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Changes for multi-rate PWM output; default and alternate rates. ioctl protocol, PX4IO support.

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This commit is contained in:
px4dev
2013-03-12 22:22:49 -07:00
parent 6b947a67d0
commit 6cf0758b24
6 changed files with 212 additions and 92 deletions
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apps/px4io/protocol.h
+14 -9
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@@ -76,7 +76,7 @@
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
#define PX4IO_PAGE_CONFIG 0
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */
#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */
#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
@@ -88,7 +88,7 @@
#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */
/* dynamic status page */
#define PX4IO_PAGE_STATUS 1
#define PX4IO_PAGE_STATUS 1
#define PX4IO_P_STATUS_FREEMEM 0
#define PX4IO_P_STATUS_CPULOAD 1
@@ -112,28 +112,33 @@
#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */
#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */
#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */
#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */
#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* array of PWM servo output values, microseconds */
#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* array of raw RC input values, microseconds */
#define PX4IO_PAGE_RAW_RC_INPUT 4
#define PX4IO_PAGE_RAW_RC_INPUT 4
#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */
#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */
/* array of scaled RC input values, -10000..10000 */
#define PX4IO_PAGE_RC_INPUT 5
#define PX4IO_PAGE_RC_INPUT 5
#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */
#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */
/* array of raw ADC values */
#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
/* PWM servo information */
#define PX4IO_PAGE_PWM_INFO 7
#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
/* setup page */
#define PX4IO_PAGE_SETUP 100
@@ -146,8 +151,8 @@
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_LOWRATE 3 /* 'low' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_PWM_HIGHRATE 4 /* 'high' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */
#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */