mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
AP_HAL_Linux: new files for raspilot
This commit is contained in:
raspilot
Andrew Tridgell
parent
30a2fe0857
commit
9f91eb020e
152
libraries/AP_HAL_Linux/RCOutput_Raspilot.cpp
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152
libraries/AP_HAL_Linux/RCOutput_Raspilot.cpp
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@ -0,0 +1,152 @@
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#include <AP_HAL/AP_HAL.h>
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#include "GPIO.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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#include "RCOutput_Raspilot.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <dirent.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <math.h>
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#include "px4io_protocol.h"
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using namespace Linux;
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#define PWM_CHAN_COUNT 8
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static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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void LinuxRCOutput_Raspilot::init(void* machtnicht)
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{
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_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
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_spi_sem = _spi->get_semaphore();
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if (_spi_sem == NULL) {
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hal.scheduler->panic(PSTR("PANIC: RCOutput_Raspilot did not get "
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"valid SPI semaphore!"));
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return; // never reached
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}
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&LinuxRCOutput_Raspilot::_update, void));
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}
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void LinuxRCOutput_Raspilot::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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if (!_spi_sem->take(10)) {
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return;
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}
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struct IOPacket _dma_packet_tx, _dma_packet_rx;
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uint16_t count = 1;
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_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
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_dma_packet_tx.page = 50;
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_dma_packet_tx.offset = 3;
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_dma_packet_tx.regs[0] = freq_hz;
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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_frequency = freq_hz;
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_spi_sem->give();
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}
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uint16_t LinuxRCOutput_Raspilot::get_freq(uint8_t ch)
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{
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return _frequency;
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}
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void LinuxRCOutput_Raspilot::enable_ch(uint8_t ch)
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{
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}
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void LinuxRCOutput_Raspilot::disable_ch(uint8_t ch)
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{
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write(ch, 0);
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}
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void LinuxRCOutput_Raspilot::write(uint8_t ch, uint16_t period_us)
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{
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if(ch >= PWM_CHAN_COUNT){
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return;
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}
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_period_us[ch] = period_us;
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}
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void LinuxRCOutput_Raspilot::write(uint8_t ch, uint16_t* period_us, uint8_t len)
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{
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for (int i = 0; i < len; i++)
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write(ch + i, period_us[i]);
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}
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uint16_t LinuxRCOutput_Raspilot::read(uint8_t ch)
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{
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if(ch >= PWM_CHAN_COUNT){
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return 0;
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}
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return _period_us[ch];
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}
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void LinuxRCOutput_Raspilot::read(uint16_t* period_us, uint8_t len)
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{
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for (int i = 0; i < len; i++)
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period_us[i] = read(0 + i);
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}
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void LinuxRCOutput_Raspilot::_update(void)
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{
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int i;
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if (hal.scheduler->micros() - _last_update_timestamp < 10000) {
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return;
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}
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_last_update_timestamp = hal.scheduler->micros();
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if (!_spi_sem->take_nonblocking()) {
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return;
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}
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struct IOPacket _dma_packet_tx, _dma_packet_rx;
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uint16_t count = 1;
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_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
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_dma_packet_tx.page = 50;
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_dma_packet_tx.offset = 1;
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_dma_packet_tx.regs[0] = 75;
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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count = 1;
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_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
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_dma_packet_tx.page = 50;
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_dma_packet_tx.offset = 12;
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_dma_packet_tx.regs[0] = 0x560B;
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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count = PWM_CHAN_COUNT;
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_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
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_dma_packet_tx.page = 54;
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_dma_packet_tx.offset = 0;
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for (i=0; i<PWM_CHAN_COUNT; i++) {
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_dma_packet_tx.regs[i] = _period_us[i];
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}
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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_spi_sem->give();
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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30
libraries/AP_HAL_Linux/RCOutput_Raspilot.h
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30
libraries/AP_HAL_Linux/RCOutput_Raspilot.h
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@ -0,0 +1,30 @@
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#ifndef __AP_HAL_LINUX_RCOUTPUT_RASPILOT_H__
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#define __AP_HAL_LINUX_RCOUTPUT_RASPILOT_H__
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#include "AP_HAL_Linux.h"
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class Linux::LinuxRCOutput_Raspilot : public AP_HAL::RCOutput {
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void init(void* machtnichts);
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void set_freq(uint32_t chmask, uint16_t freq_hz);
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uint16_t get_freq(uint8_t ch);
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void enable_ch(uint8_t ch);
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void disable_ch(uint8_t ch);
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void write(uint8_t ch, uint16_t period_us);
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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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private:
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void reset();
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void _update(void);
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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uint32_t _last_update_timestamp;
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uint16_t _frequency;
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uint16_t _period_us[8];
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};
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#endif // __AP_HAL_LINUX_RCOUTPUT_RASPILOT_H__
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292
libraries/AP_HAL_Linux/RPIOUARTDriver.cpp
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292
libraries/AP_HAL_Linux/RPIOUARTDriver.cpp
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@ -0,0 +1,292 @@
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <stdlib.h>
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#include <cstdio>
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#include "RPIOUARTDriver.h"
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#include "../AP_HAL/utility/RingBuffer.h"
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#include "px4io_protocol.h"
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#define RPIOUART_POLL_TIME_INTERVAL 10000
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extern const AP_HAL::HAL& hal;
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#define RPIOUART_DEBUG 0
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#include <cassert>
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#if RPIOUART_DEBUG
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#define debug(fmt, args ...) do {hal.console->printf("[RPIOUARTDriver]: %s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
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#define error(fmt, args ...) do {fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
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#else
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#define debug(fmt, args ...)
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#define error(fmt, args ...)
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#endif
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using namespace Linux;
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LinuxRPIOUARTDriver::LinuxRPIOUARTDriver() :
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LinuxUARTDriver(false),
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_spi(NULL),
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_spi_sem(NULL),
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_last_update_timestamp(0),
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_external(false),
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_need_set_baud(false),
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_baudrate(0)
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{
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_readbuf = NULL;
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_writebuf = NULL;
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}
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bool LinuxRPIOUARTDriver::sem_take_nonblocking()
