PX4IO interface protocol. More...

#include <inttypes.h>

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Data Structures
struct	IOPacket

Macros
#define	REG_TO_SIGNED(_reg) ((int16_t)(_reg))

#define	SIGNED_TO_REG(_signed) ((uint16_t)(_signed))

#define	REG_TO_BOOL(_reg) ((bool)(_reg))

#define	PX4IO_PROTOCOL_VERSION 5

#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.

#define	PX4IO_PAGE_CONFIG 0

#define	PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */

#define	PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */

#define	PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */

#define	PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */

#define	PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */

#define	PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */

#define	PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */

#define	PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */

#define	PX4IO_MAX_TRANSFER_LEN 64

#define	PX4IO_PAGE_STATUS 1

#define	PX4IO_P_STATUS_FREEMEM 0

#define	PX4IO_P_STATUS_CPULOAD 1

#define	PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */

#define	PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */

#define	PX4IO_P_STATUS_FLAGS_RC_OK (1 << 1) /* RC input is valid */

#define	PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 2) /* PPM input is valid */

#define	PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 3) /* DSM input is valid */

#define	PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 4) /* SBUS input is valid */

#define	PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 5) /* controls from FMU are valid */

#define	PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 6) /* raw PWM from FMU */

#define	PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 7) /* the arming state between IO and FMU is in sync */

#define	PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 8) /* initialisation of the IO completed without error */

#define	PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 9) /* failsafe is active */

#define	PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 10) /* safety is off */

#define	PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 11) /* FMU was initialized and OK once */

#define	PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 12) /* ST24 input is valid */

#define	PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 13) /* SUMD input is valid */

#define	PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT (1 << 14) /* px4io safety button was pressed for longer than 1 second */

#define	PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */

#define	PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 0) /* timed out waiting for RC input */

#define	PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 1) /* PWM configuration or output was bad */

#define	PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */

#define	PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */

#define	PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */

#define	PX4IO_PAGE_RAW_RC_INPUT 4

#define	PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */

#define	PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */

#define	PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */

#define	PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */

#define	PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */

#define	PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */

#define	PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */

#define	PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */

#define	PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */

#define	PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */

#define	PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */

#define	PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */

#define	PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */

#define	PX4IO_PAGE_PWM_INFO 7

#define	PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */

#define	PX4IO_PAGE_SETUP 50

#define	PX4IO_P_SETUP_FEATURES 0

#define	PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0)
	enable S.Bus v1 output

#define	PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1)
	enable S.Bus v2 output

#define	PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 2)
	enable ADC RSSI parsing

#define	PX4IO_P_SETUP_ARMING 1 /* arming controls */

#define	PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */

#define	PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */

#define	PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */

#define	PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values */

#define	PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 4) /* If set, the system operates normally, but won't actuate any servos */

#define	PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 5) /* If set, the system will always output the failsafe values */

#define	PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 6) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */

#define	PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */

#define	PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */

#define	PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */

#define	PX4IO_P_SETUP_VSERVO_SCALE 5 /* hardware rev [2] servo voltage correction factor (float) */

#define	PX4IO_P_SETUP_DSM 6 /* DSM bind state */

#define	PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */

#define	PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */

#define	PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */

#define	PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */

#define	PX4IO_P_SETUP_SAFETY_BUTTON_ACK 14
	ACK from FMU when it gets safety button pressed status.

#define	PX4IO_P_SETUP_SAFETY_OFF 15
	FMU inform PX4IO about safety_off for LED indication.

