fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 00:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Checkpoint - I2C protocol register decode

Browse Source
This commit is contained in:
px4dev
2013-01-13 19:05:01 -08:00
parent b0fb86a693
commit 8ebe21b27b
4 changed files with 369 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/px4io/protocol.h
+11 -9
View File
@@ -62,6 +62,11 @@
* packed.
*/
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 4
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */
@@ -73,7 +78,6 @@
#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */
#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */
#define PX4IO_P_CONFIG_POWERSW_COUNT 9 /* harcoded # of switched power outputs */
/* dynamic status page */
#define PX4IO_PAGE_STATUS 1
@@ -83,9 +87,10 @@
#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */
#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */
#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 2) /* PPM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 3) /* DSM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 4) /* SBUS input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */
@@ -107,7 +112,7 @@
#define PX4IO_PAGE_RAW_RC_INPUT 4 /* 0..CONFIG_RC_INPUT_COUNT-1 */
/* array of scaled RC input values, -10000..10000 */
#define PX4IO_PAGE_RAW_RC_INPUT 5 /* 0..CONFIG_RC_INPUT_COUNT-1 */
#define PX4IO_PAGE_RC_INPUT 5 /* 0..CONFIG_RC_INPUT_COUNT-1 */
/* array of raw ADC values */
#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
@@ -123,8 +128,7 @@
#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_RELAYS 5 /* bitmask of relay outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_POWERSW 6 /* bitmask of switched power outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 101 /* 0..STATUS_CONTROL_COUNT */
@@ -143,8 +147,6 @@
*/
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 4
#pragma pack(push, 1)