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{
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return _spi_sem->take_nonblocking();
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}
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void LinuxRPIOUARTDriver::sem_give()
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{
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_spi_sem->give();
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}
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bool LinuxRPIOUARTDriver::isExternal()
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{
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return _external;
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}
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void LinuxRPIOUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
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{
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//hal.console->printf("[RPIOUARTDriver]: begin \n");
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if (device_path != NULL) {
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LinuxUARTDriver::begin(b,rxS,txS);
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if ( is_initialized()) {
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_external = true;
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return;
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}
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}
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if (rxS < 1024) {
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rxS = 2048;
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}
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if (txS < 1024) {
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txS = 2048;
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}
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_initialised = false;
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while (_in_timer) hal.scheduler->delay(1);
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/*
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allocate the read buffer
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*/
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if (rxS != 0 && rxS != _readbuf_size) {
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_readbuf_size = rxS;
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if (_readbuf != NULL) {
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free(_readbuf);
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}
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_readbuf = (uint8_t *)malloc(_readbuf_size);
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_readbuf_head = 0;
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_readbuf_tail = 0;
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}
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/*
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allocate the write buffer
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*/
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if (txS != 0 && txS != _writebuf_size) {
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_writebuf_size = txS;
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if (_writebuf != NULL) {
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free(_writebuf);
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}
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_writebuf = (uint8_t *)malloc(_writebuf_size);
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_writebuf_head = 0;
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_writebuf_tail = 0;
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}
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_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
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if (_spi == NULL) {
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hal.scheduler->panic("Cannot get SPIDevice_RASPIO");
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}
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_spi_sem = _spi->get_semaphore();
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if (_spi_sem == NULL) {
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hal.scheduler->panic(PSTR("PANIC: RASPIOUARTDriver did not get "
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"valid SPI semaphore!"));
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return; // never reached
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}
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/* set baudrate */
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_baudrate = b;
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_need_set_baud = true;
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while (_need_set_baud) {
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hal.scheduler->delay(1);
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}
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if (_writebuf_size != 0 && _readbuf_size != 0) {
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_initialised = true;
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}
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}
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int LinuxRPIOUARTDriver::_write_fd(const uint8_t *buf, uint16_t n)
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{
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if (_external) {
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return LinuxUARTDriver::_write_fd(buf, n);
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}
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return -1;
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}
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int LinuxRPIOUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
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{
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if (_external) {
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return LinuxUARTDriver::_read_fd(buf, n);
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}
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return -1;
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}
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void LinuxRPIOUARTDriver::_timer_tick(void)
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{
