registers.c File Reference

Implementation of the PX4IO register space. More...

#include <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"

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

Variables
bool	update_mc_thrust_param
bool	update_trims
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

Macro Definition Documentation

PX4IO_P_SETUP_ARMING_VALID

#define PX4IO_P_SETUP_ARMING_VALID

Value:

(PX4IO_P_SETUP_ARMING_FMU_ARMED | \
        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)

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)

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)

Variable Documentation

r_page_actuators

uint16_t r_page_actuators[PX4IO_SERVO_COUNT]

PAGE 2.

Post-mixed actuator values.

r_page_controls

uint16_t r_page_controls[PX4IO_CONTROL_GROUPS *PX4IO_CONTROL_CHANNELS]

PAGE 101.

Control values from the FMU.

r_page_direct_pwm

uint16_t r_page_direct_pwm[PX4IO_SERVO_COUNT]

PAGE 8.

RAW PWM values

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

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

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.

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.

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

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

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

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

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.

r_page_servos

uint16_t r_page_servos[PX4IO_SERVO_COUNT]

PAGE 3.

Servo PWM values

r_page_setup

volatile uint16_t r_page_setup[]

PAGE 100.

Setup registers

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.