px4io.h

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/****************************************************************************
 *
 *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
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 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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/**
 * @file px4io.h
 *
 * General defines and structures for the PX4IO module firmware.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

#pragma once

#include <px4_platform_common/px4_config.h>

#include <stdbool.h>
#include <stdint.h>

#include <board_config.h>

#include "protocol.h"

#include <output_limit/output_limit.h>

/*
 hotfix: we are critically short of memory in px4io and this is the
 easiest way to reclaim about 800 bytes.
 */
#define perf_alloc(a,b) NULL

/*
 * Constants and limits.
 */
#define PX4IO_BL_VERSION            3
#define PX4IO_SERVO_COUNT           8
#define PX4IO_CONTROL_CHANNELS      8
#define PX4IO_CONTROL_GROUPS        4
#define PX4IO_RC_INPUT_CHANNELS     18
#define PX4IO_RC_MAPPED_CONTROL_CHANNELS        8 /**< This is the maximum number of channels mapped/used */

/*
 * Debug logging
 */

#ifdef DEBUG
# include <debug.h>
# define debug(fmt, args...)    syslog(LOG_DEBUG,fmt "\n", ##args)
#else
# define debug(fmt, args...)    do {} while(0)
#endif

/*
 * Registers.
 */
extern volatile uint16_t    r_page_status[];    /* PX4IO_PAGE_STATUS */
extern uint16_t         r_page_actuators[]; /* PX4IO_PAGE_ACTUATORS */
extern uint16_t         r_page_servos[];    /* PX4IO_PAGE_SERVOS */
extern uint16_t         r_page_direct_pwm[];    /* PX4IO_PAGE_DIRECT_PWM */
extern uint16_t         r_page_raw_rc_input[];  /* PX4IO_PAGE_RAW_RC_INPUT */
extern uint16_t         r_page_rc_input[];  /* PX4IO_PAGE_RC_INPUT */
extern uint16_t         r_page_adc[];       /* PX4IO_PAGE_RAW_ADC_INPUT */

extern volatile uint16_t    r_page_setup[];     /* PX4IO_PAGE_SETUP */
extern uint16_t         r_page_controls[];  /* PX4IO_PAGE_CONTROLS */
extern uint16_t         r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
extern uint16_t         r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */
extern uint16_t         r_page_servo_control_min[]; /* PX4IO_PAGE_CONTROL_MIN_PWM */
extern uint16_t         r_page_servo_control_max[]; /* PX4IO_PAGE_CONTROL_MAX_PWM */
extern int16_t          r_page_servo_control_trim[]; /* PX4IO_PAGE_CONTROL_TRIM_PWM */
extern uint16_t         r_page_servo_disarmed[];    /* PX4IO_PAGE_DISARMED_PWM */

/*
 * Register aliases.
 *
 * Handy aliases for registers that are widely used.
 */
#define r_status_flags      r_page_status[PX4IO_P_STATUS_FLAGS]
#define r_status_alarms     r_page_status[PX4IO_P_STATUS_ALARMS]

#define r_raw_rc_count      r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT]
#define r_raw_rc_values     (&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE])
#define r_raw_rc_flags      r_page_raw_rc_input[PX4IO_P_RAW_RC_FLAGS]
#define r_rc_valid          r_page_rc_input[PX4IO_P_RC_VALID]
#define r_rc_values         (&r_page_rc_input[PX4IO_P_RC_BASE])
#define r_mixer_limits      r_page_status[PX4IO_P_STATUS_MIXER]

#define r_setup_features    r_page_setup[PX4IO_P_SETUP_FEATURES]
#define r_setup_arming      r_page_setup[PX4IO_P_SETUP_ARMING]
#define r_setup_pwm_rates   r_page_setup[PX4IO_P_SETUP_PWM_RATES]
#define r_setup_pwm_defaultrate r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE]
#define r_setup_pwm_altrate r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE]
#define r_setup_rc_thr_failsafe r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US]

#define r_setup_pwm_reverse r_page_setup[PX4IO_P_SETUP_PWM_REVERSE]

