ardupilot/libraries/AP_IOMCU/AP_IOMCU.h

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/*
implement protocol for controlling an IO microcontroller
For bootstrapping this will initially implement the px4io protocol,
but will later move to an ArduPilot specific protocol
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_IO_MCU
#include "ch.h"
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#define IOMCU_MAX_CHANNELS 16
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class AP_IOMCU {
public:
AP_IOMCU(AP_HAL::UARTDriver &uart);
void init(void);
// write to one channel
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void write_channel(uint8_t chan, uint16_t pwm);
// read from one channel
uint16_t read_channel(uint8_t chan);
// cork output
void cork(void);
// push output
void push(void);
// set output frequency
void set_freq(uint16_t chmask, uint16_t freq);
// get output frequency
uint16_t get_freq(uint16_t chan);
// get state of safety switch
AP_HAL::Util::safety_state get_safety_switch_state(void) const;
// force safety on
bool force_safety_on(void);
// force safety off
void force_safety_off(void);
// set PWM of channels when safety is on
void set_safety_pwm(uint16_t chmask, uint16_t period_us);
// set mask of channels that ignore safety state
void set_safety_mask(uint16_t chmask);
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/*
enable sbus output
*/
bool enable_sbus_out(uint16_t rate_hz);
/*
check for new RC input
*/
bool check_rcinput(uint32_t &last_frame_us, uint8_t &num_channels, uint16_t *channels, uint8_t max_channels);
/*
get servo rail voltage
*/
float get_vservo(void) const { return reg_status.vservo * 0.001; }
/*
get rssi voltage
*/
float get_vrssi(void) const { return reg_status.vrssi * 0.001; }
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// set target for IMU heater
void set_heater_duty_cycle(uint8_t duty_cycle);
// set default output rate
void set_default_rate(uint16_t rate_hz);
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// set to oneshot mode
void set_oneshot_mode(void);
// check if IO is healthy
bool healthy(void);
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private:
AP_HAL::UARTDriver &uart;
void thread_main(void);
// read count 16 bit registers
bool read_registers(uint8_t page, uint8_t offset, uint8_t count, uint16_t *regs);
// write count 16 bit registers
bool write_registers(uint8_t page, uint8_t offset, uint8_t count, const uint16_t *regs);
// write a single register
bool write_register(uint8_t page, uint8_t offset, uint16_t v) {
return write_registers(page, offset, 1, &v);
}
// modify a single register
bool modify_register(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
// trigger an ioevent
void trigger_event(uint8_t event);
// IOMCU thread
thread_t *thread_ctx;
// time when we last read various pages
uint32_t last_status_read_ms;
uint32_t last_rc_read_ms;
uint32_t last_servo_read_ms;
uint32_t last_debug_ms;
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uint32_t last_safety_option_check_ms;
// last value of safety options
uint16_t last_safety_options = 0xFFFF;
void send_servo_out(void);
void read_rc_input(void);
void read_servo(void);
void read_status(void);
void print_debug(void);
void discard_input(void);
void event_failed(uint8_t event);
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void update_safety_options(void);
// PAGE_STATUS values
struct PACKED {
uint16_t freemem;
uint16_t cpuload;
// status flags
uint16_t flag_outputs_armed:1;
uint16_t flag_override:1;
uint16_t flag_rc_ok:1;
uint16_t flag_rc_ppm:1;
uint16_t flag_rc_dsm:1;
uint16_t flag_rc_sbus:1;
uint16_t flag_fmu_ok:1;
uint16_t flag_raw_pwm:1;
uint16_t flag_mixer_ok:1;
uint16_t flag_arm_sync:1;
uint16_t flag_init_ok:1;
uint16_t flag_failsafe:1;
uint16_t flag_safety_off:1;
uint16_t flag_fmu_initialised:1;
uint16_t flag_rc_st24:1;
uint16_t flag_rc_sumd_srxl:1;
uint16_t alarms;
uint16_t vbatt;
uint16_t ibatt;
uint16_t vservo;
uint16_t vrssi;
uint16_t prssi;
} reg_status;
// PAGE_RAW_RCIN values
struct PACKED {
uint16_t count;
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uint16_t flags_frame_drop:1;
uint16_t flags_failsafe:1;
uint16_t flags_dsm11:1;
uint16_t flags_mapping_ok:1;
uint16_t flags_rc_ok:1;
uint16_t flags_unused:11;
uint16_t nrssi;
uint16_t data;
uint16_t frame_count;
uint16_t lost_frame_count;
uint16_t pwm[IOMCU_MAX_CHANNELS];
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uint16_t last_frame_count;
uint32_t last_input_us;
} rc_input;
// output pwm values
struct {
uint8_t num_channels;
uint16_t pwm[IOMCU_MAX_CHANNELS];
uint8_t safety_pwm_set;
uint8_t safety_pwm_sent;
uint16_t safety_pwm[IOMCU_MAX_CHANNELS];
uint16_t safety_mask;
} pwm_out;
// read back pwm values
struct {
uint16_t pwm[IOMCU_MAX_CHANNELS];
} pwm_in;
// output rates
struct {
uint16_t freq;
uint16_t chmask;
uint16_t default_freq = 50;
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uint16_t sbus_rate_hz;
} rate;
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// IMU heater duty cycle
uint8_t heater_duty_cycle;
uint32_t last_servo_out_us;
bool corked;
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bool crc_is_ok;
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// firmware upload
const char *fw_name = "io_firmware.bin";
const uint8_t *fw;
bool upload_fw(const char *filename);
bool recv_byte_with_timeout(uint8_t *c, uint32_t timeout_ms);
bool recv_bytes(uint8_t *p, uint32_t count);
void drain(void);
bool send(uint8_t c);
bool send(const uint8_t *p, uint32_t count);
bool get_sync(uint32_t timeout = 40);
bool sync();
bool get_info(uint8_t param, uint32_t &val);
bool erase();
bool program(uint32_t fw_size);
bool verify_rev2(uint32_t fw_size);
bool verify_rev3(uint32_t fw_size_local);
bool reboot();
bool check_crc(void);
enum {
PROTO_NOP = 0x00,
PROTO_OK = 0x10,
PROTO_FAILED = 0x11,
PROTO_INSYNC = 0x12,
PROTO_INVALID = 0x13,
PROTO_BAD_SILICON_REV = 0x14,
PROTO_EOC = 0x20,
PROTO_GET_SYNC = 0x21,
PROTO_GET_DEVICE = 0x22,
PROTO_CHIP_ERASE = 0x23,
PROTO_CHIP_VERIFY = 0x24,
PROTO_PROG_MULTI = 0x27,
PROTO_READ_MULTI = 0x28,
PROTO_GET_CRC = 0x29,
PROTO_GET_OTP = 0x2a,
PROTO_GET_SN = 0x2b,
PROTO_GET_CHIP = 0x2c,
PROTO_SET_DELAY = 0x2d,
PROTO_GET_CHIP_DES = 0x2e,
PROTO_REBOOT = 0x30,
INFO_BL_REV = 1, /**< bootloader protocol revision */
BL_REV = 5, /**< supported bootloader protocol */
INFO_BOARD_ID = 2, /**< board type */
INFO_BOARD_REV = 3, /**< board revision */
INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */
PROG_MULTI_MAX = 248, /**< protocol max is 255, must be multiple of 4 */
};
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};
#endif // HAL_WITH_IO_MCU