- Generated by
1.8.13
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PX4 Firmware
PX4 Autopilot Software http://px4.io
|
PX4IO interface protocol. More...
#include <inttypes.h>Go to the source code of this file.
Classes | |
| struct | px4io_mixdata |
| As-needed mixer data upload. More... | |
| struct | IOPacket |
Macros | |
| #define | REG_TO_SIGNED(_reg) ((int16_t)(_reg)) |
| #define | SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) |
| #define | REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) |
| #define | FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)floorf((_float + 0.00005f) * 10000.0f)) |
| #define | REG_TO_BOOL(_reg) ((bool)(_reg)) |
| #define | PX4IO_PROTOCOL_VERSION 4 |
| #define | PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 |
| The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT. More... | |
| #define | PX4IO_PAGE_CONFIG 0 |
| #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 */ |
| #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 */ |
| #define | PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */ |
| #define | PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */ |
| #define | PX4IO_MAX_TRANSFER_LEN 64 |
| #define | PX4IO_PAGE_STATUS 1 |
| #define | PX4IO_P_STATUS_FREEMEM 0 |
| #define | PX4IO_P_STATUS_CPULOAD 1 |
| #define | PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ |
| #define | PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */ |
| #define | PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ |
| #define | PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ |
| #define | PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ |
| #define | PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ |
| #define | PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ |
| #define | PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ |
| #define | PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ |
| #define | PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ |
| #define | PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ |
| #define | PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ |
| #define | PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ |
| #define | PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ |
| #define | PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */ |
| #define | PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */ |
| #define | PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */ |
| #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) /* [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) /* [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_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 */ |
| #define | PX4IO_P_STATUS_MIXER 9 /* mixer actuator limit flags */ |
| #define | PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
| #define | PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
| #define | PX4IO_PAGE_RAW_RC_INPUT 4 |
| #define | PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ |
| #define | PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */ |
| #define | PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */ |
| #define | PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */ |
| #define | PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */ |
| #define | PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */ |
| #define | PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */ |
| #define | PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ |
| #define | PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ |
| #define | PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */ |
| #define | PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */ |
| #define | PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */ |
| #define | PX4IO_PAGE_RC_INPUT 5 |
| #define | PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ |
| #define | PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ |
| #define | PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ |
| #define | PX4IO_PAGE_PWM_INFO 7 |
| #define | PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ |
| #define | PX4IO_PAGE_SETUP 50 |
| #define | PX4IO_P_SETUP_FEATURES 0 |
| #define | PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) |
| enable S.Bus v1 output More... | |
| #define | PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) |
| enable S.Bus v2 output More... | |
| #define | PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) |
| enable PWM RSSI parsing More... | |
| #define | PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) |
| enable ADC RSSI parsing More... | |
| #define | PX4IO_P_SETUP_ARMING 1 /* arming controls */ |
| #define | PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ |
| #define | PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */ |
| #define | PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */ |
| #define | PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 3) /* OK to switch to manual override via override RC channel */ |
| #define | PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 4) /* use custom failsafe values, not 0 values of mixer */ |
| #define | PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 5) /* OK to try in-air restart */ |
| #define | PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 6) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ |
| #define | PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 7) /* Disable the IO-internal evaluation of the RC */ |
| #define | PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 8) /* If set, the system operates normally, but won't actuate any servos */ |
| #define | PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 9) /* If set, the system will always output the failsafe values */ |
| #define | PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 10) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ |
| #define | PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 11) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */ |
| #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_PAD 5 |
| #define | PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */ |
| #define | PX4IO_P_SETUP_DSM 7 /* DSM bind state */ |
| #define | PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ |
| #define | PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ |
| #define | PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ |
| #define | PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ |
| #define | PX4IO_P_SETUP_FORCE_SAFETY_OFF |
| #define | PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 |
| the throttle failsafe pulse length in microseconds More... | |
| #define | PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */ |
| #define | PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ |
| #define | PX4IO_P_SETUP_PWM_REVERSE 15 |
| Bitmask to reverse PWM channels 1-8. More... | |
| #define | PX4IO_P_SETUP_TRIM_ROLL 16 |
| Roll trim, in actuator units. More... | |
| #define | PX4IO_P_SETUP_TRIM_PITCH 17 |
| Pitch trim, in actuator units. More... | |
| #define | PX4IO_P_SETUP_TRIM_YAW 18 |
| Yaw trim, in actuator units. More... | |
| #define | PX4IO_P_SETUP_SCALE_ROLL 19 |
| Roll scale, in actuator units. More... | |
| #define | PX4IO_P_SETUP_SCALE_PITCH 20 |
| Pitch scale, in actuator units. More... | |
| #define | PX4IO_P_SETUP_SCALE_YAW 21 |
| Yaw scale, in actuator units. More... | |
| #define | PX4IO_P_SETUP_SBUS_RATE 22 |
| frame rate of SBUS1 output in Hz More... | |
| #define | PX4IO_P_SETUP_MOTOR_SLEW_MAX 24 |
| max motor slew rate More... | |
| #define | PX4IO_P_SETUP_THR_MDL_FAC 25 |
| factor for modelling motor control signal output to static thrust relationship More... | |
| #define | PX4IO_P_SETUP_THERMAL 26 |
| thermal management More... | |
| #define | PX4IO_P_SETUP_AIRMODE 27 |
| air-mode More... | |
| #define | PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 28 |
| flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set More... | |
| #define | PX4IO_THERMAL_IGNORE UINT16_MAX |
| #define | PX4IO_THERMAL_OFF 0 |
| #define | PX4IO_THERMAL_FULL 10000 |
| #define | PX4IO_PAGE_CONTROLS 51 |
| actuator control groups, one after the other, 8 wide More... | |
| #define | PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) |
| 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 More... | |
| #define | PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) |
| 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 More... | |
| #define | PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) |
| 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 More... | |
| #define | PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) |
| 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 More... | |
| #define | PX4IO_P_CONTROLS_GROUP_VALID 64 |
| #define | PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) |
| group 0 is valid / received More... | |
| #define | PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) |
| group 1 is valid / received More... | |
| #define | PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) |
| group 2 is valid / received More... | |
| #define | PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) |
| group 3 is valid / received More... | |
| #define | PX4IO_PAGE_MIXERLOAD 52 |
| #define | PX4IO_PAGE_RC_CONFIG 53 |
| R/C input configuration. More... | |
| #define | PX4IO_P_RC_CONFIG_MIN 0 |
| lowest input value More... | |
| #define | PX4IO_P_RC_CONFIG_CENTER 1 |
| center input value More... | |
| #define | PX4IO_P_RC_CONFIG_MAX 2 |
| highest input value More... | |
| #define | PX4IO_P_RC_CONFIG_DEADZONE 3 |
| band around center that is ignored More... | |
| #define | PX4IO_P_RC_CONFIG_ASSIGNMENT 4 |
| mapped input value More... | |
| #define | PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 |
| magic value for mode switch More... | |
| #define | PX4IO_P_RC_CONFIG_OPTIONS 5 |
| channel options bitmask More... | |
| #define | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) |
| #define | PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) |
| #define | PX4IO_P_RC_CONFIG_STRIDE 6 |
| spacing between channel config data More... | |
| #define | PX4IO_PAGE_DIRECT_PWM 54 |
| 0..CONFIG_ACTUATOR_COUNT-1 More... | |
| #define | PX4IO_PAGE_FAILSAFE_PWM 55 |
| 0..CONFIG_ACTUATOR_COUNT-1 More... | |
| #define | PX4IO_PAGE_SENSORS 56 |
| Sensors connected to PX4IO. More... | |
| #define | PX4IO_P_SENSORS_ALTITUDE 0 |
| Altitude of an external sensor (HoTT or S.BUS2) More... | |
| #define | PX4IO_PAGE_TEST 127 |
| #define | PX4IO_P_TEST_LED 0 |
| set the amber LED on/off More... | |
| #define | PX4IO_PAGE_CONTROL_MIN_PWM 106 |
| 0..CONFIG_ACTUATOR_COUNT-1 More... | |
| #define | PX4IO_PAGE_CONTROL_MAX_PWM 107 |
| 0..CONFIG_ACTUATOR_COUNT-1 More... | |
| #define | PX4IO_PAGE_CONTROL_TRIM_PWM 108 |
| 0..CONFIG_ACTUATOR_COUNT-1 More... | |
| #define | PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
| #define | F2I_MIXER_MAGIC 0x6d74 |
| #define | F2I_MIXER_ACTION_RESET 0 |
| #define | F2I_MIXER_ACTION_APPEND 1 |
| #define | PKT_MAX_REGS 32 |
| Serial protocol encapsulation. More... | |
| #define | PKT_CODE_READ 0x00 /* FMU->IO read transaction */ |
| #define | PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */ |
| #define | PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */ |
| #define | PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */ |
| #define | PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */ |
| #define | PKT_CODE_MASK 0xc0 |
| #define | PKT_COUNT_MASK 0x3f |
| #define | PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK) |
| #define | PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK) |
| #define | PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))) |
Enumerations | |
| enum | { dsm_bind_power_down = 0, dsm_bind_power_up, dsm_bind_set_rx_out, dsm_bind_send_pulses, dsm_bind_reinit_uart } |
Functions | |
| static const uint8_t crc8_tab [256] | __attribute__ ((unused)) |
| static uint8_t | crc_packet (struct IOPacket *pkt) __attribute__((unused)) |
PX4IO interface protocol.
