PX4 Firmware
PX4 Autopilot Software http://px4.io
protocol.h
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33 
34 #pragma once
35 
36 #include <inttypes.h>
37 
38 /**
39  * @file protocol.h
40  *
41  * PX4IO interface protocol.
42  *
43  * @author Lorenz Meier <lorenz@px4.io>
44  *
45  * Communication is performed via writes to and reads from 16-bit virtual
46  * registers organised into pages of 255 registers each.
47  *
48  * The first two bytes of each write select a page and offset address
49  * respectively. Subsequent reads and writes increment the offset within
50  * the page.
51  *
52  * Some pages are read- or write-only.
53  *
54  * Note that some pages may permit offset values greater than 255, which
55  * can only be achieved by long writes. The offset does not wrap.
56  *
57  * Writes to unimplemented registers are ignored. Reads from unimplemented
58  * registers return undefined values.
59  *
60  * As convention, values that would be floating point in other parts of
61  * the PX4 system are expressed as signed integer values scaled by 10000,
62  * e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and
63  * SIGNED_TO_REG macros to convert between register representation and
64  * the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float.
65  *
66  * Note that the implementation of readable pages prefers registers within
67  * readable pages to be densely packed. Page numbers do not need to be
68  * packed.
69  *
70  * Definitions marked [1] are only valid on PX4IOv1 boards. Likewise,
71  * [2] denotes definitions specific to the PX4IOv2 board.
72  */
73 
74 /* Per C, this is safe for all 2's complement systems */
75 #define REG_TO_SIGNED(_reg) ((int16_t)(_reg))
76 #define SIGNED_TO_REG(_signed) ((uint16_t)(_signed))
77 
78 #define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
79 #define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)floorf((_float + 0.00005f) * 10000.0f))
80 
81 #define REG_TO_BOOL(_reg) ((bool)(_reg))
82 
83 #define PX4IO_PROTOCOL_VERSION 4
84 
85 /* maximum allowable sizes on this protocol version */
86 #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 */
87 
88 /* static configuration page */
89 #define PX4IO_PAGE_CONFIG 0
90 #define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */
91 #define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */
92 #define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
93 #define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
94 #define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */
95 #define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */
96 #define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
97 #define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */
98 #define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */
99 #define PX4IO_MAX_TRANSFER_LEN 64
100 
101 /* dynamic status page */
102 #define PX4IO_PAGE_STATUS 1
103 #define PX4IO_P_STATUS_FREEMEM 0
104 #define PX4IO_P_STATUS_CPULOAD 1
105 
106 #define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
107 #define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */
108 #define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */
109 #define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */
110 #define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */
111 #define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */
112 #define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */
113 #define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */
114 #define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */
115 #define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */
116 #define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */
117 #define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */
118 #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */
119 #define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */
120 #define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */
121 #define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */
122 #define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */
123 
124 #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
125 #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */
126 #define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */
127 #define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */
128 #define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */
129 #define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */
130 #define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */
131 #define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */
132 #define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */
133 
134 #define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
135 #define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
136 #define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
137 
138 #define PX4IO_P_STATUS_MIXER 9 /* mixer actuator limit flags */
139 
140 /* array of post-mix actuator outputs, -10000..10000 */
141 #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
142 
143 /* array of PWM servo output values, microseconds */
144 #define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
145 
146 /* array of raw RC input values, microseconds */
147 #define PX4IO_PAGE_RAW_RC_INPUT 4
148 #define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */
149 #define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */
150 #define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */
151 #define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */
152 #define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */
153 #define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */
154 #define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */
155 
156 #define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
157 #define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
158 #define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */
159 #define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */
160 #define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */
161 
162 /* array of scaled RC input values, -10000..10000 */
163 #define PX4IO_PAGE_RC_INPUT 5
164 #define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */
165 #define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */
166 
167 /* array of raw ADC values */
168 #define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
169 
170 /* PWM servo information */
171 #define PX4IO_PAGE_PWM_INFO 7
172 #define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
173 
174 /* setup page */
175 #define PX4IO_PAGE_SETUP 50
176 #define PX4IO_P_SETUP_FEATURES 0
177 #define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */
178 #define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */
179 #define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */
180 #define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */
181 
182 #define PX4IO_P_SETUP_ARMING 1 /* arming controls */
183 #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
184 #define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */
185 #define PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */
186 #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 3) /* OK to switch to manual override via override RC channel */
187 #define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 4) /* use custom failsafe values, not 0 values of mixer */
188 #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 5) /* OK to try in-air restart */
189 #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 */
190 #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 7) /* Disable the IO-internal evaluation of the RC */
191 #define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 8) /* If set, the system operates normally, but won't actuate any servos */
192 #define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 9) /* If set, the system will always output the failsafe values */
193 #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. */
194 #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 */
195 
196 #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
197 #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
198 #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
199 #define PX4IO_P_SETUP_RELAYS_PAD 5
200 
201 #define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */
202 #define PX4IO_P_SETUP_DSM 7 /* DSM bind state */
203 enum { /* DSM bind states */
209 };
210 /* 8 */
211 #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
212 
213 #define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
214 #define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
215 
216 #define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
217 /* storage space of 12 occupied by CRC */
218 #define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
219  'armed' (PWM enabled) state - this is a non-data write and
220  hence index 12 can safely be used. */
221 #define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
222 
223 #define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */
224 #define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
225 
226 #define PX4IO_P_SETUP_PWM_REVERSE 15 /**< Bitmask to reverse PWM channels 1-8 */
227 #define PX4IO_P_SETUP_TRIM_ROLL 16 /**< Roll trim, in actuator units */
228 #define PX4IO_P_SETUP_TRIM_PITCH 17 /**< Pitch trim, in actuator units */
229 #define PX4IO_P_SETUP_TRIM_YAW 18 /**< Yaw trim, in actuator units */
230 #define PX4IO_P_SETUP_SCALE_ROLL 19 /**< Roll scale, in actuator units */
231 #define PX4IO_P_SETUP_SCALE_PITCH 20 /**< Pitch scale, in actuator units */
232 #define PX4IO_P_SETUP_SCALE_YAW 21 /**< Yaw scale, in actuator units */
233 
234 #define PX4IO_P_SETUP_SBUS_RATE 22 /**< frame rate of SBUS1 output in Hz */
235 
236 #define PX4IO_P_SETUP_MOTOR_SLEW_MAX 24 /**< max motor slew rate */
237 
238 #define PX4IO_P_SETUP_THR_MDL_FAC 25 /**< factor for modelling motor control signal output to static thrust relationship */
239 
240 #define PX4IO_P_SETUP_THERMAL 26 /**< thermal management */
241 
242 #define PX4IO_P_SETUP_AIRMODE 27 /**< air-mode */
243 
244 #define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 28 /**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */
245 
246 #define PX4IO_THERMAL_IGNORE UINT16_MAX
247 #define PX4IO_THERMAL_OFF 0
248 #define PX4IO_THERMAL_FULL 10000
249 
250 /* autopilot control values, -10000..10000 */
251 #define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
252 #define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
253 #define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
254 #define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
255 #define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
256 
257 #define PX4IO_P_CONTROLS_GROUP_VALID 64
258 #define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */
259 #define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */
260 #define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */
261 #define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */
262 
263 /* raw text load to the mixer parser - ignores offset */
264 #define PX4IO_PAGE_MIXERLOAD 52
265 
266 /* R/C channel config */
267 #define PX4IO_PAGE_RC_CONFIG 53 /**< R/C input configuration */
268 #define PX4IO_P_RC_CONFIG_MIN 0 /**< lowest input value */
269 #define PX4IO_P_RC_CONFIG_CENTER 1 /**< center input value */
270 #define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */
271 #define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */
272 #define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */
273 #define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */
274 #define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */
275 #define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)
276 #define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)
277 #define PX4IO_P_RC_CONFIG_STRIDE 6 /**< spacing between channel config data */
278 
279 /* PWM output - overrides mixer */
280 #define PX4IO_PAGE_DIRECT_PWM 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
281 
282 /* PWM failsafe values - zero disables the output */
283 #define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
284 
285 /* PWM failsafe values - zero disables the output */
286 #define PX4IO_PAGE_SENSORS 56 /**< Sensors connected to PX4IO */
287 #define PX4IO_P_SENSORS_ALTITUDE 0 /**< Altitude of an external sensor (HoTT or S.BUS2) */
288 
289 /* Debug and test page - not used in normal operation */
290 #define PX4IO_PAGE_TEST 127
291 #define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */
292 
293 /* PWM minimum values for certain ESCs */
294 #define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
295 
296 /* PWM maximum values for certain ESCs */
297 #define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
298 
299 /* PWM mtrim values for central position */
300 #define PX4IO_PAGE_CONTROL_TRIM_PWM 108 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
301 
302 /* PWM disarmed values that are active, even when SAFETY_SAFE */
303 #define PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */
304 
305 /**
306  * As-needed mixer data upload.
