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218 lines
8.2 KiB
218 lines
8.2 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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#pragma once |
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/** |
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* @file protocol.h |
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* |
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* PX4IO I2C interface protocol. |
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* |
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* Communication is performed via writes to and reads from 16-bit virtual |
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* registers organised into pages of 255 registers each. |
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* |
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* The first two bytes of each write select a page and offset address |
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* respectively. Subsequent reads and writes increment the offset within |
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* the page. |
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* |
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* Most pages are readable or writable but not both. |
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* |
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* Note that some pages may permit offset values greater than 255, which |
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* can only be achieved by long writes. The offset does not wrap. |
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* |
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* Writes to unimplemented registers are ignored. Reads from unimplemented |
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* registers return undefined values. |
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* |
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* As convention, values that would be floating point in other parts of |
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* the PX4 system are expressed as signed integer values scaled by 10000, |
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* e.g. control values range from -10000..10000. |
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* |
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* Note that the implementation of readable pages prefers registers within |
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* readable pages to be densely packed. Page numbers do not need to be |
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* packed. |
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*/ |
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/* static configuration page */ |
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#define PX4IO_PAGE_CONFIG 0 |
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#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ |
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#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ |
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#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ |
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#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ |
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#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ |
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#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */ |
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#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */ |
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#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */ |
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#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */ |
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#define PX4IO_P_CONFIG_POWERSW_COUNT 9 /* harcoded # of switched power outputs */ |
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/* dynamic status page */ |
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#define PX4IO_PAGE_STATUS 1 |
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#define PX4IO_P_STATUS_FREEMEM 0 |
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#define PX4IO_P_STATUS_CPULOAD 1 |
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#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ |
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#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */ |
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#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ |
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#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 2) /* PPM input is valid */ |
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#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 3) /* DSM input is valid */ |
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#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 4) /* SBUS input is valid */ |
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#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ |
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#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ |
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#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ |
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#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */ |
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#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */ |
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#define PX4IO_P_STATUS_ALARMS_AP_LOST (1 << 4) |
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#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ |
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#define PX4IO_P_STATUS_TEMPERATURE 5 /* temperature in (units tbd) */ |
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/* array of post-mix actuator outputs, -10000..10000 */ |
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#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
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/* array of PWM servo output values, microseconds */ |
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#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
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/* array of raw RC input values, microseconds */ |
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#define PX4IO_PAGE_RAW_RC_INPUT 4 /* 0..CONFIG_RC_INPUT_COUNT-1 */ |
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/* array of scaled RC input values, -10000..10000 */ |
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#define PX4IO_PAGE_RAW_RC_INPUT 5 /* 0..CONFIG_RC_INPUT_COUNT-1 */ |
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/* array of raw ADC values */ |
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#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ |
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/* setup page */ |
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#define PX4IO_PAGE_SETUP 100 |
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#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ |
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#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */ |
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#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE (1 << 1) /* request local override */ |
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#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ |
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#define PX4IO_P_SETUP_PWM_LOWRATE 3 /* 'low' PWM frame output rate in Hz */ |
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#define PX4IO_P_SETUP_PWM_HIGHRATE 4 /* 'high' PWM frame output rate in Hz */ |
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#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay outputs, 0 = off, 1 = on */ |
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#define PX4IO_P_SETUP_POWERSW 6 /* bitmask of switched power outputs, 0 = off, 1 = on */ |
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/* autopilot control values, -10000..10000 */ |
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#define PX4IO_PAGE_CONTROLS 101 /* 0..STATUS_CONTROL_COUNT */ |
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/* raw text load to the mixer parser - ignores offset */ |
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#define PX4IO_PAGE_MIXERLOAD 102 |
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/* |
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* Old serial PX4FMU <-> PX4IO messaging protocol. |
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* |
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* This initial version of the protocol is very simple; each side transmits a |
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* complete update with each frame. This avoids the sending of many small |
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* messages and the corresponding complexity involved. |
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*/ |
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#define PX4IO_CONTROL_CHANNELS 8 |
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#define PX4IO_INPUT_CHANNELS 12 |
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#define PX4IO_RELAY_CHANNELS 4 |
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#pragma pack(push, 1) |
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/** |
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* Periodic command from FMU to IO. |
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*/ |
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struct px4io_command { |
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uint16_t f2i_magic; |
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#define F2I_MAGIC 0x636d |
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uint16_t servo_rate; |
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uint16_t output_control[PX4IO_CONTROL_CHANNELS]; /**< PWM output rate in Hz */ |
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bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */ |
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bool arm_ok; /**< FMU allows full arming */ |
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bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */ |
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bool manual_override_ok; /**< if true, IO performs a direct manual override */ |
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}; |
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/** |
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* Periodic report from IO to FMU |
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*/ |
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struct px4io_report { |
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uint16_t i2f_magic; |
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#define I2F_MAGIC 0x7570 |
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uint16_t rc_channel[PX4IO_INPUT_CHANNELS]; |
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bool armed; |
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uint8_t channel_count; |
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uint16_t battery_mv; |
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uint16_t adc_in; |
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uint8_t overcurrent; |
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}; |
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/** |
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* As-needed config message from FMU to IO |
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*/ |
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struct px4io_config { |
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uint16_t f2i_config_magic; |
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#define F2I_CONFIG_MAGIC 0x6366 |
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uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */ |
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uint16_t rc_min[4]; /**< min value for each channel */ |
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uint16_t rc_trim[4]; /**< trim value for each channel */ |
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uint16_t rc_max[4]; /**< max value for each channel */ |
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int8_t rc_rev[4]; /**< rev value for each channel */ |
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uint16_t rc_dz[4]; /**< dz value for each channel */ |
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}; |
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/** |
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* As-needed mixer data upload. |
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* |
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* This message adds text to the mixer text buffer; the text |
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* buffer is drained as the definitions are consumed. |
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*/ |
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struct px4io_mixdata { |
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uint16_t f2i_mixer_magic; |
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#define F2I_MIXER_MAGIC 0x6d74 |
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uint8_t action; |
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#define F2I_MIXER_ACTION_RESET 0 |
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#define F2I_MIXER_ACTION_APPEND 1 |
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char text[0]; /* actual text size may vary */ |
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}; |
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/* maximum size is limited by the HX frame size */ |
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#define F2I_MIXER_MAX_TEXT (HX_STREAM_MAX_FRAME - sizeof(struct px4io_mixdata)) |
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#pragma pack(pop) |