#define	PX4IO_P_SETUP_SBUS_RATE 16
	frame rate of SBUS1 output in Hz

#define	PX4IO_P_SETUP_THERMAL 17
	thermal management

#define	PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 18
	flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set

#define	PX4IO_P_SETUP_PWM_RATE_GROUP0 19 /* Configure timer group 0 update rate in Hz */

#define	PX4IO_P_SETUP_PWM_RATE_GROUP1 20 /* Configure timer group 1 update rate in Hz */

#define	PX4IO_P_SETUP_PWM_RATE_GROUP2 21 /* Configure timer group 2 update rate in Hz */

#define	PX4IO_P_SETUP_PWM_RATE_GROUP3 22 /* Configure timer group 3 update rate in Hz */

#define	PX4IO_THERMAL_IGNORE UINT16_MAX

#define	PX4IO_THERMAL_OFF 0

#define	PX4IO_THERMAL_FULL 10000

#define	PX4IO_PAGE_DIRECT_PWM 54
	0..CONFIG_ACTUATOR_COUNT-1

#define	PX4IO_PAGE_FAILSAFE_PWM 55
	0..CONFIG_ACTUATOR_COUNT-1

#define	PX4IO_PAGE_TEST 127

#define	PX4IO_P_TEST_LED 0
	set the amber LED on/off

#define	PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */

#define	PKT_MAX_REGS 32
	Serial protocol encapsulation.

#define	PKT_CODE_READ 0x00 /* FMU->IO read transaction */

#define	PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */

#define	PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */

#define	PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */

#define	PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */

#define	PKT_CODE_MASK 0xc0

#define	PKT_COUNT_MASK 0x3f

#define	PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)

#define	PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)

#define	PKT_SIZE(_p) ((size_t)((uint8_t )&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t )&(_p))))

Enumerations
enum	{ dsm_bind_power_down = 0 , dsm_bind_power_up , dsm_bind_set_rx_out , dsm_bind_send_pulses , dsm_bind_reinit_uart }

Functions
static uint8_t	crc_packet (struct IOPacket *pkt)

Variables
static const uint8_t	crc8_tab [256]

Detailed Description

PX4IO interface protocol.

Communication is performed via writes to and reads from 16-bit virtual registers organised into pages of 255 registers each.

The first two bytes of each write select a page and offset address respectively. Subsequent reads and writes increment the offset within the page.

Some pages are read- or write-only.

Note that some pages may permit offset values greater than 255, which can only be achieved by long writes. The offset does not wrap.

Writes to unimplemented registers are ignored. Reads from unimplemented registers return undefined values.

As convention, values that would be floating point in other parts of the PX4 system are expressed as signed integer values scaled by 10000, e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and SIGNED_TO_REG macros to convert between register representation and the signed version.

Note that the implementation of readable pages prefers registers within readable pages to be densely packed. Page numbers do not need to be packed.

Definitions marked [1] are only valid on PX4IOv1 boards. Likewise, [2] denotes definitions specific to the PX4IOv2 board.

Definition in file protocol.h.

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]

Macro Definition Documentation

◆ PKT_CODE

#define PKT_CODE ( _p ) ((_p).count_code & PKT_CODE_MASK)

Definition at line 242 of file protocol.h.

◆ PKT_CODE_CORRUPT

#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */

Definition at line 235 of file protocol.h.

◆ PKT_CODE_ERROR

#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */

Definition at line 236 of file protocol.h.

◆ PKT_CODE_MASK

#define PKT_CODE_MASK 0xc0

Definition at line 238 of file protocol.h.

◆ PKT_CODE_READ

#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */

Definition at line 232 of file protocol.h.

◆ PKT_CODE_SUCCESS

#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */

Definition at line 234 of file protocol.h.

◆ PKT_CODE_WRITE

#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */

Definition at line 233 of file protocol.h.

◆ PKT_COUNT

#define PKT_COUNT ( _p ) ((_p).count_code & PKT_COUNT_MASK)

Definition at line 241 of file protocol.h.

◆ PKT_COUNT_MASK

#define PKT_COUNT_MASK 0x3f

Definition at line 239 of file protocol.h.

◆ PKT_MAX_REGS

#define PKT_MAX_REGS 32

Serial protocol encapsulation.

Definition at line 216 of file protocol.h.

◆ PKT_SIZE

#define PKT_SIZE ( _p ) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))))

Definition at line 243 of file protocol.h.

◆ PX4IO_MAX_TRANSFER_LEN

#define PX4IO_MAX_TRANSFER_LEN 64

Definition at line 93 of file protocol.h.

