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Re-order register page variables to match the order registers are defined in the protocol header.

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px4dev
2013-01-26 19:24:18 -08:00
parent 666d3a401b
commit 981477c785
2 changed files with 94 additions and 64 deletions
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apps/px4io/protocol.h
+1 -1
View File
@@ -109,7 +109,7 @@
#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_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */
#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5)
#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */
#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */
#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */
apps/px4io/registers.c
+93 -63
View File
@@ -50,6 +50,81 @@
static int registers_set_one(uint8_t page, uint8_t offset, uint16_t value);
/**
* PAGE 0
*
* Static configuration parameters.
*/
static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT,
[PX4IO_P_CONFIG_RC_INPUT_COUNT] = MAX_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ADC_INPUT_COUNT] = ADC_CHANNEL_COUNT,
[PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS,
};
/**
* PAGE 1
*
* Status values.
*/
uint16_t r_page_status[] = {
[PX4IO_P_STATUS_FREEMEM] = 0,
[PX4IO_P_STATUS_CPULOAD] = 0,
[PX4IO_P_STATUS_FLAGS] = 0,
[PX4IO_P_STATUS_ALARMS] = 0,
[PX4IO_P_STATUS_VBATT] = 0,
[PX4IO_P_STATUS_IBATT] = 0
};
/**
* PAGE 2
*
* Post-mixed actuator values.
*/
uint16_t r_page_actuators[IO_SERVO_COUNT];
/**
* PAGE 3
*
* Servo PWM values
*/
uint16_t r_page_servos[IO_SERVO_COUNT];
/**
* PAGE 4
*
* Raw RC input
*/
uint16_t r_page_raw_rc_input[] =
{
[PX4IO_P_RAW_RC_COUNT] = 0,
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
};
/**
* PAGE 5
*
* Scaled/routed RC input
*/
uint16_t r_page_rc_input[] = {
[PX4IO_P_RC_VALID] = 0,
[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
};
/**
* PAGE 6
*
* Raw ADC input.
*/
uint16_t r_page_adc[ADC_CHANNEL_COUNT];
/**
* PAGE 100
*
* Setup registers
*/
volatile uint16_t r_page_setup[] =
@@ -72,85 +147,40 @@ volatile uint16_t r_page_setup[] =
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
/**
* PAGE 101
*
* Control values from the FMU.
*/
volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
/**
* Static configuration parameters.
/*
* PAGE 102 does not have a buffer.
*/
static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT,
[PX4IO_P_CONFIG_RC_INPUT_COUNT] = MAX_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ADC_INPUT_COUNT] = ADC_CHANNEL_COUNT,
[PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS,
};
/**
* Status values.
*/
uint16_t r_page_status[] = {
[PX4IO_P_STATUS_FREEMEM] = 0,
[PX4IO_P_STATUS_CPULOAD] = 0,
[PX4IO_P_STATUS_FLAGS] = 0,
[PX4IO_P_STATUS_ALARMS] = 0,
[PX4IO_P_STATUS_VBATT] = 0,
[PX4IO_P_STATUS_IBATT] = 0
};
/**
* ADC input buffer.
*/
uint16_t r_page_adc[ADC_CHANNEL_COUNT];
/**
* Post-mixed actuator values.
*/
uint16_t r_page_actuators[IO_SERVO_COUNT];
/**
* Servo PWM values
*/
uint16_t r_page_servos[IO_SERVO_COUNT];
/**
* Servo PWM values
*/
uint16_t r_page_servo_failsafe[IO_SERVO_COUNT];
/**
* Scaled/routed RC input
*/
uint16_t r_page_rc_input[] = {
[PX4IO_P_RC_VALID] = 0,
[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
};
/**
* Raw RC input
*/
uint16_t r_page_raw_rc_input[] =
{
[PX4IO_P_RAW_RC_COUNT] = 0,
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
};
/**
* PAGE 103
*
* R/C channel input configuration.
*/
uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
/* valid options excluding ENABLE */
#define PX4IO_P_RC_CONFIG_OPTIONS_VALID PX4IO_P_RC_CONFIG_OPTIONS_REVERSE
/*
* PAGE 104 uses r_page_servos.
*/
/**
* PAGE 105
*
* Failsafe servo PWM values
*/
uint16_t r_page_servo_failsafe[IO_SERVO_COUNT];
void
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
system_state.fmu_data_received_time = hrt_absolute_time();
switch (page) {