Communication is performed via writes to and reads from 16-bit virtual registers organised into pages of 255 registers each.
The first two bytes of each write select a page and offset address respectively. Subsequent reads and writes increment the offset within the page.
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.
Writes to unimplemented registers are ignored. Reads from unimplemented registers return undefined values.
As convention, values that would be floating point in other parts of the PX4 system are expressed as signed integer values scaled by 10000, e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and SIGNED_TO_REG macros to convert between register representation and the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float.
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.
Definition in file protocol.h.
| #define F2I_MIXER_ACTION_APPEND 1 |
Definition at line 318 of file protocol.h.
Referenced by mixer_handle_text(), and PX4IO::mixer_send().
| #define F2I_MIXER_ACTION_RESET 0 |
Definition at line 317 of file protocol.h.
Referenced by mixer_handle_text(), and PX4IO::mixer_send().
| #define F2I_MIXER_MAGIC 0x6d74 |
Definition at line 314 of file protocol.h.
Referenced by PX4IO::mixer_send().
| #define FLOAT_TO_REG | ( | _float | ) | SIGNED_TO_REG((int16_t)floorf((_float + 0.00005f) * 10000.0f)) |
Definition at line 79 of file protocol.h.
Referenced by PX4IO::io_set_control_state(), mixer_tick(), PX4IO::task_main(), and test_conv().
| #define PKT_CODE | ( | _p | ) | ((_p).count_code & PKT_CODE_MASK) |
Definition at line 354 of file protocol.h.
Referenced by PX4IO_serial_interface(), and rx_handle_packet().
| #define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */ |
Definition at line 347 of file protocol.h.
Referenced by rx_handle_packet().
| #define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */ |
Definition at line 348 of file protocol.h.
Referenced by PX4IO_serial_interface(), and rx_handle_packet().
| #define PKT_CODE_MASK 0xc0 |
Definition at line 350 of file protocol.h.
| #define PKT_CODE_READ 0x00 /* FMU->IO read transaction */ |
Definition at line 344 of file protocol.h.
Referenced by PX4IO_serial_interface(), and rx_handle_packet().
| #define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */ |
Definition at line 346 of file protocol.h.
Referenced by rx_handle_packet().
| #define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */ |
Definition at line 345 of file protocol.h.
Referenced by PX4IO_serial_interface(), and rx_handle_packet().
| #define PKT_COUNT | ( | _p | ) | ((_p).count_code & PKT_COUNT_MASK) |
Definition at line 353 of file protocol.h.
Referenced by crc_packet(), PX4IO_serial_interface(), and rx_handle_packet().
| #define PKT_COUNT_MASK 0x3f |
Definition at line 351 of file protocol.h.
| #define PKT_MAX_REGS 32 |
Serial protocol encapsulation.
Definition at line 328 of file protocol.h.
Referenced by PX4IO_serial_interface(), and rx_handle_packet().
| #define PKT_SIZE | ( | _p | ) | ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))) |
Definition at line 355 of file protocol.h.
Referenced by rx_dma_callback(), and serial_interrupt().
| #define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ |
Definition at line 224 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::ioctl(), and registers_set_one().
| #define PX4IO_MAX_TRANSFER_LEN 64 |
Definition at line 99 of file protocol.h.
Referenced by MixerTest::load_mixer().
| #define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */ |
Definition at line 95 of file protocol.h.
Referenced by PX4IO::init(), and PX4IO::print_status().
| #define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */ |
Definition at line 97 of file protocol.h.
Referenced by PX4IO::print_status().
| #define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ |
Definition at line 92 of file protocol.h.
Referenced by PX4IO::print_status().
| #define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ |
Definition at line 94 of file protocol.h.
Referenced by PX4IO::init(), and PX4IO::print_status().
| #define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */ |
Definition at line 91 of file protocol.h.
Referenced by PX4IO::init(), and PX4IO::print_status().
| #define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ |
Definition at line 93 of file protocol.h.
Referenced by PX4IO::init(), and PX4IO::print_status().
| #define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */ |
Definition at line 90 of file protocol.h.
Referenced by PX4IO::detect(), PX4IO::init(), and PX4IO::print_status().
| #define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */ |
Definition at line 96 of file protocol.h.
