Implementation of the PX4IO register space. More...

#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
#include <stm32_pwr.h>
#include <rc/dsm.h>
#include <rc/sbus.h>
#include "px4io.h"
#include "protocol.h"

Include dependency graph for registers.c:

Macros
#define	PX4IO_P_SETUP_FEATURES_VALID

#define	PX4IO_P_SETUP_ARMING_VALID

#define	PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)

#define	PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)

#define	PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE \| PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)

#define	SELECT_PAGE(_page_name)

Functions
static int	registers_set_one (uint8_t page, uint8_t offset, uint16_t value)

static void	pwm_configure_rates (uint16_t map, uint16_t defaultrate, uint16_t altrate)

int	registers_set (uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
	Register space. More...

int	registers_get (uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)

Variables
bool	update_mc_thrust_param

bool	update_trims

static const uint16_t	r_page_config []
	PAGE 0. More...

volatile uint16_t	r_page_status []
	PAGE 1. More...

uint16_t	r_page_actuators [PX4IO_SERVO_COUNT]
	PAGE 2. More...

uint16_t	r_page_servos [PX4IO_SERVO_COUNT]
	PAGE 3. More...

uint16_t	r_page_raw_rc_input []
	PAGE 4. More...

uint16_t	r_page_rc_input []
	PAGE 5. More...

uint16_t	r_page_scratch [32]
	Scratch page; used for registers that are constructed as-read. More...

uint16_t	r_page_direct_pwm [PX4IO_SERVO_COUNT]
	PAGE 8. More...

volatile uint16_t	r_page_setup []
	PAGE 100. More...

uint16_t	r_page_controls [PX4IO_CONTROL_GROUPS *PX4IO_CONTROL_CHANNELS]
	PAGE 101. More...

uint16_t	r_page_rc_input_config [PX4IO_RC_INPUT_CHANNELS *PX4IO_P_RC_CONFIG_STRIDE]
	PAGE 103. More...

uint16_t	r_page_servo_failsafe [PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 }
	PAGE 105. More...

uint16_t	r_page_servo_control_min [PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN }
	PAGE 106. More...

uint16_t	r_page_servo_control_max [PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX }
	PAGE 107. More...

int16_t	r_page_servo_control_trim [PX4IO_SERVO_COUNT] = { PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM }
	PAGE 108. More...

uint16_t	r_page_servo_disarmed [PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 }
	PAGE 109. More...

uint8_t	last_page

uint8_t	last_offset

Detailed Description

Implementation of the PX4IO register space.

Author: Lorenz Meier loren.nosp@m.z@px.nosp@m.4.io

Definition in file registers.c.

Macro Definition Documentation

◆ PX4IO_P_RC_CONFIG_OPTIONS_VALID

#define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)

Definition at line 227 of file registers.c.

Referenced by registers_set_one().

◆ PX4IO_P_SETUP_ARMING_VALID

#define PX4IO_P_SETUP_ARMING_VALID

Value:

(PX4IO_P_SETUP_ARMING_FMU_ARMED | \
        PX4IO_P_SETUP_ARMING_FMU_PREARMED | \
        PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
        PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
        PX4IO_P_SETUP_ARMING_IO_ARM_OK | \
        PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
        PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \
        PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \
        PX4IO_P_SETUP_ARMING_LOCKDOWN | \
        PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \
        PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE | \
        PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE)

Definition at line 193 of file registers.c.

Referenced by registers_set_one().

◆ PX4IO_P_SETUP_FEATURES_VALID

#define PX4IO_P_SETUP_FEATURES_VALID

Value:

(PX4IO_P_SETUP_FEATURES_SBUS1_OUT | \
        PX4IO_P_SETUP_FEATURES_SBUS2_OUT | \
        PX4IO_P_SETUP_FEATURES_ADC_RSSI | \
        PX4IO_P_SETUP_FEATURES_PWM_RSSI)

Definition at line 188 of file registers.c.

Referenced by registers_set_one().

◆ PX4IO_P_SETUP_RATES_VALID

#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)

Definition at line 205 of file registers.c.