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if (_external) {
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LinuxUARTDriver::_timer_tick();
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return;
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}
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/* set the baudrate of raspilotio */
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if (_need_set_baud) {
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if (_baudrate != 0) {
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if (!_spi_sem->take_nonblocking()) {
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hal.scheduler->panic("SPIDevice_RASPIO cannot take semaphore!");
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return;
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}
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struct IOPacket _dma_packet_tx, _dma_packet_rx;
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_dma_packet_tx.count_code = 2 | PKT_CODE_WRITE;
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_dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
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_dma_packet_tx.offset = 0;
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_dma_packet_tx.regs[0] = _baudrate & 0xffff;
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_dma_packet_tx.regs[1] = _baudrate >> 16;
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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hal.scheduler->delay(1);
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_spi_sem->give();
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}
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_need_set_baud = false;
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}
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/* finish set */
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if (!_initialised) return;
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/* lower the update rate */
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if (hal.scheduler->micros() - _last_update_timestamp < RPIOUART_POLL_TIME_INTERVAL) {
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return;
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}
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_in_timer = true;
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if (!_spi_sem->take_nonblocking()) {
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return;
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}
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struct IOPacket _dma_packet_tx, _dma_packet_rx;
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/* get write_buf bytes */
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uint16_t _tail;
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uint16_t n = BUF_AVAILABLE(_writebuf);
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if (n > PKT_MAX_REGS * 2) {
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n = PKT_MAX_REGS * 2;
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}
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uint16_t _max_size = _baudrate / 10 / (1000000 / RPIOUART_POLL_TIME_INTERVAL);
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if (n > _max_size) {
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n = _max_size;
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}
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if (n > 0) {
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uint16_t n1 = _writebuf_size - _writebuf_head;
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if (n1 >= n) {
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// do as a single write
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memcpy( &((uint8_t *)_dma_packet_tx.regs)[0], &_writebuf[_writebuf_head], n );
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} else {
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// split into two writes
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memcpy( &((uint8_t *)_dma_packet_tx.regs)[0], &_writebuf[_writebuf_head], n1 );
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memcpy( &((uint8_t *)_dma_packet_tx.regs)[n1], &_writebuf[0], n-n1 );
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}
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BUF_ADVANCEHEAD(_writebuf, n);
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}
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_dma_packet_tx.count_code = PKT_MAX_REGS | PKT_CODE_SPIUART;
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_dma_packet_tx.page = PX4IO_PAGE_UART_BUFFER;
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_dma_packet_tx.offset = n;
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/* end get write_buf bytes */
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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/* set raspilotio to read uart data */
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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hal.scheduler->delay_microseconds(100);
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/* get uart data from raspilotio */
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_dma_packet_tx.count_code = 0 | PKT_CODE_READ;
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_dma_packet_tx.page = 0;
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_dma_packet_tx.offset = 0;
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memset( &_dma_packet_tx.regs[0], 0, PKT_MAX_REGS*sizeof(uint16_t) );
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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hal.scheduler->delay_microseconds(100);
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/* release sem */
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_spi_sem->give();
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/* add bytes to read buf */
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uint16_t _head;
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n = BUF_SPACE(_readbuf);
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if (_dma_packet_rx.page == PX4IO_PAGE_UART_BUFFER) {
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if (n > _dma_packet_rx.offset) {
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n = _dma_packet_rx.offset;
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}