Referenced by PX4IO::init(), and PX4IO::print_status().
| #define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */ |
Definition at line 98 of file protocol.h.
Referenced by PX4IO::init(), and PX4IO::print_status().
| #define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) |
0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1
Definition at line 252 of file protocol.h.
| #define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) |
0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1
Definition at line 253 of file protocol.h.
| #define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) |
0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1
Definition at line 254 of file protocol.h.
| #define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) |
0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1
Definition at line 255 of file protocol.h.
| #define PX4IO_P_CONTROLS_GROUP_VALID 64 |
Definition at line 257 of file protocol.h.
| #define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) |
group 0 is valid / received
Definition at line 258 of file protocol.h.
| #define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) |
group 1 is valid / received
Definition at line 259 of file protocol.h.
| #define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) |
group 2 is valid / received
Definition at line 260 of file protocol.h.
| #define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) |
group 3 is valid / received
Definition at line 261 of file protocol.h.
| #define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */ |
Definition at line 158 of file protocol.h.
Referenced by PX4IO::io_get_raw_rc_input().
| #define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */ |
Definition at line 159 of file protocol.h.
Referenced by PX4IO::io_get_raw_rc_input().
| #define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */ |
Definition at line 160 of file protocol.h.
Referenced by PX4IO::io_get_raw_rc_input(), and PX4IO::print_status().
| #define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ |
Definition at line 148 of file protocol.h.
Referenced by PX4IO::io_get_raw_rc_input(), and PX4IO::print_status().
| #define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ |
Definition at line 157 of file protocol.h.
Referenced by controls_tick(), PX4IO::io_get_raw_rc_input(), and PX4IO::print_status().
| #define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */ |
Definition at line 149 of file protocol.h.
Referenced by PX4IO::io_get_raw_rc_input(), and PX4IO::print_status().
| #define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */ |
Definition at line 151 of file protocol.h.
Referenced by controls_tick(), dsm_port_input(), PX4IO::io_get_raw_rc_input(), and PX4IO::print_status().
| #define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */ |
Definition at line 150 of file protocol.h.
Referenced by controls_tick(), dsm_port_input(), and PX4IO::print_status().
| #define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */ |
Definition at line 153 of file protocol.h.
Referenced by controls_tick(), and PX4IO::print_status().
| #define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */ |
Definition at line 152 of file protocol.h.
Referenced by dsm_port_input(), and PX4IO::print_status().
| #define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */ |
Definition at line 154 of file protocol.h.
Referenced by controls_tick(), and PX4IO::io_get_raw_rc_input().
| #define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ |
Definition at line 156 of file protocol.h.
Referenced by controls_tick(), and PX4IO::io_get_raw_rc_input().
| #define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ |
Definition at line 165 of file protocol.h.
Referenced by mixer_callback(), and PX4IO::print_status().
| #define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 |
mapped input value
Definition at line 272 of file protocol.h.
Referenced by controls_init(), controls_tick(), PX4IO::io_set_rc_config(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 |
magic value for mode switch
Definition at line 273 of file protocol.h.
Referenced by controls_tick(), PX4IO::io_set_rc_config(), and registers_set_one().
| #define PX4IO_P_RC_CONFIG_CENTER 1 |
center input value
Definition at line 269 of file protocol.h.
Referenced by controls_init(), controls_tick(), PX4IO::io_set_rc_config(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_RC_CONFIG_DEADZONE 3 |
band around center that is ignored
Definition at line 271 of file protocol.h.
Referenced by controls_init(), controls_tick(), PX4IO::io_set_rc_config(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_RC_CONFIG_MAX 2 |
highest input value
Definition at line 270 of file protocol.h.
Referenced by controls_init(), controls_tick(), PX4IO::io_set_rc_config(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_RC_CONFIG_MIN 0 |
lowest input value
Definition at line 268 of file protocol.h.
Referenced by controls_init(), controls_tick(), PX4IO::io_set_rc_config(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_RC_CONFIG_OPTIONS 5 |
channel options bitmask
Definition at line 274 of file protocol.h.
Referenced by controls_init(), controls_tick(), PX4IO::io_set_rc_config(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) |
Definition at line 275 of file protocol.h.
Referenced by controls_init(), controls_tick(), PX4IO::io_set_rc_config(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) |
Definition at line 276 of file protocol.h.
Referenced by controls_tick(), PX4IO::io_set_rc_config(), and PX4IO::print_status().
| #define PX4IO_P_RC_CONFIG_STRIDE 6 |
spacing between channel config data
Definition at line 277 of file protocol.h.
Referenced by controls_init(), controls_tick(), PX4IO::io_set_rc_config(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ |
Definition at line 164 of file protocol.h.
Referenced by mixer_callback(), and PX4IO::print_status().
| #define PX4IO_P_SENSORS_ALTITUDE 0 |
Altitude of an external sensor (HoTT or S.BUS2)
Definition at line 287 of file protocol.h.
| #define PX4IO_P_SETUP_AIRMODE 27 |
air-mode
Definition at line 242 of file protocol.h.
Referenced by registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ |
Definition at line 182 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::io_disable_rc_handling(), PX4IO::io_set_arming_state(), PX4IO::ioctl(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 6) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ |
Definition at line 189 of file protocol.h.
Referenced by PX4IO::init(), mixer_tick(), PX4IO::print_status(), and registers_set().
| #define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 4) /* use custom failsafe values, not 0 values of mixer */ |
Definition at line 187 of file protocol.h.
Referenced by mixer_set_failsafe(), PX4IO::print_status(), and registers_set().
| #define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */ |
Definition at line 184 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::io_set_arming_state(), PX4IO::ioctl(), mixer_handle_text(), mixer_handle_text_create_mixer(), mixer_tick(), PX4IO::print_status(), ring_blink(), safety_check_button(), and update_mem_usage().
| #define PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */ |
Definition at line 185 of file protocol.h.
Referenced by PX4IO::io_set_arming_state(), mixer_tick(), and PX4IO::print_status().
| #define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 9) /* If set, the system will always output the failsafe values */ |
Definition at line 192 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::io_set_arming_state(), PX4IO::ioctl(), mixer_tick(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 5) /* OK to try in-air restart */ |
Definition at line 188 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::ioctl(), and PX4IO::print_status().
| #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ |
Definition at line 183 of file protocol.h.
Referenced by PX4IO::io_set_arming_state(), PX4IO::ioctl(), PX4IO::print_status(), and safety_check_button().
| #define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 8) /* If set, the system operates normally, but won't actuate any servos */ |
Definition at line 191 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::io_set_arming_state(), mixer_tick(), and PX4IO::print_status().
| #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 3) /* OK to switch to manual override via override RC channel */ |
Definition at line 186 of file protocol.h.
Referenced by controls_tick(), PX4IO::init(), PX4IO::io_set_arming_state(), and PX4IO::print_status().
| #define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 11) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */ |
Definition at line 194 of file protocol.h.
Referenced by controls_tick(), PX4IO::ioctl(), and PX4IO::print_status().
| #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 7) /* Disable the IO-internal evaluation of the RC */ |
Definition at line 190 of file protocol.h.
Referenced by controls_tick(), PX4IO::io_disable_rc_handling(), and registers_set_one().
| #define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 10) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ |
Definition at line 193 of file protocol.h.
Referenced by controls_tick(), PX4IO::ioctl(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ |
Definition at line 216 of file protocol.h.
Referenced by calculate_fw_crc(), PX4IO::ioctl(), and PX4IO::print_status().
| #define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ |
Definition at line 202 of file protocol.h.
Referenced by PX4IO::ioctl(), and registers_set_one().
| #define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 28 |
flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set
Definition at line 244 of file protocol.h.
Referenced by registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_FEATURES 0 |
Definition at line 176 of file protocol.h.
Referenced by PX4IO::ioctl(), PX4IO::print_status(), registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) |
enable ADC RSSI parsing
Definition at line 180 of file protocol.h.
Referenced by controls_tick(), dsm_port_input(), PX4IO::ioctl(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) |
enable PWM RSSI parsing
Definition at line 179 of file protocol.h.
Referenced by PX4IO::ioctl(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) |
enable S.Bus v1 output
Definition at line 177 of file protocol.h.
Referenced by PX4IO::ioctl(), mixer_tick(), PX4IO::print_status(), registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) |
enable S.Bus v2 output
Definition at line 178 of file protocol.h.
Referenced by PX4IO::ioctl(), mixer_tick(), PX4IO::print_status(), registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_FORCE_SAFETY_OFF |
Definition at line 218 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::ioctl(), registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */ |
Definition at line 223 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::ioctl(), and registers_set_one().
| #define PX4IO_P_SETUP_MOTOR_SLEW_MAX 24 |
max motor slew rate
Definition at line 236 of file protocol.h.
Referenced by registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ |
Definition at line 198 of file protocol.h.
Referenced by PX4IO::ioctl(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ |
Definition at line 197 of file protocol.h.
Referenced by PX4IO::ioctl(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ |
Definition at line 196 of file protocol.h.
Referenced by PX4IO::ioctl(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_SETUP_PWM_REVERSE 15 |
Bitmask to reverse PWM channels 1-8.
