Driver to communicate with the ardupilot IO MCU. More...

#include "iomcu.h"
#include "mcu_periph/uart.h"
#include <string.h>

Include dependency graph for iomcu.c:

Data Structures
struct	IOPacket

struct	page_config

struct	page_reg_status

struct	page_rc_input

struct	page_mixing

struct	page_GPIO

Macros
#define	PKT_MAX_REGS 22

#define	IOMCU_MAX_CHANNELS 16

#define	PAGE_REG_SETUP_FEATURES 0

#define	P_SETUP_FEATURES_SBUS1_OUT 1

#define	P_SETUP_FEATURES_SBUS2_OUT 2

#define	P_SETUP_FEATURES_PWM_RSSI 4

#define	P_SETUP_FEATURES_ADC_RSSI 8

#define	P_SETUP_FEATURES_ONESHOT 16

#define	P_SETUP_FEATURES_BRUSHED 32

#define	PAGE_REG_SETUP_ARMING 1

#define	P_SETUP_ARMING_IO_ARM_OK (1<<0)

#define	P_SETUP_ARMING_FMU_ARMED (1<<1)

#define	P_SETUP_ARMING_RC_HANDLING_DISABLED (1<<6)

#define	P_SETUP_ARMING_SAFETY_DISABLE_ON (1 << 11)

#define	P_SETUP_ARMING_SAFETY_DISABLE_OFF (1 << 12)

#define	PAGE_REG_SETUP_PWM_RATE_MASK 2

#define	PAGE_REG_SETUP_DEFAULTRATE 3

#define	PAGE_REG_SETUP_ALTRATE 4

#define	PAGE_REG_SETUP_REBOOT_BL 10

#define	PAGE_REG_SETUP_CRC 11

#define	PAGE_REG_SETUP_SBUS_RATE 19

#define	PAGE_REG_SETUP_IGNORE_SAFETY 20 /* bitmask of surfaces to ignore the safety status */

#define	PAGE_REG_SETUP_HEATER_DUTY_CYCLE 21

#define	PAGE_REG_SETUP_DSM_BIND 22

#define	PAGE_REG_SETUP_RC_PROTOCOLS 23

#define	PAGE_CONFIG_PROTOCOL_VERSION 0

#define	PAGE_CONFIG_PROTOCOL_VERSION2 1

#define	IOMCU_PROTOCOL_VERSION 4

#define	IOMCU_PROTOCOL_VERSION2 10

#define	REBOOT_BL_MAGIC 14662

#define	PAGE_REG_SETUP_FORCE_SAFETY_OFF 12

#define	PAGE_REG_SETUP_FORCE_SAFETY_ON 14

#define	FORCE_SAFETY_MAGIC 22027

Enumerations
enum	iocode { CODE_READ = 0 , CODE_WRITE = 1 , CODE_SUCCESS = 0 , CODE_CORRUPT = 1 , CODE_ERROR = 2 }

enum	iopage { PAGE_CONFIG = 0 , PAGE_STATUS = 1 , PAGE_ACTUATORS = 2 , PAGE_SERVOS = 3 , PAGE_RAW_RCIN = 4 , PAGE_RCIN = 5 , PAGE_RAW_ADC = 6 , PAGE_PWM_INFO = 7 , PAGE_SETUP = 50 , PAGE_DIRECT_PWM = 54 , PAGE_FAILSAFE_PWM = 55 , PAGE_MIXING = 200 , PAGE_GPIO = 201 }

Functions
static uint8_t	crc_crc8 (const uint8_t *p, uint8_t len)

static void	iomcu_write_registers (uint8_t page, uint8_t offset, uint8_t count, const uint16_t *regs)
	Write registers to the IO MCU.

static void	iomcu_write_register (uint8_t page, uint8_t offset, uint16_t v)
	Write a single register to the IO MCU.

void	iomcu_set_heater_duty_cycle (uint8_t duty_cycle)
	Set the IO MCU heater duty cycle.

Variables
static const uint8_t	crc8_table []

Detailed Description

Driver to communicate with the ardupilot IO MCU.

Definition in file iomcu.c.

Data Structure Documentation

◆ IOPacket

struct IOPacket

Definition at line 35 of file iomcu.c.

Data Fields
uint8_t	code: 2
uint8_t	count: 6
uint8_t	count_code
uint8_t	crc
uint8_t	offset
uint8_t	page
uint16_t	regs[PKT_MAX_REGS]

◆ page_config

struct page_config

Definition at line 115 of file iomcu.c.