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if (n > PKT_MAX_REGS * 2) {
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n = PKT_MAX_REGS * 2;
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}
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if (n > 0) {
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uint16_t n1 = _readbuf_size - _readbuf_tail;
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if (n1 >= n) {
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// one read will do
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memcpy( &_readbuf[_readbuf_tail], &((uint8_t *)_dma_packet_rx.regs)[0], n );
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} else {
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memcpy( &_readbuf[_readbuf_tail], &((uint8_t *)_dma_packet_rx.regs)[0], n1 );
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memcpy( &_readbuf[0], &((uint8_t *)_dma_packet_rx.regs)[n1], n-n1 );
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}
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|
||||
BUF_ADVANCETAIL(_readbuf, n);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
_in_timer = false;
|
||||
|
||||
_last_update_timestamp = hal.scheduler->micros();
|
||||
}
|
||||
|
||||
#endif
|
||||
36
libraries/AP_HAL_Linux/RPIOUARTDriver.h
Normal file
36
libraries/AP_HAL_Linux/RPIOUARTDriver.h
Normal file
@ -0,0 +1,36 @@
|
||||
#ifndef __AP_HAL_LINUX_RPIOUARTDRIVER_H__
|
||||
#define __AP_HAL_LINUX_RPIOUARTDRIVER_H__
|
||||
|
||||
#include "AP_HAL_Linux.h"
|
||||
|
||||
#include "UARTDriver.h"
|
||||
|
||||
|
||||
class Linux::LinuxRPIOUARTDriver : public Linux::LinuxUARTDriver {
|
||||
public:
|
||||
LinuxRPIOUARTDriver();
|
||||
void begin(uint32_t b, uint16_t rxS, uint16_t txS);
|
||||
void _timer_tick(void);
|
||||
bool isExternal(void);
|
||||
|
||||
protected:
|
||||
int _write_fd(const uint8_t *buf, uint16_t n);
|
||||
int _read_fd(uint8_t *buf, uint16_t n);
|
||||
|
||||
private:
|
||||
bool _in_timer;
|
||||
|
||||
bool sem_take_nonblocking();
|
||||
void sem_give();
|
||||
AP_HAL::SPIDeviceDriver *_spi;
|
||||
AP_HAL::Semaphore *_spi_sem;
|
||||
|
||||
uint32_t _last_update_timestamp;
|
||||
|
||||
bool _external;
|
||||
|
||||
bool _need_set_baud;
|
||||
uint32_t _baudrate;
|
||||
};
|
||||
|
||||
#endif //__AP_HAL_LINUX_RPIOUARTDRIVER_H__
|
||||
147
libraries/AP_HAL_Linux/RaspilotAnalogIn.cpp
Normal file
147
libraries/AP_HAL_Linux/RaspilotAnalogIn.cpp
Normal file
@ -0,0 +1,147 @@
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
||||
|
||||
#include "RaspilotAnalogIn.h"
|
||||
#include "px4io_protocol.h"
|
||||
|
||||
#define RASPILOT_ANALOGIN_DEBUG 0
|
||||
#if RASPILOT_ANALOGIN_DEBUG
|
||||
#include <cstdio>
|
||||
#define debug(fmt, args ...) do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
|
||||
#define error(fmt, args ...) do {fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
|
||||
#else
|
||||
#define debug(fmt, args ...)
|
||||
#define error(fmt, args ...)
|
||||
#endif
|
||||
|
||||
RaspilotAnalogSource::RaspilotAnalogSource(int16_t pin):
|
||||
_pin(pin),
|
||||
_value(0.0f)
|
||||
{
|
||||
}
|
||||
|
||||
void RaspilotAnalogSource::set_pin(uint8_t pin)
|
||||
{
|
||||
if (_pin == pin) {
|
||||
return;
|
||||
}
|
||||
_pin = pin;
|
||||
}
|
||||
|
||||
float RaspilotAnalogSource::read_average()
|
||||
{
|
||||
return read_latest();
|
||||
}
|
||||
|
||||
float RaspilotAnalogSource::read_latest()
|
||||
{
|
||||
return _value;
|
||||
}
|
||||
|
||||
float RaspilotAnalogSource::voltage_average()
|
||||
{
|
||||
return _value;
|
||||
}
|
||||
|
||||
float RaspilotAnalogSource::voltage_latest()
|
||||
{
|
||||
return _value;
|
||||
}
|
||||
|
||||
float RaspilotAnalogSource::voltage_average_ratiometric()
|
||||
{
|
||||
return _value;
|
||||
}
|
||||
|
||||
extern const AP_HAL::HAL& hal;
|
||||
|
||||
RaspilotAnalogIn::RaspilotAnalogIn()
|
||||
{
|
||||
_channels_number = RASPILOT_ADC_MAX_CHANNELS;
|
||||
}
|
||||
|
||||
float RaspilotAnalogIn::board_voltage(void)
|
||||
{
|
||||
_vcc_pin_analog_source->set_pin(4);
|
||||
|
||||
return 5.0;
|
||||
//return _vcc_pin_analog_source->voltage_average() * 2.0;
|
||||
}
|
||||
|
||||
AP_HAL::AnalogSource* RaspilotAnalogIn::channel(int16_t pin)
|
||||
{
|
||||
for (uint8_t j = 0; j < _channels_number; j++) {
|
||||
if (_channels[j] == NULL) {
|
||||
_channels[j] = new RaspilotAnalogSource(pin);
|
||||
return _channels[j];
|
||||
}
|
||||
}
|
||||
|
||||
hal.console->println("Out of analog channels");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
void RaspilotAnalogIn::init(void* implspecific)
|
||||
{
|
||||
_vcc_pin_analog_source = channel(4);
|
||||
|
||||
_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
|
||||
_spi_sem = _spi->get_semaphore();
|
||||
|
||||
if (_spi_sem == NULL) {
|
||||
hal.scheduler->panic(PSTR("PANIC: RCIutput_Raspilot did not get "
|
||||
"valid SPI semaphore!"));
|
||||
return; // never reached
|
||||
}
|
||||
|
||||
hal.scheduler->suspend_timer_procs();
|
||||
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RaspilotAnalogIn::_update, void));
|
||||
hal.scheduler->resume_timer_procs();
|
||||
}
|
||||
|
||||
void RaspilotAnalogIn::_update()
|
||||
{
|
||||
if (hal.scheduler->micros() - _last_update_timestamp < 100000) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (!_spi_sem->take_nonblocking()) {
|
||||
return;
|
||||
}
|
||||
|
||||
struct IOPacket _dma_packet_tx, _dma_packet_rx;
|
||||
uint16_t count = RASPILOT_ADC_MAX_CHANNELS;
|
||||
_dma_packet_tx.count_code = count | PKT_CODE_READ;
|
||||
_dma_packet_tx.page = PX4IO_PAGE_RAW_ADC_INPUT;
|
||||
_dma_packet_tx.offset = 0;
|
||||
_dma_packet_tx.crc = 0;
|
||||
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
|
||||
/* set raspilotio to read reg4 */
|
||||
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
|
||||
|
||||
hal.scheduler->delay_microseconds(200);
|
||||
|
||||
/* get reg4 data from raspilotio */
|
||||
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
|
||||
|
||||
_spi_sem->give();
|
||||
|
||||
for (int16_t i = 0; i < RASPILOT_ADC_MAX_CHANNELS; i++) {
|
||||
for (int16_t j=0; j < RASPILOT_ADC_MAX_CHANNELS; j++) {
|
||||
RaspilotAnalogSource *source = _channels[j];
|
||||
|
||||
if (source != NULL && i == source->_pin) {
|
||||
source->_value = _dma_packet_rx.regs[i] * 3.3 / 4096.0;
|
||||
}
|
||||
}
|
||||
|
||||
//printf("ADC_%d: %0.3f\n",i,_dma_packet_rx.regs[i] * 3.3 / 4096.0);
|
||||
|
||||
}
|
||||
|
||||
