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269 lines
7.3 KiB
C
269 lines
7.3 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4io.h
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*
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* General defines and structures for the PX4IO module firmware.
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*/
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#include <nuttx/config.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <drivers/boards/px4io/px4io_internal.h>
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#include "protocol.h"
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/*
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* Constants and limits.
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*/
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#define MAX_CONTROL_CHANNELS 12
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#define IO_SERVO_COUNT 8
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/*
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* Debug logging
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*/
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#ifdef DEBUG
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# include <debug.h>
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# define debug(fmt, args...) lib_lowprintf(fmt "\n", ##args)
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#else
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# define debug(fmt, args...) do {} while(0)
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#endif
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/*
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* Registers.
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*/
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extern uint16_t r_page_status[]; /* PX4IO_PAGE_STATUS */
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extern uint16_t r_page_actuators[]; /* PX4IO_PAGE_ACTUATORS */
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extern uint16_t r_page_servos[]; /* PX4IO_PAGE_SERVOS */
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extern uint16_t r_page_raw_rc_input[]; /* PX4IO_PAGE_RAW_RC_INPUT */
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extern uint16_t r_page_rc_input[]; /* PX4IO_PAGE_RC_INPUT */
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extern uint16_t r_page_adc[]; /* PX4IO_PAGE_RAW_ADC_INPUT */
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extern volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */
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extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */
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extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
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/*
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* Register aliases.
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*
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* Handy aliases for registers that are widely used.
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*/
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#define r_status_flags r_page_status[PX4IO_P_STATUS_FLAGS]
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#define r_status_alarms r_page_status[PX4IO_P_STATUS_ALARMS]
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#define r_raw_rc_count r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT]
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#define r_raw_rc_values (&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE])
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#define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID]
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#define r_rc_values (&r_page_rc_input[PX4IO_P_RAW_RC_BASE])
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#define r_setup_features r_page_setup[PX4IO_P_SETUP_FEATURES]
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#define r_setup_arming r_page_setup[PX4IO_P_SETUP_ARMING]
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#define r_setup_pwm_rates r_page_setup[PX4IO_P_SETUP_PWM_RATES]
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#define r_setup_pwm_lowrate r_page_setup[PX4IO_P_SETUP_PWM_LOWRATE]
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#define r_setup_pwm_highrate r_page_setup[PX4IO_P_SETUP_PWM_HIGHRATE]
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#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS]
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#define r_control_values (&r_page_controls[0])
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/*
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* System state structure.
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*
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* XXX note that many fields here are deprecated and replaced by
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* registers.
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*/
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struct sys_state_s {
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// bool armed; /* IO armed */
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// bool arm_ok; /* FMU says OK to arm */
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// uint16_t servo_rate; /* output rate of servos in Hz */
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/**
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* Remote control input(s) channel mappings
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*/
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uint8_t rc_map[4];
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/**
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* Remote control channel attributes
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*/
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uint16_t rc_min[4];
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uint16_t rc_trim[4];
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uint16_t rc_max[4];
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int16_t rc_rev[4];
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uint16_t rc_dz[4];
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/**
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* Data from the remote control input(s)
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*/
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// unsigned rc_channels;
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// uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
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uint64_t rc_channels_timestamp;
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/**
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* Control signals from FMU.
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*/
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// uint16_t fmu_channel_data[PX4IO_CONTROL_CHANNELS];
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/**
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* Mixed servo outputs
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*/
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// uint16_t servos[IO_SERVO_COUNT];
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/**
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* Relay controls
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*/
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// bool relays[PX4IO_RELAY_CHANNELS];
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/**
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* If true, we are using the FMU controls, else RC input if available.
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*/
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// bool mixer_manual_override;
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/**
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* If true, FMU input is available.
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*/
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// bool mixer_fmu_available;
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/**
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* If true, state that should be reported to FMU has been updated.
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*/
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// bool fmu_report_due;
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/**
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* Last FMU receive time, in microseconds since system boot
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*/
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uint64_t fmu_data_received_time;
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/**
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* If true, the RC signal has been lost for more than a timeout interval
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*/
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// bool rc_lost;
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/**
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* If true, the connection to FMU has been lost for more than a timeout interval
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*/
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// bool fmu_lost;
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/**
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* If true, FMU is ready for autonomous position control. Only used for LED indication
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*/
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bool vector_flight_mode_ok;
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/**
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* If true, IO performs an on-board manual override with the RC channel values
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*/
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// bool manual_override_ok;
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/*
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* Measured battery voltage in mV
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*/
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// uint16_t battery_mv;
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/*
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* ADC IN5 measurement
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*/
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// uint16_t adc_in5;
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/*
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* Power supply overcurrent status bits.
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*/
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// uint8_t overcurrent;
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};
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extern struct sys_state_s system_state;
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/*
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* GPIO handling.
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*/
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#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s))
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#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s))
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#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s))
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#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
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#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
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#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
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#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
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#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
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#define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT))
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#define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT))
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#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY)
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#define ADC_VBATT 4
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#define ADC_IN5 5
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#define ADC_CHANNEL_COUNT 2
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/*
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* Mixer
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*/
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extern void mixer_tick(void);
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extern void mixer_handle_text(const void *buffer, size_t length);
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/*
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* Safety switch/LED.
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*/
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extern void safety_init(void);
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/*
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* FMU communications
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*/
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extern void comms_main(void) __attribute__((noreturn));
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extern void i2c_init(void);
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/*
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* Register space
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*/
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extern void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
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extern int registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values);
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/*
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* Sensors/misc inputs
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*/
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extern int adc_init(void);
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extern uint16_t adc_measure(unsigned channel);
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/*
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* R/C receiver handling.
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*
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* Input functions return true when they receive an update from the RC controller.
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*/
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extern void controls_main(void);
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extern int dsm_init(const char *device);
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extern bool dsm_input(uint16_t *values, uint16_t *num_values);
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extern int sbus_init(const char *device);
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extern bool sbus_input(uint16_t *values, uint16_t *num_values);
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