Data Fields
uint16_t	protocol_version
uint16_t	protocol_version2

◆ page_reg_status

struct page_reg_status

Definition at line 120 of file iomcu.c.

Data Fields
uint8_t	err_bad_opcode
uint8_t	err_crc
uint8_t	err_read
uint8_t	err_uart
uint8_t	err_write
uint8_t	flag_safety_off
uint16_t	freemem
uint32_t	num_errors
uint32_t	timestamp_ms
uint32_t	total_pkts
uint16_t	vrssi
uint16_t	vservo

◆ page_rc_input

struct page_rc_input

Definition at line 135 of file iomcu.c.

Data Fields
uint8_t	count
uint8_t	flags_failsafe: 1
uint8_t	flags_rc_ok: 1
uint16_t	pwm[IOMCU_MAX_CHANNELS]
uint8_t	rc_protocol
int16_t	rssi

◆ page_mixing

struct page_mixing

Definition at line 147 of file iomcu.c.

Data Fields
uint8_t	enabled
uint16_t	manual_rc_mask
uint16_t	mixing_gain
uint8_t	pad
int8_t	rc_chan_override
uint8_t	rc_channel[4]
uint16_t	rc_max[4]
uint16_t	rc_min[4]
uint8_t	rc_reversed[IOMCU_MAX_CHANNELS]
uint16_t	rc_trim[4]
uint8_t	servo_function[IOMCU_MAX_CHANNELS]
uint16_t	servo_max[IOMCU_MAX_CHANNELS]
uint16_t	servo_min[IOMCU_MAX_CHANNELS]
uint8_t	servo_reversed[IOMCU_MAX_CHANNELS]
uint16_t	servo_trim[IOMCU_MAX_CHANNELS]
uint8_t	throttle_is_angle

◆ page_GPIO

struct page_GPIO

Definition at line 179 of file iomcu.c.

Data Fields
uint8_t	channel_mask
uint8_t	output_mask

Macro Definition Documentation

◆ FORCE_SAFETY_MAGIC

#define FORCE_SAFETY_MAGIC 22027

Definition at line 113 of file iomcu.c.

◆ IOMCU_MAX_CHANNELS

#define IOMCU_MAX_CHANNELS 16

Definition at line 33 of file iomcu.c.

◆ IOMCU_PROTOCOL_VERSION

#define IOMCU_PROTOCOL_VERSION 4

Definition at line 105 of file iomcu.c.

◆ IOMCU_PROTOCOL_VERSION2

#define IOMCU_PROTOCOL_VERSION2 10

Definition at line 106 of file iomcu.c.

◆ P_SETUP_ARMING_FMU_ARMED

#define P_SETUP_ARMING_FMU_ARMED (1<<1)

Definition at line 86 of file iomcu.c.

◆ P_SETUP_ARMING_IO_ARM_OK

#define P_SETUP_ARMING_IO_ARM_OK (1<<0)

Definition at line 85 of file iomcu.c.

◆ P_SETUP_ARMING_RC_HANDLING_DISABLED

#define P_SETUP_ARMING_RC_HANDLING_DISABLED (1<<6)

Definition at line 87 of file iomcu.c.

◆ P_SETUP_ARMING_SAFETY_DISABLE_OFF

#define P_SETUP_ARMING_SAFETY_DISABLE_OFF (1 << 12)

Definition at line 89 of file iomcu.c.

◆ P_SETUP_ARMING_SAFETY_DISABLE_ON

#define P_SETUP_ARMING_SAFETY_DISABLE_ON (1 << 11)

Definition at line 88 of file iomcu.c.

◆ P_SETUP_FEATURES_ADC_RSSI

#define P_SETUP_FEATURES_ADC_RSSI 8

Definition at line 80 of file iomcu.c.

◆ P_SETUP_FEATURES_BRUSHED

#define P_SETUP_FEATURES_BRUSHED 32

Definition at line 82 of file iomcu.c.

◆ P_SETUP_FEATURES_ONESHOT

#define P_SETUP_FEATURES_ONESHOT 16

Definition at line 81 of file iomcu.c.

◆ P_SETUP_FEATURES_PWM_RSSI

#define P_SETUP_FEATURES_PWM_RSSI 4

Definition at line 79 of file iomcu.c.

◆ P_SETUP_FEATURES_SBUS1_OUT

#define P_SETUP_FEATURES_SBUS1_OUT 1

Definition at line 77 of file iomcu.c.