_last_update_timestamp = hal.scheduler->micros();
|
||||
}
|
||||
|
||||
#endif
|
||||
51
libraries/AP_HAL_Linux/RaspilotAnalogIn.h
Normal file
51
libraries/AP_HAL_Linux/RaspilotAnalogIn.h
Normal file
@ -0,0 +1,51 @@
|
||||
#ifndef __RaspilotAnalogIn_H__
|
||||
#define __RaspilotAnalogIn_H__
|
||||
|
||||
#include "AP_HAL_Linux.h"
|
||||
#include <AP_ADC/AP_ADC.h>
|
||||
|
||||
#define RASPILOT_ADC_MAX_CHANNELS 8
|
||||
|
||||
class RaspilotAnalogSource: public AP_HAL::AnalogSource {
|
||||
public:
|
||||
friend class RaspilotAnalogIn;
|
||||
RaspilotAnalogSource(int16_t pin);
|
||||
float read_average();
|
||||
float read_latest();
|
||||
void set_pin(uint8_t p);
|
||||
void set_stop_pin(uint8_t p) {}
|
||||
void set_settle_time(uint16_t settle_time_ms){}
|
||||
float voltage_average();
|
||||
float voltage_latest();
|
||||
float voltage_average_ratiometric();
|
||||
private:
|
||||
int16_t _pin;
|
||||
float _value;
|
||||
};
|
||||
|
||||
class RaspilotAnalogIn: public AP_HAL::AnalogIn {
|
||||
public:
|
||||
RaspilotAnalogIn();
|
||||
void init(void* implspecific);
|
||||
AP_HAL::AnalogSource* channel(int16_t n);
|
||||
|
||||
/* Board voltage is not available */
|
||||
float board_voltage(void);
|
||||
|
||||
protected:
|
||||
AP_HAL::AnalogSource *_vcc_pin_analog_source;
|
||||
|
||||
private:
|
||||
AP_HAL::SPIDeviceDriver *_spi;
|
||||
AP_HAL::Semaphore *_spi_sem;
|
||||
|
||||
RaspilotAnalogSource *_channels[RASPILOT_ADC_MAX_CHANNELS];
|
||||
|
||||
uint8_t _channels_number;
|
||||
|
||||
void _update();
|
||||
|
||||
uint32_t _last_update_timestamp;
|
||||
};
|
||||
|
||||
#endif
|
||||
383
libraries/AP_HAL_Linux/px4io_protocol.h
Normal file
383
libraries/AP_HAL_Linux/px4io_protocol.h
Normal file
@ -0,0 +1,383 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 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
|
||||
|
||||
#include <inttypes.h>
|
||||
|
||||
/**
|
||||
* @file protocol.h
|
||||
*
|
||||
* PX4IO 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.
|
||||
*
|
||||
* Some pages are read- or write-only.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* Definitions marked [1] are only valid on PX4IOv1 boards. Likewise,
|
||||
* [2] denotes definitions specific to the PX4IOv2 board.
|
||||
*/
|
||||
|
||||
/* 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))
|
||||
|
||||
#define PX4IO_PROTOCOL_VERSION 4
|
||||
|
||||
/* maximum allowable sizes on this protocol version */
|
||||
#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 */
|
||||
|
||||
/* static configuration page */
|
||||
#define PX4IO_PAGE_CONFIG 0
|
||||
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */
|
||||
#define PX4IO_P_CONFIG_HARDWARE_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 /* hardcoded # of relay outputs */
|
||||
#define PX4IO_P_CONFIG_CONTROL_GROUP_COUNT 8 /**< hardcoded # of control groups*/
|
||||
|
||||
/* 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_OUTPUTS_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_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */
|
||||
#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */
|
||||
#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */
|
||||
#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */
|
||||
#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */
|
||||
#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */
|
||||
|
||||
#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) /* [1] 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) /* [1] servo current limit was exceeded */
|
||||
#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] 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_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */
|
||||
#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */
|
||||
|
||||
#define PX4IO_P_STATUS_VBATT 4 /* [1] battery voltage in mV */
|
||||
#define PX4IO_P_STATUS_IBATT 5 /* [1] battery current (raw ADC) */
|
||||
#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
|
||||
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
|
||||
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
|
||||
|
||||
/* 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_FLAGS 1 /* RC detail status flags */
|
||||
#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */
|
||||
#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */
|
||||
#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */
|
||||
#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */
|
||||
#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */
|
||||
|
||||
#define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
|
||||
#define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
|
||||
#define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */
|
||||
#define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */
|
||||
#define PX4IO_P_RAW_RC_BASE 6 /* 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 */
|
||||
|
||||
/* PWM servo information */
|
||||
#define PX4IO_PAGE_PWM_INFO 7
|
||||
#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
|
||||
|
||||
/* setup page */
|
||||
#define PX4IO_PAGE_SETUP 50
|
||||
#define PX4IO_P_SETUP_FEATURES 0
|
||||
#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */
|
||||
#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */
|
||||
#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */
|
||||
#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */
|
||||
|
||||
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
|
||||
#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
|
||||
#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */
|
||||
#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_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */
|
||||
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
|
||||
#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 */
|
||||
#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */
|
||||
#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */
|
||||
#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */
|
||||
#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. */
|
||||
#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 */
|
||||
|
||||
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
|
||||
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
|
||||
#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
|
||||
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
|
||||
