Mirrors_Framework/PX4-Autopilot
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Start reworking the px4io driver to use the I2C interface instead.

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This commit is contained in:
px4dev
2013-01-14 00:19:01 -08:00
parent 6e291ddedc
commit 2311e03379
2 changed files with 236 additions and 251 deletions
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apps/drivers/px4io/px4io.cpp
+233 -190
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File diff suppressed because it is too large Load Diff
apps/px4io/protocol.h
+3 -61
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@@ -139,6 +139,7 @@
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE (1 << 2) /* request switch to manual override */
#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3)
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
@@ -165,65 +166,6 @@
#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)
#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */
/*
* Old serial PX4FMU <-> PX4IO messaging protocol.
*
* This initial version of the protocol is very simple; each side transmits a
* complete update with each frame. This avoids the sending of many small
* messages and the corresponding complexity involved.
*/
#define PX4IO_RELAY_CHANNELS 4
#pragma pack(push, 1)
/**
* Periodic command from FMU to IO.
*/
struct px4io_command {
uint16_t f2i_magic;
#define F2I_MAGIC 0x636d
uint16_t servo_rate;
uint16_t output_control[PX4IO_CONTROL_CHANNELS]; /**< PWM output rate in Hz */
bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */
bool arm_ok; /**< FMU allows full arming */
bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */
bool manual_override_ok; /**< if true, IO performs a direct manual override */
};
/**
* Periodic report from IO to FMU
*/
struct px4io_report {
uint16_t i2f_magic;
#define I2F_MAGIC 0x7570
uint16_t rc_channel[PX4IO_INPUT_CHANNELS];
bool armed;
uint8_t channel_count;
uint16_t battery_mv;
uint16_t adc_in;
uint8_t overcurrent;
};
/**
* As-needed config message from FMU to IO
*/
struct px4io_config {
uint16_t f2i_config_magic;
#define F2I_CONFIG_MAGIC 0x6366
uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */
uint16_t rc_min[4]; /**< min value for each channel */
uint16_t rc_trim[4]; /**< trim value for each channel */
uint16_t rc_max[4]; /**< max value for each channel */
int8_t rc_rev[4]; /**< rev value for each channel */
uint16_t rc_dz[4]; /**< dz value for each channel */
};
/**
* As-needed mixer data upload.
*
@@ -241,7 +183,7 @@ struct px4io_mixdata {
char text[0]; /* actual text size may vary */
};
/* maximum size is limited by the HX frame size */
#define F2I_MIXER_MAX_TEXT (HX_STREAM_MAX_FRAME - sizeof(struct px4io_mixdata))
/* maximum size is limited by the link frame size XXX use config values to set this */
#define F2I_MIXER_MAX_TEXT (64 - sizeof(struct px4io_mixdata))
#pragma pack(pop)