Definition at line 226 of file protocol.h.
Referenced by PX4IO::print_status(), registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 |
the throttle failsafe pulse length in microseconds
Definition at line 221 of file protocol.h.
Referenced by registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ |
Definition at line 213 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::ioctl(), and registers_set_one().
| #define PX4IO_P_SETUP_RELAYS_PAD 5 |
Definition at line 199 of file protocol.h.
| #define PX4IO_P_SETUP_SBUS_RATE 22 |
frame rate of SBUS1 output in Hz
Definition at line 234 of file protocol.h.
Referenced by PX4IO::ioctl(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_SETUP_SCALE_PITCH 20 |
Pitch scale, in actuator units.
Definition at line 231 of file protocol.h.
Referenced by registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_SCALE_ROLL 19 |
Roll scale, in actuator units.
Definition at line 230 of file protocol.h.
Referenced by registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_SCALE_YAW 21 |
Yaw scale, in actuator units.
Definition at line 232 of file protocol.h.
Referenced by registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ |
Definition at line 211 of file protocol.h.
Referenced by PX4IO::ioctl(), isr_debug(), PX4IO::mixer_send(), PX4IO::print_status(), registers_set_one(), and user_start().
| #define PX4IO_P_SETUP_THERMAL 26 |
thermal management
Definition at line 240 of file protocol.h.
Referenced by PX4IO::print_status(), registers_set_one(), PX4IO::task_main(), and user_start().
| #define PX4IO_P_SETUP_THR_MDL_FAC 25 |
factor for modelling motor control signal output to static thrust relationship
Definition at line 238 of file protocol.h.
Referenced by registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_TRIM_PITCH 17 |
Pitch trim, in actuator units.
Definition at line 228 of file protocol.h.
Referenced by PX4IO::print_status(), registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_TRIM_ROLL 16 |
Roll trim, in actuator units.
Definition at line 227 of file protocol.h.
Referenced by PX4IO::print_status(), registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_TRIM_YAW 18 |
Yaw trim, in actuator units.
Definition at line 229 of file protocol.h.
Referenced by PX4IO::print_status(), registers_set_one(), and PX4IO::task_main().
| #define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */ |
Definition at line 201 of file protocol.h.
Referenced by PX4IO::print_status().
| #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ |
Definition at line 124 of file protocol.h.
Referenced by PX4IO::ioctl(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */ |
Definition at line 128 of file protocol.h.
Referenced by PX4IO::print_status().
| #define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ |
Definition at line 129 of file protocol.h.
Referenced by mixer_tick(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ |
Definition at line 131 of file protocol.h.
Referenced by PX4IO::ioctl(), PX4IO::print_status(), and pwm_configure_rates().
| #define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ |
Definition at line 130 of file protocol.h.
Referenced by controls_tick(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */ |
Definition at line 127 of file protocol.h.
Referenced by PX4IO::print_status().
| #define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ |
Definition at line 126 of file protocol.h.
Referenced by PX4IO::print_status().
| #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ |
Definition at line 125 of file protocol.h.
Referenced by PX4IO::print_status().
| #define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */ |
Definition at line 132 of file protocol.h.
Referenced by PX4IO::print_status().
| #define PX4IO_P_STATUS_CPULOAD 1 |
Definition at line 104 of file protocol.h.
| #define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ |
Definition at line 106 of file protocol.h.
Referenced by PX4IO::io_get_status(), PX4IO::io_handle_status(), PX4IO::io_set_rc_config(), PX4IO::mixer_send(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ |
Definition at line 116 of file protocol.h.
Referenced by PX4IO::io_handle_status(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ |
Definition at line 118 of file protocol.h.
Referenced by mixer_tick(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */ |
Definition at line 120 of file protocol.h.
Referenced by mixer_tick().
| #define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ |
Definition at line 113 of file protocol.h.
Referenced by controls_tick(), failsafe_blink(), mixer_tick(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ |
Definition at line 117 of file protocol.h.
Referenced by failsafe_blink(), PX4IO::io_set_rc_config(), mixer_tick(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ |
Definition at line 115 of file protocol.h.
Referenced by controls_tick(), mixer_handle_text(), mixer_mix_threadsafe(), PX4IO::mixer_send(), mixer_set_failsafe(), mixer_tick(), PX4IO::print_status(), and registers_set_one().
| #define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */ |
Definition at line 107 of file protocol.h.
Referenced by mixer_tick(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ |
Definition at line 108 of file protocol.h.
Referenced by controls_tick(), PX4IO::io_handle_status(), mixer_tick(), PX4IO::print_status(), and user_start().
| #define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ |
Definition at line 114 of file protocol.h.