Referenced by registers_set_one().

◆ PX4IO_P_SETUP_RELAYS_VALID

#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)

Definition at line 206 of file registers.c.

◆ SELECT_PAGE

#define SELECT_PAGE ( _page_name )

Value:

do {                                    \
        *values = (uint16_t *)&_page_name[0];               \
        *num_values = sizeof(_page_name) / sizeof(_page_name[0]);   \
    } while(0)

Referenced by registers_get().

Function Documentation

◆ pwm_configure_rates()

static void pwm_configure_rates	(	uint16_t	map,
		uint16_t	defaultrate,
		uint16_t	altrate
	)

static

Definition at line 1054 of file registers.c.

References OK, PX4IO_P_STATUS_ALARMS_PWM_ERROR, PX4IO_SERVO_COUNT, r_setup_pwm_altrate, r_setup_pwm_defaultrate, r_setup_pwm_rates, r_status_alarms, up_pwm_servo_get_rate_group(), and up_pwm_servo_set_rate_group_update().

Referenced by registers_set_one().

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◆ registers_get()

int registers_get	(	uint8_t	page,
		uint8_t	offset,
		uint16_t **	values,
		unsigned *	num_values
	)

Definition at line 844 of file registers.c.

References adc_measure(), ADC_RSSI, ADC_VSERVO, last_offset, last_page, PX4IO_P_STATUS_VRSSI, PX4IO_P_STATUS_VSERVO, PX4IO_PAGE_ACTUATORS, PX4IO_PAGE_CONFIG, PX4IO_PAGE_CONTROL_MAX_PWM, PX4IO_PAGE_CONTROL_MIN_PWM, PX4IO_PAGE_CONTROL_TRIM_PWM, PX4IO_PAGE_CONTROLS, PX4IO_PAGE_DIRECT_PWM, PX4IO_PAGE_DISARMED_PWM, PX4IO_PAGE_FAILSAFE_PWM, PX4IO_PAGE_PWM_INFO, PX4IO_PAGE_RAW_ADC_INPUT, PX4IO_PAGE_RAW_RC_INPUT, PX4IO_PAGE_RC_CONFIG, PX4IO_PAGE_RC_INPUT, PX4IO_PAGE_SERVOS, PX4IO_PAGE_SETUP, PX4IO_PAGE_STATUS, PX4IO_RATE_MAP_BASE, PX4IO_SERVO_COUNT, r_page_actuators, r_page_config, r_page_controls, r_page_direct_pwm, r_page_raw_rc_input, r_page_rc_input, r_page_rc_input_config, r_page_scratch, r_page_servo_control_max, r_page_servo_control_min, r_page_servo_control_trim, r_page_servo_disarmed, r_page_servo_failsafe, r_page_servos, r_page_setup, r_page_status, SELECT_PAGE, and up_pwm_servo_get_rate_group().

Referenced by rx_handle_packet().

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◆ registers_set()

int registers_set	(	uint8_t	page,
		uint8_t	offset,
		const uint16_t *	values,
		unsigned	num_values
	)

Register space.

Definition at line 275 of file registers.c.

References sys_state_s::fmu_data_received_time, hrt_absolute_time(), mixer_handle_text(), PWM_HIGHEST_MAX, PWM_HIGHEST_MIN, PWM_IGNORE_THIS_CHANNEL, PWM_LOWEST_MAX, PWM_LOWEST_MIN, PX4IO_CONTROL_CHANNELS, PX4IO_CONTROL_GROUPS, PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE, PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM, PX4IO_P_STATUS_FLAGS_RAW_PWM, PX4IO_PAGE_CONTROL_MAX_PWM, PX4IO_PAGE_CONTROL_MIN_PWM, PX4IO_PAGE_CONTROL_TRIM_PWM, PX4IO_PAGE_CONTROLS, PX4IO_PAGE_DIRECT_PWM, PX4IO_PAGE_DISARMED_PWM, PX4IO_PAGE_FAILSAFE_PWM, PX4IO_PAGE_MIXERLOAD, PX4IO_SERVO_COUNT, r_page_controls, r_page_direct_pwm, r_page_servo_control_max, r_page_servo_control_min, r_page_servo_control_trim, r_page_servo_disarmed, r_page_servo_failsafe, r_setup_arming, r_status_flags, registers_set_one(), system_state, up_pwm_update(), and update_trims.