◆ PX4IO_P_CONFIG_ACTUATOR_COUNT

#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */

Definition at line 90 of file protocol.h.

◆ PX4IO_P_CONFIG_ADC_INPUT_COUNT

#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */

Definition at line 92 of file protocol.h.

◆ PX4IO_P_CONFIG_BOOTLOADER_VERSION

#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */

Definition at line 87 of file protocol.h.

◆ PX4IO_P_CONFIG_CONTROL_COUNT

#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */

Definition at line 89 of file protocol.h.

◆ PX4IO_P_CONFIG_HARDWARE_VERSION

#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */

Definition at line 86 of file protocol.h.

◆ PX4IO_P_CONFIG_MAX_TRANSFER

#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */

Definition at line 88 of file protocol.h.

◆ PX4IO_P_CONFIG_PROTOCOL_VERSION

#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */

Definition at line 85 of file protocol.h.

◆ PX4IO_P_CONFIG_RC_INPUT_COUNT

#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */

Definition at line 91 of file protocol.h.

◆ PX4IO_P_RAW_FRAME_COUNT

#define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */

Definition at line 139 of file protocol.h.

◆ PX4IO_P_RAW_LOST_FRAME_COUNT

#define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */

Definition at line 140 of file protocol.h.

◆ PX4IO_P_RAW_RC_BASE

#define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */

Definition at line 141 of file protocol.h.

◆ PX4IO_P_RAW_RC_COUNT

#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */

Definition at line 129 of file protocol.h.

◆ PX4IO_P_RAW_RC_DATA

#define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */

Definition at line 138 of file protocol.h.

◆ PX4IO_P_RAW_RC_FLAGS

#define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */

Definition at line 130 of file protocol.h.

◆ PX4IO_P_RAW_RC_FLAGS_FAILSAFE

#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */

Definition at line 132 of file protocol.h.

◆ PX4IO_P_RAW_RC_FLAGS_FRAME_DROP

#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */

Definition at line 131 of file protocol.h.

◆ PX4IO_P_RAW_RC_FLAGS_MAPPING_OK

#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */

Definition at line 134 of file protocol.h.

◆ PX4IO_P_RAW_RC_FLAGS_RC_DSM11

#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */

Definition at line 133 of file protocol.h.

◆ PX4IO_P_RAW_RC_FLAGS_RC_OK

#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */

Definition at line 135 of file protocol.h.

◆ PX4IO_P_RAW_RC_NRSSI

#define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */

Definition at line 137 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING

#define PX4IO_P_SETUP_ARMING 1 /* arming controls */

Definition at line 157 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM

#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values */

Definition at line 161 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_FMU_ARMED

#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */

Definition at line 159 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_FMU_PREARMED

#define PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */

Definition at line 160 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE

#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 5) /* If set, the system will always output the failsafe values */

Definition at line 163 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_IO_ARM_OK

#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */

Definition at line 158 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_LOCKDOWN

#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 4) /* If set, the system operates normally, but won't actuate any servos */

Definition at line 162 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE

#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 6) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */

Definition at line 164 of file protocol.h.

◆ PX4IO_P_SETUP_CRC

#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */

Definition at line 184 of file protocol.h.

◆ PX4IO_P_SETUP_DSM

#define PX4IO_P_SETUP_DSM 6 /* DSM bind state */

Definition at line 170 of file protocol.h.

◆ PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION

#define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 18

flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set

Definition at line 190 of file protocol.h.

◆ PX4IO_P_SETUP_FEATURES

#define PX4IO_P_SETUP_FEATURES 0

Definition at line 152 of file protocol.h.

◆ PX4IO_P_SETUP_FEATURES_ADC_RSSI

#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 2)

enable ADC RSSI parsing

Definition at line 155 of file protocol.h.

◆ PX4IO_P_SETUP_FEATURES_SBUS1_OUT

#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0)

enable S.Bus v1 output

Definition at line 153 of file protocol.h.

◆ PX4IO_P_SETUP_FEATURES_SBUS2_OUT

#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1)

enable S.Bus v2 output

Definition at line 154 of file protocol.h.