Referenced by mixer_tick(), PX4IO::print_status(), and registers_set().
| #define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ |
Definition at line 111 of file protocol.h.
Referenced by controls_tick(), PX4IO::io_publish_raw_rc(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ |
Definition at line 109 of file protocol.h.
Referenced by controls_tick(), PX4IO::io_publish_raw_rc(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ |
Definition at line 110 of file protocol.h.
Referenced by controls_tick(), PX4IO::io_publish_raw_rc(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ |
Definition at line 112 of file protocol.h.
Referenced by controls_tick(), PX4IO::io_publish_raw_rc(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */ |
Definition at line 121 of file protocol.h.
Referenced by controls_tick(), dsm_port_input(), PX4IO::io_publish_raw_rc(), and PX4IO::print_status().
| #define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */ |
Definition at line 122 of file protocol.h.
Referenced by controls_tick(), and dsm_port_input().
| #define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ |
Definition at line 119 of file protocol.h.
Referenced by PX4IO::dsm_bind_ioctl(), PX4IO::io_handle_status(), PX4IO::ioctl(), mixer_handle_text(), mixer_handle_text_create_mixer(), mixer_tick(), PX4IO::print_status(), registers_set_one(), ring_blink(), safety_check_button(), PX4IO::set_update_rate(), and update_mem_usage().
| #define PX4IO_P_STATUS_FREEMEM 0 |
Definition at line 103 of file protocol.h.
Referenced by PX4IO::print_status(), update_mem_usage(), and user_start().
| #define PX4IO_P_STATUS_MIXER 9 /* mixer actuator limit flags */ |
Definition at line 138 of file protocol.h.
Referenced by PX4IO::io_publish_pwm_outputs().
| #define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ |
Definition at line 136 of file protocol.h.
| #define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ |
Definition at line 135 of file protocol.h.
Referenced by PX4IO::print_status(), and registers_get().
| #define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ |
Definition at line 134 of file protocol.h.
Referenced by PX4IO::print_status(), and registers_get().
| #define PX4IO_P_TEST_LED 0 |
set the amber LED on/off
Definition at line 291 of file protocol.h.
Referenced by registers_set_one().
| #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
Definition at line 141 of file protocol.h.
Referenced by PX4IO::print_status(), and registers_get().
| #define PX4IO_PAGE_CONFIG 0 |
Definition at line 89 of file protocol.h.
Referenced by PX4IO::detect(), PX4IO::init(), PX4IO::print_status(), and registers_get().
| #define PX4IO_PAGE_CONTROL_MAX_PWM 107 |
0..CONFIG_ACTUATOR_COUNT-1
Definition at line 297 of file protocol.h.
Referenced by PX4IO::handle_motor_test(), PX4IO::ioctl(), registers_get(), and registers_set().
| #define PX4IO_PAGE_CONTROL_MIN_PWM 106 |
0..CONFIG_ACTUATOR_COUNT-1
Definition at line 294 of file protocol.h.
Referenced by PX4IO::handle_motor_test(), PX4IO::ioctl(), registers_get(), and registers_set().
| #define PX4IO_PAGE_CONTROL_TRIM_PWM 108 |
0..CONFIG_ACTUATOR_COUNT-1
Definition at line 300 of file protocol.h.
Referenced by PX4IO::ioctl(), registers_get(), registers_set(), and PX4IO::task_main().
| #define PX4IO_PAGE_CONTROLS 51 |
actuator control groups, one after the other, 8 wide
Definition at line 251 of file protocol.h.
Referenced by PX4IO::io_set_control_state(), PX4IO::print_status(), registers_get(), and registers_set().
| #define PX4IO_PAGE_DIRECT_PWM 54 |
0..CONFIG_ACTUATOR_COUNT-1
Definition at line 280 of file protocol.h.
Referenced by PX4IO::handle_motor_test(), PX4IO::ioctl(), registers_get(), registers_set(), and PX4IO::write().
| #define PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
Definition at line 303 of file protocol.h.
Referenced by PX4IO::handle_motor_test(), PX4IO::ioctl(), PX4IO::print_status(), registers_get(), and registers_set().
| #define PX4IO_PAGE_FAILSAFE_PWM 55 |
0..CONFIG_ACTUATOR_COUNT-1
Definition at line 283 of file protocol.h.
Referenced by PX4IO::ioctl(), PX4IO::print_status(), registers_get(), and registers_set().
| #define PX4IO_PAGE_MIXERLOAD 52 |
Definition at line 264 of file protocol.h.