#define r_setup_trim_roll   r_page_setup[PX4IO_P_SETUP_TRIM_ROLL]
#define r_setup_trim_pitch  r_page_setup[PX4IO_P_SETUP_TRIM_PITCH]
#define r_setup_trim_yaw    r_page_setup[PX4IO_P_SETUP_TRIM_YAW]
#define r_setup_scale_roll  r_page_setup[PX4IO_P_SETUP_SCALE_ROLL]
#define r_setup_scale_pitch r_page_setup[PX4IO_P_SETUP_SCALE_PITCH]
#define r_setup_scale_yaw   r_page_setup[PX4IO_P_SETUP_SCALE_YAW]
#define r_setup_sbus_rate   r_page_setup[PX4IO_P_SETUP_SBUS_RATE]
#define r_setup_thr_fac     r_page_setup[PX4IO_P_SETUP_THR_MDL_FAC]
#define r_setup_slew_max    r_page_setup[PX4IO_P_SETUP_MOTOR_SLEW_MAX]
#define r_setup_airmode     r_page_setup[PX4IO_P_SETUP_AIRMODE]
#define r_setup_flighttermination   r_page_setup[PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION]

#define r_control_values    (&r_page_controls[0])

/*
 * System state structure.
 */
struct sys_state_s {

    volatile uint64_t   rc_channels_timestamp_received;
    volatile uint64_t   rc_channels_timestamp_valid;

    /**
     * Last FMU receive time, in microseconds since system boot
     */
    volatile uint64_t   fmu_data_received_time;

};

extern struct sys_state_s system_state;
extern float dt;
extern bool update_mc_thrust_param;
extern bool update_trims;

/*
 * PWM limit structure
 */
extern output_limit_t pwm_limit;

/*
 * GPIO handling.
 */
#define LED_BLUE(_s)            px4_arch_gpiowrite(GPIO_LED1, !(_s))
#define LED_AMBER(_s)           px4_arch_gpiowrite(GPIO_LED2, !(_s))
#define LED_SAFETY(_s)          px4_arch_gpiowrite(GPIO_LED3, !(_s))
#define LED_RING(_s)            px4_arch_gpiowrite(GPIO_LED4, (_s))


# define PX4IO_RELAY_CHANNELS       0
# define ENABLE_SBUS_OUT(_s)        px4_arch_gpiowrite(GPIO_SBUS_OENABLE, !(_s))

# define VDD_SERVO_FAULT        (!px4_arch_gpioread(GPIO_SERVO_FAULT_DETECT))

# define PX4IO_ADC_CHANNEL_COUNT    2
# define ADC_VSERVO         4
# define ADC_RSSI           5

#define BUTTON_SAFETY       px4_arch_gpioread(GPIO_BTN_SAFETY)

#define CONTROL_PAGE_INDEX(_group, _channel) (_group * PX4IO_CONTROL_CHANNELS + _channel)

#define PX4_CRITICAL_SECTION(cmd)   { irqstate_t flags = px4_enter_critical_section(); cmd; px4_leave_critical_section(flags); }

void atomic_modify_or(volatile uint16_t *target, uint16_t modification);
void atomic_modify_clear(volatile uint16_t *target, uint16_t modification);
void atomic_modify_and(volatile uint16_t *target, uint16_t modification);

/*
 * Mixer
 */
extern void mixer_tick(void);
extern int  mixer_handle_text_create_mixer(void);
extern int  mixer_handle_text(const void *buffer, size_t length);
/* Set the failsafe values of all mixed channels (based on zero throttle, controls centered) */
extern void mixer_set_failsafe(void);

/**
 * Safety switch/LED.
 */
extern void safety_init(void);
extern void failsafe_led_init(void);

/**
 * FMU communications
 */
extern void interface_init(void);
extern void interface_tick(void);

/**
 * Register space
 */
extern int  registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
extern int  registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values);

/**
 * Sensors/misc inputs
 */
extern int  adc_init(void);
extern uint16_t adc_measure(unsigned channel);

/**
 * R/C receiver handling.
 *
 * Input functions return true when they receive an update from the RC controller.
 */
extern void controls_init(void);
extern void controls_tick(void);

/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;

/** send a debug message to the console */
extern void isr_debug(uint8_t level, const char *fmt, ...);

/** schedule a reboot */
extern void schedule_reboot(uint32_t time_delta_usec);