◆ PX4IO_P_SETUP_PWM_ALTRATE

#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */

Definition at line 168 of file protocol.h.

◆ PX4IO_P_SETUP_PWM_DEFAULTRATE

#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */

Definition at line 167 of file protocol.h.

◆ PX4IO_P_SETUP_PWM_RATE_GROUP0

#define PX4IO_P_SETUP_PWM_RATE_GROUP0 19 /* Configure timer group 0 update rate in Hz */

Definition at line 191 of file protocol.h.

◆ PX4IO_P_SETUP_PWM_RATE_GROUP1

#define PX4IO_P_SETUP_PWM_RATE_GROUP1 20 /* Configure timer group 1 update rate in Hz */

Definition at line 192 of file protocol.h.

◆ PX4IO_P_SETUP_PWM_RATE_GROUP2

#define PX4IO_P_SETUP_PWM_RATE_GROUP2 21 /* Configure timer group 2 update rate in Hz */

Definition at line 193 of file protocol.h.

◆ PX4IO_P_SETUP_PWM_RATE_GROUP3

#define PX4IO_P_SETUP_PWM_RATE_GROUP3 22 /* Configure timer group 3 update rate in Hz */

Definition at line 194 of file protocol.h.

◆ PX4IO_P_SETUP_PWM_RATES

#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */

Definition at line 166 of file protocol.h.

◆ PX4IO_P_SETUP_REBOOT_BL

#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */

Definition at line 181 of file protocol.h.

◆ PX4IO_P_SETUP_SAFETY_BUTTON_ACK

#define PX4IO_P_SETUP_SAFETY_BUTTON_ACK 14

ACK from FMU when it gets safety button pressed status.

Definition at line 186 of file protocol.h.

◆ PX4IO_P_SETUP_SAFETY_OFF

#define PX4IO_P_SETUP_SAFETY_OFF 15

FMU inform PX4IO about safety_off for LED indication.

Definition at line 187 of file protocol.h.

◆ PX4IO_P_SETUP_SBUS_RATE

#define PX4IO_P_SETUP_SBUS_RATE 16

frame rate of SBUS1 output in Hz

Definition at line 188 of file protocol.h.

◆ PX4IO_P_SETUP_SET_DEBUG

#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */

Definition at line 179 of file protocol.h.

◆ PX4IO_P_SETUP_THERMAL

#define PX4IO_P_SETUP_THERMAL 17

thermal management

Definition at line 189 of file protocol.h.

◆ PX4IO_P_SETUP_VSERVO_SCALE

#define PX4IO_P_SETUP_VSERVO_SCALE 5 /* hardware rev [2] servo voltage correction factor (float) */

Definition at line 169 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS

#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */

Definition at line 117 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_PWM_ERROR

#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 1) /* PWM configuration or output was bad */

Definition at line 119 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_RC_LOST

#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 0) /* timed out waiting for RC input */

Definition at line 118 of file protocol.h.

◆ PX4IO_P_STATUS_CPULOAD

#define PX4IO_P_STATUS_CPULOAD 1

Definition at line 98 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS

#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */

Definition at line 100 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_ARM_SYNC

#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 7) /* the arming state between IO and FMU is in sync */

Definition at line 108 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_FAILSAFE

#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 9) /* failsafe is active */

Definition at line 110 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED

#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 11) /* FMU was initialized and OK once */

Definition at line 112 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_FMU_OK

#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 5) /* controls from FMU are valid */

Definition at line 106 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_INIT_OK

#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 8) /* initialisation of the IO completed without error */

Definition at line 109 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED

#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */

Definition at line 101 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RAW_PWM

#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 6) /* raw PWM from FMU */

Definition at line 107 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_DSM

#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 3) /* DSM input is valid */

Definition at line 104 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_OK

#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 1) /* RC input is valid */

Definition at line 102 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_PPM

#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 2) /* PPM input is valid */

Definition at line 103 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_SBUS

#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 4) /* SBUS input is valid */

Definition at line 105 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_ST24

#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 12) /* ST24 input is valid */

Definition at line 113 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_SUMD

#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 13) /* SUMD input is valid */

Definition at line 114 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT

#define PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT (1 << 14) /* px4io safety button was pressed for longer than 1 second */

Definition at line 115 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_SAFETY_OFF

#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 10) /* safety is off */

Definition at line 111 of file protocol.h.

