|
|
|
/* PWM output - overrides mixer */ |
|
#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
|
|
|
/* PWM failsafe values - zero disables the output */ |
|
#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
|
|
|
/** |
|
* As-needed mixer data upload. |
|
* |
|
* This message adds text to the mixer text buffer; the text |
|
* buffer is drained as the definitions are consumed. |
|
*/ |
|
#pragma pack(push, 1) |
|
struct px4io_mixdata { |
|
uint16_t f2i_mixer_magic; |
|
#define F2I_MIXER_MAGIC 0x6d74 |
|
|
|
uint8_t action; |
|
#define F2I_MIXER_ACTION_RESET 0 |
|
#define F2I_MIXER_ACTION_APPEND 1 |
|
|
|
char text[0]; /* actual text size may vary */ |
|
}; |
|
#pragma pack(pop) |
|
|
|
|