307  *
308  * This message adds text to the mixer text buffer; the text
309  * buffer is drained as the definitions are consumed.
310  */
311 #pragma pack(push, 1)
313  uint16_t f2i_mixer_magic;
314 #define F2I_MIXER_MAGIC 0x6d74
315 
316  uint8_t action;
317 #define F2I_MIXER_ACTION_RESET 0
318 #define F2I_MIXER_ACTION_APPEND 1
319 
320  char text[0]; /* actual text size may vary */
321 };
322 #pragma pack(pop)
323 
324 /**
325  * Serial protocol encapsulation.
326  */
327 
328 #define PKT_MAX_REGS 32 // by agreement w/FMU
329 
330 #pragma pack(push, 1)
331 struct IOPacket {
332  uint8_t count_code;
333  uint8_t crc;
334  uint8_t page;
335  uint8_t offset;
336  uint16_t regs[PKT_MAX_REGS];
337 };
338 #pragma pack(pop)
339 
340 #if (PX4IO_MAX_TRANSFER_LEN > PKT_MAX_REGS * 2)
341 #error The max transfer length of the IO protocol must not be larger than the IO packet size
342 #endif
343 
344 #define PKT_CODE_READ 0x00 /* FMU->IO read transaction */
345 #define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */
346 #define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */
347 #define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */
348 #define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */
349 
350 #define PKT_CODE_MASK 0xc0
351 #define PKT_COUNT_MASK 0x3f
352 
353 #define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
354 #define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
355 #define PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))))
356 
357 static const uint8_t crc8_tab[256] __attribute__((unused)) = {
358  0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
359  0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
360  0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
361  0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
362  0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
363  0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
364  0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
365  0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
366  0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
367  0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
368  0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
369  0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
370  0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
371  0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
372  0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
373  0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
374  0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
375  0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
376  0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
377  0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
378  0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
379  0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
380  0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
381  0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
382  0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
383  0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
384  0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
385  0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
386  0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
387  0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
388  0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
389  0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3
390 };
391 
392 static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused));
393 static uint8_t
394 crc_packet(struct IOPacket *pkt)
395 {
396  uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]);
397  uint8_t *p = (uint8_t *)pkt;
398  uint8_t c = 0;
399 
400  while (p < end) {
401  c = crc8_tab[c ^ * (p++)];
402  }
403 
404  return c;
405 }
uint8_t crc
Definition: protocol.h:333
uint16_t f2i_mixer_magic
Definition: protocol.h:313
As-needed mixer data upload.
Definition: protocol.h:312
uint8_t page
Definition: protocol.h:334
#define PKT_COUNT(_p)
Definition: protocol.h:353
static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused))
Definition: protocol.h:394
uint16_t regs[PKT_MAX_REGS]
Definition: protocol.h:336
uint8_t offset
Definition: protocol.h:335
static const uint8_t crc8_tab [256] __attribute__((unused))
#define PKT_MAX_REGS
Serial protocol encapsulation.
Definition: protocol.h:328
uint8_t count_code
Definition: protocol.h:332
char text[0]
Definition: protocol.h:320
uint8_t action
Definition: protocol.h:316