Referenced by rx_handle_packet().

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◆ registers_set_one()

static int registers_set_one	(	uint8_t	page,
		uint8_t	offset,
		uint16_t	value
	)

static

do not allow a RC config change while safety is off

Definition at line 490 of file registers.c.

References ENABLE_SBUS_OUT, isr_debug(), LED_AMBER, mixer_set_failsafe(), pwm_configure_rates(), PX4IO_FORCE_SAFETY_MAGIC, PX4IO_P_RC_CONFIG_ASSIGNMENT, PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH, PX4IO_P_RC_CONFIG_CENTER, PX4IO_P_RC_CONFIG_DEADZONE, PX4IO_P_RC_CONFIG_MAX, PX4IO_P_RC_CONFIG_MIN, PX4IO_P_RC_CONFIG_OPTIONS, PX4IO_P_RC_CONFIG_OPTIONS_ENABLED, PX4IO_P_RC_CONFIG_OPTIONS_VALID, PX4IO_P_RC_CONFIG_STRIDE, PX4IO_P_SETUP_AIRMODE, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, PX4IO_P_SETUP_ARMING_VALID, PX4IO_P_SETUP_DSM, PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_ADC_RSSI, PX4IO_P_SETUP_FEATURES_PWM_RSSI, PX4IO_P_SETUP_FEATURES_SBUS1_OUT, PX4IO_P_SETUP_FEATURES_SBUS2_OUT, PX4IO_P_SETUP_FEATURES_VALID, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_P_SETUP_MOTOR_SLEW_MAX, PX4IO_P_SETUP_PWM_ALTRATE, PX4IO_P_SETUP_PWM_DEFAULTRATE, PX4IO_P_SETUP_PWM_RATES, PX4IO_P_SETUP_PWM_REVERSE, PX4IO_P_SETUP_RATES_VALID, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, PX4IO_P_SETUP_REBOOT_BL, PX4IO_P_SETUP_SBUS_RATE, PX4IO_P_SETUP_SCALE_PITCH, PX4IO_P_SETUP_SCALE_ROLL, PX4IO_P_SETUP_SCALE_YAW, PX4IO_P_SETUP_SET_DEBUG, PX4IO_P_SETUP_THERMAL, PX4IO_P_SETUP_THR_MDL_FAC, PX4IO_P_SETUP_TRIM_PITCH, PX4IO_P_SETUP_TRIM_ROLL, PX4IO_P_SETUP_TRIM_YAW, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_FLAGS, PX4IO_P_STATUS_FLAGS_ARM_SYNC, PX4IO_P_STATUS_FLAGS_INIT_OK, PX4IO_P_STATUS_FLAGS_MIXER_OK, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, PX4IO_P_TEST_LED, PX4IO_PAGE_RC_CONFIG, PX4IO_PAGE_SETUP, PX4IO_PAGE_STATUS, PX4IO_PAGE_TEST, PX4IO_RC_INPUT_CHANNELS, PX4IO_RC_MAPPED_CONTROL_CHANNELS, PX4IO_REBOOT_BL_MAGIC, r_page_rc_input_config, r_page_setup, r_setup_arming, r_setup_features, r_setup_pwm_altrate, r_setup_pwm_defaultrate, r_setup_pwm_rates, r_status_alarms, r_status_flags, sbus1_set_output_rate_hz(), schedule_reboot(), and update_mc_thrust_param.

Referenced by registers_set().

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Variable Documentation

◆ last_offset

uint8_t last_offset

Definition at line 841 of file registers.c.

Referenced by registers_get().

◆ last_page

uint8_t last_page

Definition at line 840 of file registers.c.

