forked from Archive/PX4-Autopilot
197 lines
8.9 KiB
C
197 lines
8.9 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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#pragma once
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/**
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* @file protocol.h
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*
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* PX4IO I2C interface protocol.
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*
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* Communication is performed via writes to and reads from 16-bit virtual
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* registers organised into pages of 255 registers each.
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*
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* The first two bytes of each write select a page and offset address
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* respectively. Subsequent reads and writes increment the offset within
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* the page.
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*
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* Most pages are readable or writable but not both.
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*
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* Note that some pages may permit offset values greater than 255, which
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* can only be achieved by long writes. The offset does not wrap.
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*
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* Writes to unimplemented registers are ignored. Reads from unimplemented
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* registers return undefined values.
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*
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* As convention, values that would be floating point in other parts of
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* the PX4 system are expressed as signed integer values scaled by 10000,
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* e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and
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* SIGNED_TO_REG macros to convert between register representation and
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* the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float.
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*
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* Note that the implementation of readable pages prefers registers within
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* readable pages to be densely packed. Page numbers do not need to be
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* packed.
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*/
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#define PX4IO_CONTROL_CHANNELS 8
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#define PX4IO_INPUT_CHANNELS 12
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#define PX4IO_RELAY_CHANNELS 4
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/* Per C, this is safe for all 2's complement systems */
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#define REG_TO_SIGNED(_reg) ((int16_t)(_reg))
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#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed))
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#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
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#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
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/* static configuration page */
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#define PX4IO_PAGE_CONFIG 0
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#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */
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#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */
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#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
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#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
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#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */
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#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */
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#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
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#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */
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#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */
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/* dynamic status page */
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#define PX4IO_PAGE_STATUS 1
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#define PX4IO_P_STATUS_FREEMEM 0
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#define PX4IO_P_STATUS_CPULOAD 1
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#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
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#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */
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#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */
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#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */
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#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */
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#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */
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#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */
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#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
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#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */
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#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */
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#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */
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#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */
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#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */
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#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */
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#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */
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#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */
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/* array of post-mix actuator outputs, -10000..10000 */
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#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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/* array of PWM servo output values, microseconds */
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#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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/* array of raw RC input values, microseconds */
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#define PX4IO_PAGE_RAW_RC_INPUT 4
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#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */
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#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */
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/* array of scaled RC input values, -10000..10000 */
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#define PX4IO_PAGE_RC_INPUT 5
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#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */
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#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */
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/* array of raw ADC values */
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#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
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/* setup page */
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#define PX4IO_PAGE_SETUP 100
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#define PX4IO_P_SETUP_FEATURES 0
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#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
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#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
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#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
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#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */
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#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
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#define PX4IO_P_SETUP_PWM_LOWRATE 3 /* 'low' PWM frame output rate in Hz */
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#define PX4IO_P_SETUP_PWM_HIGHRATE 4 /* 'high' PWM frame output rate in Hz */
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#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
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#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */
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#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */
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#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */
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#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
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/* autopilot control values, -10000..10000 */
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#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */
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/* raw text load to the mixer parser - ignores offset */
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#define PX4IO_PAGE_MIXERLOAD 102
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/* R/C channel config */
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#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */
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#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */
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#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */
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#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */
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#define PX4IO_P_RC_CONFIG_DEADZONE 3 /* band around center that is ignored */
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#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /* mapped input value */
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#define PX4IO_P_RC_CONFIG_OPTIONS 5 /* channel options bitmask */
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#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)
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#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)
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#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */
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/* PWM output - overrides mixer */
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#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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/* PWM failsafe values - zero disables the output */
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#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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/**
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* As-needed mixer data upload.
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*
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* This message adds text to the mixer text buffer; the text
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* buffer is drained as the definitions are consumed.
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*/
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#pragma pack(push, 1)
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struct px4io_mixdata {
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uint16_t f2i_mixer_magic;
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#define F2I_MIXER_MAGIC 0x6d74
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uint8_t action;
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#define F2I_MIXER_ACTION_RESET 0
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#define F2I_MIXER_ACTION_APPEND 1
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char text[0]; /* actual text size may vary */
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};
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#pragma pack(pop)
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