From 0c01ae1223855ef7d30cf1b8185a50d4826cf7fd Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 27 Dec 2017 10:03:21 +1100 Subject: [PATCH] AP_IOMCU: started on MCU IO library --- libraries/AP_IOMCU/AP_IOMCU.cpp | 130 ++++++++++++++++++++++++++++++++ libraries/AP_IOMCU/AP_IOMCU.h | 17 +++++ 2 files changed, 147 insertions(+) create mode 100644 libraries/AP_IOMCU/AP_IOMCU.cpp create mode 100644 libraries/AP_IOMCU/AP_IOMCU.h diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp new file mode 100644 index 0000000000..5d0ded845e --- /dev/null +++ b/libraries/AP_IOMCU/AP_IOMCU.cpp @@ -0,0 +1,130 @@ +/* + 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_IOMCU.h" + +extern const AP_HAL::HAL &hal; + +#define PKT_MAX_REGS 32 + +struct PACKED IOPacket { + uint8_t count_code; + uint8_t crc; + uint8_t page; + uint8_t offset; + uint16_t regs[PKT_MAX_REGS]; +}; + +#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)))) + +#define IO_PROTOCOL_VERSION 4 +#define IO_PAGE_CONFIG 0 + +static const uint8_t crc8_tab[256] = +{ + 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) +{ + 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; +} + +AP_IOMCU::AP_IOMCU(AP_HAL::UARTDriver &_uart) : + uart(_uart) +{} + +void AP_IOMCU::write_channel(uint8_t chan, uint16_t pwm) +{ + static uint32_t last_ms; + + if (last_ms == 0) { + uart.begin(1500*1000, 256, 256); + } + + uint32_t now = AP_HAL::millis(); + if (now - last_ms < 1000) { + return; + } + last_ms = now; + + IOPacket pkt; + + memset(&pkt, 0, sizeof(pkt)); + + pkt.count_code = 4 | PKT_CODE_READ; + pkt.page = IO_PAGE_CONFIG; + pkt.offset = IO_PROTOCOL_VERSION; + pkt.crc = crc_packet(&pkt); + + hal.console->printf("sending IO pkt\n"); + + uart.write((uint8_t *)&pkt, sizeof(pkt)); + uint8_t n = uart.available(); + if (n > 0) { + uint8_t *b = (uint8_t *)&pkt; + for (uint8_t i=0; iprintf("IO PKT len=%u\n", n); + for (uint8_t i=0; iprintf("%02x ", b[i]); + } + hal.console->printf("\n"); + } +} diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h new file mode 100644 index 0000000000..f7707d2ff6 --- /dev/null +++ b/libraries/AP_IOMCU/AP_IOMCU.h @@ -0,0 +1,17 @@ +/* + 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 + +class AP_IOMCU { +public: + AP_IOMCU(AP_HAL::UARTDriver &uart); + + void write_channel(uint8_t chan, uint16_t pwm); +private: + AP_HAL::UARTDriver &uart; +};