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Checkpoint: interface abstraction for px4io driver

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px4dev
2013-06-25 23:08:34 -07:00
parent 758ebf6c04
commit 90c458cb61
9 changed files with 847 additions and 193 deletions
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src/modules/px4iofirmware/protocol.h
+9 -35
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@@ -36,8 +36,7 @@
/**
* @file protocol.h
*
* PX4IO interface protocol
* ========================
* PX4IO interface protocol.
*
* Communication is performed via writes to and reads from 16-bit virtual
* registers organised into pages of 255 registers each.
@@ -46,7 +45,7 @@
* respectively. Subsequent reads and writes increment the offset within
* the page.
*
* Most pages are readable or writable but not both.
* Some pages are read- or write-only.
*
* Note that some pages may permit offset values greater than 255, which
* can only be achieved by long writes. The offset does not wrap.
@@ -63,29 +62,6 @@
* Note that the implementation of readable pages prefers registers within
* readable pages to be densely packed. Page numbers do not need to be
* packed.
*
* PX4IO I2C interface notes
* -------------------------
*
* Register read/write operations are mapped directly to PX4IO register
* read/write operations.
*
* PX4IO Serial interface notes
* ----------------------------
*
* The MSB of the page number is used to distinguish between read and
* write operations. If set, the operation is a write and additional
* data is expected to follow in the packet as for I2C writes.
*
* If clear, the packet is expected to contain a single byte giving the
* number of registers to be read. PX4IO will respond with a packet containing
* the same header (page, offset) and the requested data.
*
* If a read is requested when PX4IO does not have buffer space to store
* the reply, the request will be dropped. PX4IO is always configured with
* enough space to receive one full-sized write and one read request, and
* to send one full-sized read response.
*
*/
#define PX4IO_CONTROL_CHANNELS 8
@@ -99,14 +75,12 @@
#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_PAGE_WRITE (1<<7)
/* 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_BOOTLOADER_VERSION 2 /* get this how? */
#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum packet transfer size */
#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */
#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */
#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
@@ -168,7 +142,7 @@
#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
/* setup page */
#define PX4IO_PAGE_SETUP 64
#define PX4IO_PAGE_SETUP 100
#define PX4IO_P_SETUP_FEATURES 0
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
@@ -186,13 +160,13 @@
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 65 /* 0..CONFIG_CONTROL_COUNT */
#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */
/* raw text load to the mixer parser - ignores offset */
#define PX4IO_PAGE_MIXERLOAD 66 /* see px4io_mixdata structure below */
#define PX4IO_PAGE_MIXERLOAD 102
/* R/C channel config */
#define PX4IO_PAGE_RC_CONFIG 67 /* R/C input configuration */
#define PX4IO_PAGE_RC_CONFIG 103 /* 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 */
@@ -204,10 +178,10 @@
#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */
/* PWM output - overrides mixer */
#define PX4IO_PAGE_DIRECT_PWM 68 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_FAILSAFE_PWM 69 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/**
* As-needed mixer data upload.