◆ P_SETUP_FEATURES_SBUS2_OUT

#define P_SETUP_FEATURES_SBUS2_OUT 2

Definition at line 78 of file iomcu.c.

◆ PAGE_CONFIG_PROTOCOL_VERSION

#define PAGE_CONFIG_PROTOCOL_VERSION 0

Definition at line 103 of file iomcu.c.

◆ PAGE_CONFIG_PROTOCOL_VERSION2

#define PAGE_CONFIG_PROTOCOL_VERSION2 1

Definition at line 104 of file iomcu.c.

◆ PAGE_REG_SETUP_ALTRATE

#define PAGE_REG_SETUP_ALTRATE 4

Definition at line 93 of file iomcu.c.

◆ PAGE_REG_SETUP_ARMING

#define PAGE_REG_SETUP_ARMING 1

Definition at line 84 of file iomcu.c.

◆ PAGE_REG_SETUP_CRC

#define PAGE_REG_SETUP_CRC 11

Definition at line 95 of file iomcu.c.

◆ PAGE_REG_SETUP_DEFAULTRATE

#define PAGE_REG_SETUP_DEFAULTRATE 3

Definition at line 92 of file iomcu.c.

◆ PAGE_REG_SETUP_DSM_BIND

#define PAGE_REG_SETUP_DSM_BIND 22

Definition at line 99 of file iomcu.c.

◆ PAGE_REG_SETUP_FEATURES

#define PAGE_REG_SETUP_FEATURES 0

Definition at line 76 of file iomcu.c.

◆ PAGE_REG_SETUP_FORCE_SAFETY_OFF

#define PAGE_REG_SETUP_FORCE_SAFETY_OFF 12

Definition at line 111 of file iomcu.c.

◆ PAGE_REG_SETUP_FORCE_SAFETY_ON

#define PAGE_REG_SETUP_FORCE_SAFETY_ON 14

Definition at line 112 of file iomcu.c.

◆ PAGE_REG_SETUP_HEATER_DUTY_CYCLE

#define PAGE_REG_SETUP_HEATER_DUTY_CYCLE 21

Definition at line 98 of file iomcu.c.

◆ PAGE_REG_SETUP_IGNORE_SAFETY

#define PAGE_REG_SETUP_IGNORE_SAFETY 20 /* bitmask of surfaces to ignore the safety status */

Definition at line 97 of file iomcu.c.

◆ PAGE_REG_SETUP_PWM_RATE_MASK

#define PAGE_REG_SETUP_PWM_RATE_MASK 2

Definition at line 91 of file iomcu.c.

◆ PAGE_REG_SETUP_RC_PROTOCOLS

#define PAGE_REG_SETUP_RC_PROTOCOLS 23

Definition at line 100 of file iomcu.c.

◆ PAGE_REG_SETUP_REBOOT_BL

#define PAGE_REG_SETUP_REBOOT_BL 10

Definition at line 94 of file iomcu.c.

◆ PAGE_REG_SETUP_SBUS_RATE

#define PAGE_REG_SETUP_SBUS_RATE 19

Definition at line 96 of file iomcu.c.

◆ PKT_MAX_REGS

#define PKT_MAX_REGS 22

Definition at line 32 of file iomcu.c.

◆ REBOOT_BL_MAGIC

#define REBOOT_BL_MAGIC 14662

Definition at line 109 of file iomcu.c.

Enumeration Type Documentation

◆ iocode

enum iocode

Enumerator
CODE_READ
CODE_WRITE
CODE_SUCCESS
CODE_CORRUPT
CODE_ERROR

Definition at line 47 of file iomcu.c.

◆ iopage

enum iopage

Enumerator
PAGE_CONFIG
PAGE_STATUS
PAGE_ACTUATORS
PAGE_SERVOS
PAGE_RAW_RCIN
PAGE_RCIN
PAGE_RAW_ADC
PAGE_PWM_INFO
PAGE_SETUP
PAGE_DIRECT_PWM
PAGE_FAILSAFE_PWM
PAGE_MIXING
PAGE_GPIO

Definition at line 59 of file iomcu.c.

Function Documentation

◆ crc_crc8()

static uint8_t crc_crc8	(	const uint8_t *	p,
		uint8_t	len
	)

static

Definition at line 212 of file iomcu.c.

References crc8_table, and p.

Referenced by iomcu_write_registers().

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◆ iomcu_set_heater_duty_cycle()

void iomcu_set_heater_duty_cycle ( uint8_t duty_cycle )

Set the IO MCU heater duty cycle.

