Andrew Tridgell
7 years ago
5 changed files with 180 additions and 274 deletions
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@@ -0,0 +1,147 @@
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/*
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common protocol definitions between AP_IOMCU and iofirmware |
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*/ |
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#define PKT_MAX_REGS 32 |
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#define IOMCU_MAX_CHANNELS 16 |
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//#define IOMCU_DEBUG
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struct PACKED IOPacket { |
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uint8_t count:6; |
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uint8_t code:2; |
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uint8_t crc; |
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uint8_t page; |
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uint8_t offset; |
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uint16_t regs[PKT_MAX_REGS]; |
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// get packet size in bytes
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uint8_t get_size(void) const { |
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return count*2 + 4; |
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} |
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}; |
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/*
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values for pkt.code |
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*/ |
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enum iocode { |
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// read types
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CODE_READ = 0, |
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CODE_WRITE = 1, |
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// reply codes
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CODE_SUCCESS = 0, |
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CODE_CORRUPT = 1, |
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CODE_ERROR = 2 |
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}; |
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// IO pages
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enum iopage { |
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PAGE_CONFIG = 0, |
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PAGE_STATUS = 1, |
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PAGE_ACTUATORS = 2, |
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PAGE_SERVOS = 3, |
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PAGE_RAW_RCIN = 4, |
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PAGE_RCIN = 5, |
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PAGE_RAW_ADC = 6, |
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PAGE_PWM_INFO = 7, |
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PAGE_SETUP = 50, |
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PAGE_DIRECT_PWM = 54, |
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PAGE_FAILSAFE_PWM = 55, |
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PAGE_DISARMED_PWM = 108, |
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}; |
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// pending IO events to send, used as an event mask
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enum ioevents { |
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IOEVENT_INIT=1, |
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IOEVENT_SEND_PWM_OUT, |
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IOEVENT_SET_DISARMED_PWM, |
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IOEVENT_SET_FAILSAFE_PWM, |
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IOEVENT_FORCE_SAFETY_OFF, |
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IOEVENT_FORCE_SAFETY_ON, |
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IOEVENT_SET_ONESHOT_ON, |
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IOEVENT_SET_RATES, |
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IOEVENT_GET_RCIN, |
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IOEVENT_ENABLE_SBUS, |
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IOEVENT_SET_HEATER_TARGET, |
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IOEVENT_SET_DEFAULT_RATE, |
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IOEVENT_SET_SAFETY_MASK, |
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}; |
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// setup page registers
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#define PAGE_REG_SETUP_FEATURES 0 |
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#define P_SETUP_FEATURES_SBUS1_OUT 1 |
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#define P_SETUP_FEATURES_SBUS2_OUT 2 |
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#define P_SETUP_FEATURES_PWM_RSSI 4 |
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#define P_SETUP_FEATURES_ADC_RSSI 8 |
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#define P_SETUP_FEATURES_ONESHOT 16 |
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#define PAGE_REG_SETUP_ARMING 1 |
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#define P_SETUP_ARMING_IO_ARM_OK (1<<0) |
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#define P_SETUP_ARMING_FMU_ARMED (1<<1) |
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#define P_SETUP_ARMING_RC_HANDLING_DISABLED (1<<6) |
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#define P_SETUP_ARMING_SAFETY_DISABLE_ON (1 << 11) // disable use of safety button for safety off->on
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#define P_SETUP_ARMING_SAFETY_DISABLE_OFF (1 << 12) // disable use of safety button for safety on->off
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#define PAGE_REG_SETUP_PWM_RATE_MASK 2 |
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#define PAGE_REG_SETUP_DEFAULTRATE 3 |
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#define PAGE_REG_SETUP_ALTRATE 4 |
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#define PAGE_REG_SETUP_REBOOT_BL 10 |
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#define PAGE_REG_SETUP_CRC 11 |
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#define PAGE_REG_SETUP_SBUS_RATE 19 |
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#define PAGE_REG_SETUP_IGNORE_SAFETY 20 /* bitmask of surfaces to ignore the safety status */ |
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#define PAGE_REG_SETUP_HEATER_DUTY_CYCLE 21 |
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// magic value for rebooting to bootloader
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#define REBOOT_BL_MAGIC 14662 |
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#define PAGE_REG_SETUP_FORCE_SAFETY_OFF 12 |
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#define PAGE_REG_SETUP_FORCE_SAFETY_ON 14 |
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#define FORCE_SAFETY_MAGIC 22027 |
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struct PACKED page_reg_status { |
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uint16_t freemem; |
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uint16_t cpuload; |
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// status flags
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uint16_t flag_outputs_armed:1; |
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uint16_t flag_override:1; |
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uint16_t flag_rc_ok:1; |
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uint16_t flag_rc_ppm:1; |
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uint16_t flag_rc_dsm:1; |
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uint16_t flag_rc_sbus:1; |
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uint16_t flag_fmu_ok:1; |
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uint16_t flag_raw_pwm:1; |
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uint16_t flag_mixer_ok:1; |
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uint16_t flag_arm_sync:1; |
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uint16_t flag_init_ok:1; |
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uint16_t flag_failsafe:1; |
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uint16_t flag_safety_off:1; |
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uint16_t flag_fmu_initialised:1; |
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uint16_t flag_rc_st24:1; |
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uint16_t flag_rc_sumd_srxl:1; |
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uint16_t alarms; |
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uint16_t vbatt; |
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uint16_t ibatt; |
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uint16_t vservo; |
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uint16_t vrssi; |
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uint16_t prssi; |
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}; |
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struct PACKED page_rc_input { |
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uint16_t count; |
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uint16_t flags_frame_drop:1; |
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uint16_t flags_failsafe:1; |
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uint16_t flags_dsm11:1; |
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uint16_t flags_mapping_ok:1; |
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uint16_t flags_rc_ok:1; |
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uint16_t flags_unused:11; |
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uint16_t nrssi; |
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uint16_t data; |
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uint16_t frame_count; |
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uint16_t lost_frame_count; |
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uint16_t pwm[IOMCU_MAX_CHANNELS]; |
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uint16_t last_frame_count; |
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uint32_t last_input_us; |
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}; |
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