px4-firmware/apps/px4io/px4io.h

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/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/**
* @file General defines and structures for the PX4IO module firmware.
*/
#include <arch/board/drv_gpio.h>
#include "protocol.h"
/*
* Constants and limits.
*/
#define MAX_CONTROL_CHANNELS 12
#define IO_SERVO_COUNT 8
/*
* System state structure.
*/
struct sys_state_s
{
bool armed; /* actually armed */
bool arm_ok; /* FMU says OK to arm */
/*
* Data from the remote control input(s)
*/
int rc_channels;
uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
/*
* Control signals from FMU.
*/
uint16_t fmu_channel_data[PX4IO_OUTPUT_CHANNELS];
/*
* Relay controls
*/
bool relays[PX4IO_RELAY_CHANNELS];
/*
* If true, we are using the FMU controls.
*/
bool mixer_use_fmu;
/*
* If true, state that should be reported to FMU has been updated.
*/
bool fmu_report_due;
/*
* If true, new control data from the FMU has been received.
*/
bool fmu_data_received;
};
extern struct sys_state_s system_state;
/*
* Software countdown timers.
*
* Each timer counts down to zero at one tick per ms.
*/
#define TIMER_BLINK_AMBER 0
#define TIMER_BLINK_BLUE 1
#define TIMER_STATUS_PRINT 2
#define TIMER_SANITY 7
#define TIMER_NUM_TIMERS 8
extern volatile int timers[TIMER_NUM_TIMERS];
/*
* GPIO handling.
*/
extern int gpio_fd;
#define POWER_SERVO(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_POWER), (_s))
#define POWER_ACC1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC1), (_s))
#define POWER_ACC2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC2), (_s))
#define POWER_RELAY1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY1, (_s))
#define POWER_RELAY2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY2, (_s))
#define LED_AMBER(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_AMBER), !(_s))
#define LED_BLUE(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_BLUE), !(_s))
#define LED_SAFETY(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_SAFETY), !(_s))
#define OVERCURRENT_ACC ioctl(gpio_fd, GPIO_GET(GPIO_ACC_OVERCURRENT), 0)
#define OVERCURRENT_SERVO ioctl(gpio_fd, GPIO_GET(GPIO_SERVO_OVERCURRENT), 0)
#define BUTTON_SAFETY ioctl(gpio_fd, GPIO_GET(GPIO_SAFETY_BUTTON), 0)
/*
* Mixer
*/
extern int mixer_init(const char *mq_name);
/*
* Safety switch/LED.
*/
extern void safety_init(void);
/*
* FMU communications
*/
extern void comms_init(void);
extern void comms_check(void);
/*
* Assertion codes
*/
#define A_GPIO_OPEN_FAIL 100
#define A_SERVO_OPEN_FAIL 101
#define A_INPUTQ_OPEN_FAIL 102