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383 lines
18 KiB
383 lines
18 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2012-2014 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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#include <inttypes.h> |
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/** |
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* @file protocol.h |
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* |
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* PX4IO 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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* Some pages are read- or write-only. |
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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. Use the REG_TO_SIGNED and |
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* SIGNED_TO_REG macros to convert between register representation and |
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* the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float. |
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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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* Definitions marked [1] are only valid on PX4IOv1 boards. Likewise, |
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* [2] denotes definitions specific to the PX4IOv2 board. |
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*/ |
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/* Per C, this is safe for all 2's complement systems */ |
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#define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) |
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#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) |
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#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) |
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#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) |
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#define PX4IO_PROTOCOL_VERSION 4 |
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/* maximum allowable sizes on this protocol version */ |
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#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 /**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */ |
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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 /* PX4IO_PROTOCOL_VERSION */ |
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#define PX4IO_P_CONFIG_HARDWARE_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 /* hardcoded # of relay outputs */ |
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#define PX4IO_P_CONFIG_CONTROL_GROUP_COUNT 8 /**< hardcoded # of control groups*/ |
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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_OUTPUTS_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_OK (1 << 2) /* RC input is valid */ |
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#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ |
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#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ |
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#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ |
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#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ |
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#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ |
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#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ |
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#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ |
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#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ |
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#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ |
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#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ |
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#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */ |
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#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */ |
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#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD 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) /* [1] 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) /* [1] servo current limit was exceeded */ |
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#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */ |
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#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ |
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#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ |
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#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ |
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#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */ |
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#define PX4IO_P_STATUS_VBATT 4 /* [1] battery voltage in mV */ |
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#define PX4IO_P_STATUS_IBATT 5 /* [1] battery current (raw ADC) */ |
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#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ |
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#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ |
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#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ |
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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 |
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#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ |
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#define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */ |
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#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */ |
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#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */ |
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#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */ |
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#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */ |
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#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */ |
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#define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ |
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#define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ |
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#define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */ |
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#define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */ |
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#define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */ |
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/* array of scaled RC input values, -10000..10000 */ |
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#define PX4IO_PAGE_RC_INPUT 5 |
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#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ |
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#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ |
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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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/* PWM servo information */ |
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#define PX4IO_PAGE_PWM_INFO 7 |
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#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ |
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/* setup page */ |
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#define PX4IO_PAGE_SETUP 50 |
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#define PX4IO_P_SETUP_FEATURES 0 |
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#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */ |
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#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */ |
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#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */ |
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#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */ |
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#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ |
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#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ |
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#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */ |
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#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ |
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#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */ |
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#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ |
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#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ |
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#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */ |
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#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ |
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#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */ |
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#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ |
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#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 10) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */ |
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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_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ |
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#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ |
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#if defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V1) |
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#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ |
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#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* hardware rev [1] power relay 1 */ |
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#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */ |
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#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */ |
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#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */ |
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#else |
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#define PX4IO_P_SETUP_RELAYS_PAD 5 |
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#endif |
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#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */ |
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#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */ |
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#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ |
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enum { /* DSM bind states */ |
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dsm_bind_power_down = 0, |
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dsm_bind_power_up, |
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dsm_bind_set_rx_out, |
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dsm_bind_send_pulses, |
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dsm_bind_reinit_uart |
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}; |
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/* 8 */ |
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#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ |
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#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ |
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#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ |
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#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ |
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/* storage space of 12 occupied by CRC */ |
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#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into |
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'armed' (PWM enabled) state - this is a non-data write and |
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hence index 12 can safely be used. */ |
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#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ |
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#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */ |
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#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ |
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/* autopilot control values, -10000..10000 */ |
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#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ |
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#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ |
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#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ |
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#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ |
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#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ |
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#define PX4IO_P_CONTROLS_GROUP_VALID 64 |
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#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */ |
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#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */ |
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#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */ |
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#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */ |
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/* raw text load to the mixer parser - ignores offset */ |
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#define PX4IO_PAGE_MIXERLOAD 52 |
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/* R/C channel config */ |
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#define PX4IO_PAGE_RC_CONFIG 53 /**< R/C input configuration */ |
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#define PX4IO_P_RC_CONFIG_MIN 0 /**< lowest input value */ |
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#define PX4IO_P_RC_CONFIG_CENTER 1 /**< center input value */ |
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#define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */ |
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#define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */ |
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#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */ |
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#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */ |
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#define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */ |
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#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) |
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#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) |
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#define PX4IO_P_RC_CONFIG_STRIDE 6 /**< spacing between channel config data */ |
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/* PWM output - overrides mixer */ |
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#define PX4IO_PAGE_DIRECT_PWM 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ |
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/* PWM failsafe values - zero disables the output */ |
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#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ |
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/* PWM failsafe values - zero disables the output */ |
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#define PX4IO_PAGE_SENSORS 56 /**< Sensors connected to PX4IO */ |
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#define PX4IO_P_SENSORS_ALTITUDE 0 /**< Altitude of an external sensor (HoTT or S.BUS2) */ |
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/* Debug and test page - not used in normal operation */ |
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#define PX4IO_PAGE_TEST 127 |
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#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */ |
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/* PWM minimum values for certain ESCs */ |
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#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ |
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/* PWM maximum values for certain ESCs */ |
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#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ |
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/* PWM disarmed values that are active, even when SAFETY_SAFE */ |
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#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
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/* SPI <-> UART */ |
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#define PX4IO_PAGE_UART_BUFFER 120 |
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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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#pragma pack(push, 1) |
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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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#pragma pack(pop) |
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/** |
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* Serial protocol encapsulation. |
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*/ |
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#define PKT_MAX_REGS 32 // by agreement w/FMU |
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#pragma pack(push, 1) |
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struct IOPacket { |
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uint8_t count_code; |
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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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}; |
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#pragma pack(pop) |
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#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */ |
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#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */ |
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#define PKT_CODE_SPIUART 0xC0 /* FMU<->IO spi-uart transaction */ |
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#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */ |
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#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */ |
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#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */ |
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#define PKT_CODE_MASK 0xc0 |
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#define PKT_COUNT_MASK 0x3f |
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#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK) |
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#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK) |
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#define PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))) |
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static const uint8_t crc8_tab[256] __attribute__((unused)) = |
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{ |
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0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15, |
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0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D, |
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0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65, |
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0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D, |
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0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5, |
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0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD, |
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0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85, |
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0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD, |
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0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2, |
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0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA, |
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0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2, |
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0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A, |
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0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32, |
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0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A, |
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0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42, |
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0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A, |
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0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C, |
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0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4, |
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0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC, |
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0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4, |
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0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C, |
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0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44, |
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0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C, |
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0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34, |
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0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B, |
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0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63, |
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0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B, |
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0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13, |
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0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB, |
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0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83, |
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0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB, |
|
0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3 |
|
}; |
|
|
|
static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused)); |
|
static uint8_t |
|
crc_packet(struct IOPacket *pkt) |
|
{ |
|
uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]); |
|
uint8_t *p = (uint8_t *)pkt; |
|
uint8_t c = 0; |
|
|
|
while (p < end) |
|
c = crc8_tab[c ^ *(p++)]; |
|
|
|
return c; |
|
}
|
|
|