forked from Archive/PX4-Autopilot
143 lines
4.0 KiB
C
143 lines
4.0 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file General defines and structures for the PX4IO module firmware.
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*/
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#include <arch/board/drv_gpio.h>
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#include "protocol.h"
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/*
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* Constants and limits.
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*/
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#define MAX_CONTROL_CHANNELS 12
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#define IO_SERVO_COUNT 8
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/*
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* System state structure.
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*/
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struct sys_state_s
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{
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bool armed; /* actually armed */
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bool arm_ok; /* FMU says OK to arm */
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/*
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* Data from the remote control input(s)
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*/
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int rc_channels;
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uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
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/*
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* Control signals from FMU.
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*/
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uint16_t fmu_channel_data[PX4IO_OUTPUT_CHANNELS];
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/*
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* Relay controls
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*/
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bool relays[PX4IO_RELAY_CHANNELS];
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/*
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* If true, we are using the FMU controls.
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*/
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bool mixer_use_fmu;
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/*
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* If true, state that should be reported to FMU has been updated.
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*/
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bool fmu_report_due;
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/*
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* If true, new control data from the FMU has been received.
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*/
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bool fmu_data_received;
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};
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extern struct sys_state_s system_state;
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/*
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* Software countdown timers.
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*
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* Each timer counts down to zero at one tick per ms.
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*/
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#define TIMER_BLINK_AMBER 0
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#define TIMER_BLINK_BLUE 1
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#define TIMER_STATUS_PRINT 2
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#define TIMER_SANITY 7
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#define TIMER_NUM_TIMERS 8
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extern volatile int timers[TIMER_NUM_TIMERS];
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/*
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* GPIO handling.
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*/
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extern int gpio_fd;
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#define POWER_SERVO(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_POWER), (_s))
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#define POWER_ACC1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC1), (_s))
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#define POWER_ACC2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC2), (_s))
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#define POWER_RELAY1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY1, (_s))
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#define POWER_RELAY2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY2, (_s))
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#define LED_AMBER(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_AMBER), !(_s))
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#define LED_BLUE(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_BLUE), !(_s))
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#define LED_SAFETY(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_SAFETY), !(_s))
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#define OVERCURRENT_ACC ioctl(gpio_fd, GPIO_GET(GPIO_ACC_OVERCURRENT), 0)
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#define OVERCURRENT_SERVO ioctl(gpio_fd, GPIO_GET(GPIO_SERVO_OVERCURRENT), 0)
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#define BUTTON_SAFETY ioctl(gpio_fd, GPIO_GET(GPIO_SAFETY_BUTTON), 0)
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/*
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* Mixer
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*/
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extern int mixer_init(const char *mq_name);
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/*
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* Safety switch/LED.
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*/
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extern void safety_init(void);
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/*
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* FMU communications
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*/
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extern void comms_init(void);
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extern void comms_check(void);
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/*
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* Assertion codes
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*/
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#define A_GPIO_OPEN_FAIL 100
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#define A_SERVO_OPEN_FAIL 101
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#define A_INPUTQ_OPEN_FAIL 102
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