mirror of https://github.com/ArduPilot/ardupilot
145 lines
3.6 KiB
C++
145 lines
3.6 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "ch.h"
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#define IOMCU_MAX_CHANNELS 16
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#define PKT_MAX_REGS 32
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#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX
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#define SERVO_COUNT 8
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class AP_IOMCU_FW {
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public:
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void process_io_packet();
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struct PACKED IOPacket {
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uint8_t count:6;
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uint8_t code:2;
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uint8_t crc;
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uint8_t page;
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uint8_t offset;
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uint16_t regs[PKT_MAX_REGS];
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// get packet size in bytes
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uint8_t get_size(void) const {
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return count*2 + 4;
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}
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} rx_io_packet = {0}, tx_io_packet = {0};
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void init();
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void update();
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void calculate_fw_crc(void);
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private:
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void pwm_out_update();
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void heater_update();
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void rcin_update();
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bool handle_code_write();
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bool handle_code_read();
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void schedule_reboot(uint32_t time_ms);
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struct PACKED {
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/* default to RSSI ADC functionality */
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uint16_t features = 0;
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uint16_t arming = 0;
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uint16_t pwm_rates = 0;
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uint16_t pwm_defaultrate = 50;
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uint16_t pwm_altrate = 200;
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uint16_t relays_pad = 0;
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uint16_t vbatt_scale = 10000;
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uint16_t reserved1;
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uint16_t reserved2;
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uint16_t set_debug = 0;
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uint16_t reboot_bl = 0;
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uint16_t crc[2] = {0};
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uint16_t rc_thr_failsafe_us;
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uint16_t reserved3;
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uint16_t pwm_reverse = 0;
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uint16_t trim_roll = 0;
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uint16_t trim_pitch = 0;
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uint16_t trim_yaw = 0;
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uint16_t sbus_rate = 72;
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uint16_t ignore_safety = 0;
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uint16_t heater_duty_cycle = 0xFFFFU;
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uint16_t pwm_altclock = 1;
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} reg_setup;
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// PAGE_STATUS values
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struct PACKED {
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uint16_t freemem;
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uint16_t cpuload;
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// status flags
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uint16_t flag_outputs_armed:1;
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uint16_t flag_override:1;
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uint16_t flag_rc_ok:1;
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uint16_t flag_rc_ppm:1;
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uint16_t flag_rc_dsm:1;
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uint16_t flag_rc_sbus:1;
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uint16_t flag_fmu_ok:1;
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uint16_t flag_raw_pwm:1;
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uint16_t flag_mixer_ok:1;
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uint16_t flag_arm_sync:1;
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uint16_t flag_init_ok:1;
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uint16_t flag_failsafe:1;
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uint16_t flag_safety_off:1;
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uint16_t flag_fmu_initialised:1;
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uint16_t flag_rc_st24:1;
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uint16_t flag_rc_sumd_srxl:1;
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uint16_t alarms;
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uint16_t vbatt;
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uint16_t ibatt;
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uint16_t vservo;
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uint16_t vrssi;
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uint16_t prssi;
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} reg_status = {0};
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// PAGE_RAW_RCIN values
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struct PACKED {
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uint16_t count;
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uint16_t flags_frame_drop:1;
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uint16_t flags_failsafe:1;
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uint16_t flags_dsm11:1;
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uint16_t flags_mapping_ok:1;
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uint16_t flags_rc_ok:1;
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uint16_t flags_unused:11;
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uint16_t nrssi;
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uint16_t data;
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uint16_t frame_count;
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uint16_t lost_frame_count;
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uint16_t pwm[IOMCU_MAX_CHANNELS];
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uint16_t last_frame_count;
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uint32_t last_input_us;
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} rc_input = {0};
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// PAGE_SERVO values
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struct {
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uint16_t pwm[IOMCU_MAX_CHANNELS] = {0};
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} reg_servo;
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// PAGE_SERVO values
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struct {
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uint16_t pwm[IOMCU_MAX_CHANNELS]= {0};
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} reg_direct_pwm;
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// output rates
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struct {
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uint16_t freq;
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uint16_t chmask;
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uint16_t default_freq = 50;
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uint16_t sbus_rate_hz;
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} rate;
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uint8_t last_page;
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uint8_t last_offset;
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uint32_t fmu_data_received_time;
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uint32_t last_heater_ms;
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uint32_t reboot_time;
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bool do_reboot;
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bool update_default_rate;
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bool update_rcout_freq;
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bool has_heater;
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uint32_t last_blue_led_ms;
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};
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