Referenced by registers_get().

◆ r_page_actuators

uint16_t r_page_actuators[PX4IO_SERVO_COUNT]

PAGE 2.

Post-mixed actuator values.

Definition at line 101 of file registers.c.

Referenced by mixer_tick(), and registers_get().

◆ r_page_config

const uint16_t r_page_config[]

static

Initial value:

= {
    [PX4IO_P_CONFIG_PROTOCOL_VERSION]   = PX4IO_PROTOCOL_VERSION,
    [PX4IO_P_CONFIG_HARDWARE_VERSION]   = 2,
    [PX4IO_P_CONFIG_BOOTLOADER_VERSION] = PX4IO_BL_VERSION,
    [PX4IO_P_CONFIG_MAX_TRANSFER]       = PX4IO_MAX_TRANSFER_LEN,
    [PX4IO_P_CONFIG_CONTROL_COUNT]      = PX4IO_CONTROL_CHANNELS,
    [PX4IO_P_CONFIG_ACTUATOR_COUNT]     = PX4IO_SERVO_COUNT,
    [PX4IO_P_CONFIG_RC_INPUT_COUNT]     = PX4IO_RC_INPUT_CHANNELS,
    [PX4IO_P_CONFIG_ADC_INPUT_COUNT]    = PX4IO_ADC_CHANNEL_COUNT,
    [PX4IO_P_CONFIG_RELAY_COUNT]        = PX4IO_RELAY_CHANNELS,
}

PAGE 0.

Static configuration parameters.

Definition at line 68 of file registers.c.

Referenced by registers_get().

◆ r_page_controls

uint16_t r_page_controls[PX4IO_CONTROL_GROUPS *PX4IO_CONTROL_CHANNELS]

PAGE 101.

Control values from the FMU.

Definition at line 213 of file registers.c.

Referenced by mixer_callback(), registers_get(), and registers_set().

◆ r_page_direct_pwm

uint16_t r_page_direct_pwm[PX4IO_SERVO_COUNT]

PAGE 8.

RAW PWM values

Definition at line 148 of file registers.c.

Referenced by mixer_tick(), registers_get(), and registers_set().

◆ r_page_raw_rc_input

uint16_t r_page_raw_rc_input[]

Initial value:

= {
    [PX4IO_P_RAW_RC_COUNT]          = 0,
    [PX4IO_P_RAW_RC_FLAGS]          = 0,
    [PX4IO_P_RAW_RC_NRSSI]          = 0,
    [PX4IO_P_RAW_RC_DATA]           = 0,
    [PX4IO_P_RAW_FRAME_COUNT]       = 0,
    [PX4IO_P_RAW_LOST_FRAME_COUNT]      = 0,
    [PX4IO_P_RAW_RC_BASE ...(PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
}

PAGE 4.

Raw RC input

Definition at line 115 of file registers.c.

Referenced by controls_tick(), and registers_get().

◆ r_page_rc_input

uint16_t r_page_rc_input[]

Initial value:

= {
    [PX4IO_P_RC_VALID]          = 0,
    [PX4IO_P_RC_BASE ...(PX4IO_P_RC_BASE + PX4IO_RC_MAPPED_CONTROL_CHANNELS)] = 0
}

PAGE 5.

Scaled/routed RC input

Definition at line 130 of file registers.c.

Referenced by mixer_callback(), and registers_get().

◆ r_page_rc_input_config

uint16_t r_page_rc_input_config[PX4IO_RC_INPUT_CHANNELS *PX4IO_P_RC_CONFIG_STRIDE]

PAGE 103.

R/C channel input configuration.

Definition at line 224 of file registers.c.

Referenced by controls_init(), controls_tick(), registers_get(), and registers_set_one().

◆ r_page_scratch

uint16_t r_page_scratch[32]

Scratch page; used for registers that are constructed as-read.

PAGE 6 Raw ADC input. PAGE 7 PWM rate maps.

Definition at line 141 of file registers.c.

Referenced by registers_get().