External functions.

Parameters

duty_cycle The duty cycle to set the heater to [0-100%]

Definition at line 274 of file iomcu.c.

References foo, iomcu_write_register(), PAGE_REG_SETUP_HEATER_DUTY_CYCLE, and PAGE_SETUP.

Referenced by imu_heater_periodic_10hz().

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◆ iomcu_write_register()

static void iomcu_write_register	(	uint8_t	page,
		uint8_t	offset,
		uint16_t	v
	)

static

Write a single register to the IO MCU.

Parameters

page	The page of the register
offset	The offset on the page
v	The value to write to the single register

Definition at line 264 of file iomcu.c.

References iomcu_write_registers(), offset, and IOPacket::page.

Referenced by iomcu_set_heater_duty_cycle().

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◆ iomcu_write_registers()

static void iomcu_write_registers	(	uint8_t	page,
		uint8_t	offset,
		uint8_t	count,
		const uint16_t *	regs
	)

static

Write registers to the IO MCU.

Parameters

page	The page of the register
offset	The offset on the page
count	The amount of registers to write
regs	The register data

Definition at line 232 of file iomcu.c.

References IOPacket::code, CODE_WRITE, IOPacket::count, crc_crc8(), foo, iomcu_write_registers(), offset, IOPacket::page, PKT_MAX_REGS, and IOPacket::regs.

Referenced by iomcu_write_register(), and iomcu_write_registers().

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Variable Documentation

◆ crc8_table

const uint8_t crc8_table[]

static

Initial value:

= {
  0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
  0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
  0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
  0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
  0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
  0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
  0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
  0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
  0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
  0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
  0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
  0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
  0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
  0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
  0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
  0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
  0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
  0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
  0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
  0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
  0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
  0xfa, 0xfd, 0xf4, 0xf3
}

Definition at line 184 of file iomcu.c.

Referenced by crc_crc8().

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Data Structure Documentation

◆ IOPacket

◆ page_config

◆ page_reg_status

◆ page_rc_input

◆ page_mixing

◆ page_GPIO

Macro Definition Documentation

◆ FORCE_SAFETY_MAGIC

◆ IOMCU_MAX_CHANNELS

◆ IOMCU_PROTOCOL_VERSION

◆ IOMCU_PROTOCOL_VERSION2

◆ P_SETUP_ARMING_FMU_ARMED

◆ P_SETUP_ARMING_IO_ARM_OK

◆ P_SETUP_ARMING_RC_HANDLING_DISABLED

◆ P_SETUP_ARMING_SAFETY_DISABLE_OFF

◆ P_SETUP_ARMING_SAFETY_DISABLE_ON

◆ P_SETUP_FEATURES_ADC_RSSI

◆ P_SETUP_FEATURES_BRUSHED

◆ P_SETUP_FEATURES_ONESHOT

◆ P_SETUP_FEATURES_PWM_RSSI

◆ P_SETUP_FEATURES_SBUS1_OUT

◆ P_SETUP_FEATURES_SBUS2_OUT

◆ PAGE_CONFIG_PROTOCOL_VERSION

◆ PAGE_CONFIG_PROTOCOL_VERSION2

◆ PAGE_REG_SETUP_ALTRATE

◆ PAGE_REG_SETUP_ARMING

◆ PAGE_REG_SETUP_CRC

◆ PAGE_REG_SETUP_DEFAULTRATE

◆ PAGE_REG_SETUP_DSM_BIND

◆ PAGE_REG_SETUP_FEATURES

◆ PAGE_REG_SETUP_FORCE_SAFETY_OFF

◆ PAGE_REG_SETUP_FORCE_SAFETY_ON

◆ PAGE_REG_SETUP_HEATER_DUTY_CYCLE

◆ PAGE_REG_SETUP_IGNORE_SAFETY

◆ PAGE_REG_SETUP_PWM_RATE_MASK

◆ PAGE_REG_SETUP_RC_PROTOCOLS

◆ PAGE_REG_SETUP_REBOOT_BL

◆ PAGE_REG_SETUP_SBUS_RATE

◆ PKT_MAX_REGS

◆ REBOOT_BL_MAGIC

Enumeration Type Documentation

◆ iocode

◆ iopage

Function Documentation

◆ crc_crc8()

◆ iomcu_set_heater_duty_cycle()

◆ iomcu_write_register()

◆ iomcu_write_registers()

Variable Documentation

◆ crc8_table