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
|
||||
#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* hardware rev [1] power relay 1 */
|
||||
#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */
|
||||
#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */
|
||||
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */
|
||||
#else
|
||||
#define PX4IO_P_SETUP_RELAYS_PAD 5
|
||||
#endif
|
||||
|
||||
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */
|
||||
#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */
|
||||
#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */
|
||||
enum { /* DSM bind states */
|
||||
dsm_bind_power_down = 0,
|
||||
dsm_bind_power_up,
|
||||
dsm_bind_set_rx_out,
|
||||
dsm_bind_send_pulses,
|
||||
dsm_bind_reinit_uart
|
||||
};
|
||||
/* 8 */
|
||||
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
|
||||
|
||||
#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
|
||||
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
|
||||
|
||||
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
|
||||
/* storage space of 12 occupied by CRC */
|
||||
#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
|
||||
'armed' (PWM enabled) state - this is a non-data write and
|
||||
hence index 12 can safely be used. */
|
||||
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
|
||||
|
||||
#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */
|
||||
#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
|
||||
|
||||
/* autopilot control values, -10000..10000 */
|
||||
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
|
||||
#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
|
||||
#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
|
||||
#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
|
||||
#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
|
||||
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID 64
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */
|
||||
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */
|
||||
|
||||
/* raw text load to the mixer parser - ignores offset */
|
||||
#define PX4IO_PAGE_MIXERLOAD 52
|
||||
|
||||
/* R/C channel config */
|
||||
#define PX4IO_PAGE_RC_CONFIG 53 /**< 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_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */
|
||||
#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 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/* PWM failsafe values - zero disables the output */
|
||||
#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/* PWM failsafe values - zero disables the output */
|
||||
#define PX4IO_PAGE_SENSORS 56 /**< Sensors connected to PX4IO */
|
||||
#define PX4IO_P_SENSORS_ALTITUDE 0 /**< Altitude of an external sensor (HoTT or S.BUS2) */
|
||||
|
||||
/* Debug and test page - not used in normal operation */
|
||||
#define PX4IO_PAGE_TEST 127
|
||||
#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */
|
||||
|
||||
/* PWM minimum values for certain ESCs */
|
||||
#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/* PWM maximum values for certain ESCs */
|
||||
#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/* PWM disarmed values that are active, even when SAFETY_SAFE */
|
||||
#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/* SPI <-> UART */
|
||||
#define PX4IO_PAGE_UART_BUFFER 120
|
||||
|
||||
/**
|
||||
* 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)
|
||||
|
||||
/**
|
||||
* Serial protocol encapsulation.
|
||||
*/
|
||||
|
||||
#define PKT_MAX_REGS 32 // by agreement w/FMU
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct IOPacket {
|
||||
uint8_t count_code;
|
||||
uint8_t crc;
|
||||
uint8_t page;
|
||||
uint8_t offset;
|
||||
uint16_t regs[PKT_MAX_REGS];
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */
|
||||
#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */
|
||||
#define PKT_CODE_SPIUART 0xC0 /* FMU<->IO spi-uart transaction */
|
||||
#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */
|
||||
#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */
|
||||
#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */
|
||||
|
||||
#define PKT_CODE_MASK 0xc0
|
||||
#define PKT_COUNT_MASK 0x3f
|
||||
|
||||
#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
|
||||
#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
|
||||
#define PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))))
|
||||
|
||||
static const uint8_t crc8_tab[256] __attribute__((unused)) =
|
||||
{
|
||||
0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
|
||||
0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
|
||||
0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
|
||||
0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
|
||||
0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
|
||||
0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
|
||||
0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
|
||||
0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
|
||||
0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
|
||||
0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
|
||||
0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
|
||||
0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
|
||||
0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
|
||||
0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
|
||||
0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
|
||||
0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
|
||||
0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
|
||||
0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
|
||||
0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
|
||||
0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
|
||||
0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
|
||||
0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
|
||||
0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
|
||||
0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
|
||||
0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
|
||||
0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
|
||||
0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
|
||||
0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
|
||||
0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
|
||||
0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
|
||||
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;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user