◆ r_page_servo_control_max

uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX }

PAGE 107.

maximum PWM values when armed

Definition at line 256 of file registers.c.

Referenced by mixer_set_failsafe(), mixer_tick(), MixerTest::mixerTest(), registers_get(), and registers_set().

◆ r_page_servo_control_min

uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN }

PAGE 106.

minimum PWM values when armed

Definition at line 248 of file registers.c.

Referenced by mixer_set_failsafe(), mixer_tick(), MixerTest::mixerTest(), registers_get(), and registers_set().

◆ r_page_servo_control_trim

int16_t r_page_servo_control_trim[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM }

PAGE 108.

trim values for center position

Definition at line 264 of file registers.c.

Referenced by mixer_tick(), registers_get(), and registers_set().

◆ r_page_servo_disarmed

uint16_t r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 }

PAGE 109.

disarmed PWM values for difficult ESCs

Definition at line 272 of file registers.c.

Referenced by mixer_tick(), MixerTest::mixerTest(), registers_get(), and registers_set().

◆ r_page_servo_failsafe

uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 }

PAGE 105.

Failsafe servo PWM values

Disable pulses as default.

Definition at line 240 of file registers.c.

Referenced by mixer_set_failsafe(), mixer_tick(), registers_get(), and registers_set().

◆ r_page_servos

uint16_t r_page_servos[PX4IO_SERVO_COUNT]

PAGE 3.

Servo PWM values

Definition at line 108 of file registers.c.

Referenced by mixer_tick(), MixerTest::mixerTest(), and registers_get().

◆ r_page_setup

volatile uint16_t r_page_setup[]

PAGE 100.

Setup registers

Definition at line 155 of file registers.c.

Referenced by calculate_fw_crc(), isr_debug(), registers_get(), registers_set_one(), and user_start().

◆ r_page_status

volatile uint16_t r_page_status[]

Initial value:

= {
    [PX4IO_P_STATUS_FREEMEM]        = 0,
    [PX4IO_P_STATUS_CPULOAD]        = 0,
    [PX4IO_P_STATUS_FLAGS]          = 0,
    [PX4IO_P_STATUS_ALARMS]         = 0,
    [PX4IO_P_STATUS_VSERVO]         = 0,
    [PX4IO_P_STATUS_VRSSI]          = 0,
    [PX4IO_P_STATUS_PRSSI]          = 0,
    [PX4IO_P_STATUS_MIXER]          = 0,
}

PAGE 1.

Status values.

Definition at line 85 of file registers.c.

Referenced by registers_get(), update_mem_usage(), and user_start().

◆ update_mc_thrust_param

bool update_mc_thrust_param

Definition at line 60 of file registers.c.

Referenced by mixer_handle_text(), mixer_set_failsafe(), mixer_tick(), and registers_set_one().

◆ update_trims

bool update_trims

Definition at line 61 of file registers.c.

Referenced by mixer_handle_text(), mixer_tick(), and registers_set().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ PX4IO_P_RC_CONFIG_OPTIONS_VALID

◆ PX4IO_P_SETUP_ARMING_VALID

◆ PX4IO_P_SETUP_FEATURES_VALID

◆ PX4IO_P_SETUP_RATES_VALID

◆ PX4IO_P_SETUP_RELAYS_VALID

◆ SELECT_PAGE

Function Documentation

◆ pwm_configure_rates()

◆ registers_get()

◆ registers_set()

◆ registers_set_one()

Variable Documentation

◆ last_offset

◆ last_page

◆ r_page_actuators

◆ r_page_config

◆ r_page_controls

◆ r_page_direct_pwm

◆ r_page_raw_rc_input

◆ r_page_rc_input

◆ r_page_rc_input_config

◆ r_page_scratch

◆ r_page_servo_control_max

◆ r_page_servo_control_min

◆ r_page_servo_control_trim

◆ r_page_servo_disarmed

◆ r_page_servo_failsafe

◆ r_page_servos

◆ r_page_setup

◆ r_page_status

◆ update_mc_thrust_param

◆ update_trims