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Tweak protocol register assignments and add new registers to accommodate differences in IOv2.

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This commit is contained in:
px4dev
2013-07-06 23:59:35 -07:00
parent a65a1237f0
commit 8fa226c909
7 changed files with 198 additions and 98 deletions
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src/modules/px4iofirmware/protocol.h
+33 -19
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@@ -62,12 +62,11 @@
* Note that the implementation of readable pages prefers registers within
* readable pages to be densely packed. Page numbers do not need to be
* packed.
*
* Definitions marked 1 are only valid on PX4IOv1 boards. Likewise,
* [2] denotes definitions specific to the PX4IOv2 board.
*/
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 4
/* Per C, this is safe for all 2's complement systems */
#define REG_TO_SIGNED(_reg) ((int16_t)(_reg))
#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed))
@@ -75,10 +74,12 @@
#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
#define PX4IO_PROTOCOL_VERSION 2
/* static configuration page */
#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_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */
#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */
#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */
@@ -107,16 +108,20 @@
#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */
#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 */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */
#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */
#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] 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_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */
#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */
#define PX4IO_P_STATUS_IBATT 5 /* battery current (raw ADC) */
#define PX4IO_P_STATUS_VBATT 4 /* [1] battery voltage in mV */
#define PX4IO_P_STATUS_IBATT 5 /* [1] battery current (raw ADC) */
#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
@@ -142,7 +147,7 @@
#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
/* setup page */
#define PX4IO_PAGE_SETUP 100
#define PX4IO_PAGE_SETUP 50
#define PX4IO_P_SETUP_FEATURES 0
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
@@ -155,18 +160,27 @@
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#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_RELAYS_POWER1 (1<<0) /* [1] power relay 1 */
#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* [1] power relay 2 */
#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* [1] accessory power 1 */
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* [1] accessory power 2 */
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* [1] battery voltage correction factor (float) */
#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* [2] servo voltage correction factor (float) */
/* 7 */
/* 8 */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */
#define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */
/* raw text load to the mixer parser - ignores offset */
#define PX4IO_PAGE_MIXERLOAD 102
#define PX4IO_PAGE_MIXERLOAD 52
/* R/C channel config */
#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */
#define PX4IO_PAGE_RC_CONFIG 53 /* R/C input configuration */
#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */
#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */
#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */
@@ -178,13 +192,13 @@
#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */
/* PWM output - overrides mixer */
#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_DIRECT_PWM 54 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_FAILSAFE_PWM 55 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* Debug and test page - not used in normal operation */
#define PX4IO_PAGE_TEST 127
#define PX4IO_PAGE_TEST 127
#define PX4IO_P_TEST_LED 0 /* set the amber LED on/off */
/**