Referenced by PX4IO::mixer_send(), and registers_set().
| #define PX4IO_PAGE_PWM_INFO 7 |
Definition at line 171 of file protocol.h.
Referenced by PX4IO::ioctl(), and registers_get().
| #define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ |
Definition at line 168 of file protocol.h.
Referenced by PX4IO::print_status(), and registers_get().
| #define PX4IO_PAGE_RAW_RC_INPUT 4 |
Definition at line 147 of file protocol.h.
Referenced by PX4IO::io_get_raw_rc_input(), PX4IO::print_status(), and registers_get().
| #define PX4IO_PAGE_RC_CONFIG 53 |
R/C input configuration.
Definition at line 267 of file protocol.h.
Referenced by PX4IO::io_set_rc_config(), PX4IO::print_status(), registers_get(), and registers_set_one().
| #define PX4IO_PAGE_RC_INPUT 5 |
Definition at line 163 of file protocol.h.
Referenced by PX4IO::print_status(), and registers_get().
| #define PX4IO_PAGE_SENSORS 56 |
Definition at line 286 of file protocol.h.
| #define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ |
Definition at line 144 of file protocol.h.
Referenced by PX4IO::io_publish_pwm_outputs(), PX4IO::ioctl(), PX4IO::print_status(), and registers_get().
| #define PX4IO_PAGE_SETUP 50 |
Definition at line 175 of file protocol.h.
Referenced by PX4IO::init(), PX4IO::io_disable_rc_handling(), PX4IO::io_set_arming_state(), PX4IO::ioctl(), PX4IO::mixer_send(), PX4IO::print_status(), registers_get(), registers_set_one(), and PX4IO::task_main().
| #define PX4IO_PAGE_STATUS 1 |
Definition at line 102 of file protocol.h.
Referenced by PX4IO::io_get_status(), PX4IO::io_handle_status(), PX4IO::io_publish_pwm_outputs(), PX4IO::io_set_rc_config(), PX4IO::ioctl(), PX4IO::mixer_send(), PX4IO::print_status(), registers_get(), and registers_set_one().
| #define PX4IO_PAGE_TEST 127 |
Definition at line 290 of file protocol.h.
Referenced by registers_set_one().
| #define PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 |
The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT.
Definition at line 86 of file protocol.h.
Referenced by PX4IO::io_set_control_state(), and PX4IO::print_status().
| #define PX4IO_PROTOCOL_VERSION 4 |
Definition at line 83 of file protocol.h.
Referenced by PX4IO::detect(), and PX4IO::init().
| #define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ |
Definition at line 172 of file protocol.h.
Referenced by PX4IO::ioctl(), and registers_get().
| #define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ |
Definition at line 214 of file protocol.h.
Referenced by PX4IO::init(), and registers_set_one().
| #define PX4IO_THERMAL_FULL 10000 |
Definition at line 248 of file protocol.h.
Referenced by user_start().
| #define PX4IO_THERMAL_IGNORE UINT16_MAX |
Definition at line 246 of file protocol.h.
Referenced by PX4IO::task_main(), and user_start().
| #define PX4IO_THERMAL_OFF 0 |
Definition at line 247 of file protocol.h.
Referenced by PX4IO::print_status(), and PX4IO::task_main().
| #define REG_TO_BOOL | ( | _reg | ) | ((bool)(_reg)) |
Definition at line 81 of file protocol.h.
Referenced by mixer_tick().
| #define REG_TO_FLOAT | ( | _reg | ) | ((float)REG_TO_SIGNED(_reg) / 10000.0f) |
Definition at line 78 of file protocol.h.
Referenced by mixer_callback(), mixer_set_failsafe(), mixer_tick(), PX4IO::print_status(), and test_conv().
| #define REG_TO_SIGNED | ( | _reg | ) | ((int16_t)(_reg)) |
Definition at line 75 of file protocol.h.
Referenced by controls_tick(), mixer_tick(), PX4IO::print_status(), and test_conv().
| #define SIGNED_TO_REG | ( | _signed | ) | ((uint16_t)(_signed)) |
Definition at line 76 of file protocol.h.
Referenced by controls_tick(), and PX4IO::task_main().
| anonymous enum |
| Enumerator | |
|---|---|
| dsm_bind_power_down | |
| dsm_bind_power_up | |
| dsm_bind_set_rx_out | |
| dsm_bind_send_pulses | |
| dsm_bind_reinit_uart | |
Definition at line 203 of file protocol.h.
|
static |
|
static |
Definition at line 394 of file protocol.h.
References PKT_COUNT, and IOPacket::regs.
Referenced by PX4IO_serial_interface(), rx_dma_callback(), and rx_handle_packet().
1.8.13