◆ PX4IO_P_STATUS_FREEMEM

#define PX4IO_P_STATUS_FREEMEM 0

Definition at line 97 of file protocol.h.

◆ PX4IO_P_STATUS_VRSSI

#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */

Definition at line 122 of file protocol.h.

◆ PX4IO_P_STATUS_VSERVO

#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */

Definition at line 121 of file protocol.h.

◆ PX4IO_P_TEST_LED

#define PX4IO_P_TEST_LED 0

set the amber LED on/off

Definition at line 208 of file protocol.h.

◆ PX4IO_PAGE_CONFIG

#define PX4IO_PAGE_CONFIG 0

Definition at line 84 of file protocol.h.

◆ PX4IO_PAGE_DIRECT_PWM

#define PX4IO_PAGE_DIRECT_PWM 54

0..CONFIG_ACTUATOR_COUNT-1

Definition at line 201 of file protocol.h.

◆ PX4IO_PAGE_DISARMED_PWM

#define PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */

Definition at line 211 of file protocol.h.

◆ PX4IO_PAGE_FAILSAFE_PWM

#define PX4IO_PAGE_FAILSAFE_PWM 55

0..CONFIG_ACTUATOR_COUNT-1

Definition at line 204 of file protocol.h.

◆ PX4IO_PAGE_PWM_INFO

#define PX4IO_PAGE_PWM_INFO 7

Definition at line 147 of file protocol.h.

◆ PX4IO_PAGE_RAW_ADC_INPUT

#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */

Definition at line 144 of file protocol.h.

◆ PX4IO_PAGE_RAW_RC_INPUT

#define PX4IO_PAGE_RAW_RC_INPUT 4

Definition at line 128 of file protocol.h.

◆ PX4IO_PAGE_SERVOS

#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */

Definition at line 125 of file protocol.h.

◆ PX4IO_PAGE_SETUP

#define PX4IO_PAGE_SETUP 50

Definition at line 151 of file protocol.h.

◆ PX4IO_PAGE_STATUS

#define PX4IO_PAGE_STATUS 1

Definition at line 96 of file protocol.h.

◆ PX4IO_PAGE_TEST

#define PX4IO_PAGE_TEST 127

Definition at line 207 of file protocol.h.

◆ PX4IO_PROTOCOL_MAX_CONTROL_COUNT

#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.

Definition at line 81 of file protocol.h.

◆ PX4IO_PROTOCOL_VERSION

#define PX4IO_PROTOCOL_VERSION 5

Definition at line 78 of file protocol.h.

◆ PX4IO_RATE_MAP_BASE

#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */

Definition at line 148 of file protocol.h.

◆ PX4IO_REBOOT_BL_MAGIC

#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */

Definition at line 182 of file protocol.h.

◆ PX4IO_THERMAL_FULL

#define PX4IO_THERMAL_FULL 10000

Definition at line 198 of file protocol.h.

◆ PX4IO_THERMAL_IGNORE

#define PX4IO_THERMAL_IGNORE UINT16_MAX

Definition at line 196 of file protocol.h.

◆ PX4IO_THERMAL_OFF

#define PX4IO_THERMAL_OFF 0

Definition at line 197 of file protocol.h.

◆ REG_TO_BOOL

#define REG_TO_BOOL ( _reg ) ((bool)(_reg))

Definition at line 76 of file protocol.h.

◆ REG_TO_SIGNED

#define REG_TO_SIGNED ( _reg ) ((int16_t)(_reg))

Definition at line 73 of file protocol.h.

◆ SIGNED_TO_REG

#define SIGNED_TO_REG ( _signed ) ((uint16_t)(_signed))

Definition at line 74 of file protocol.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
dsm_bind_power_down
dsm_bind_power_up
dsm_bind_set_rx_out
dsm_bind_send_pulses
dsm_bind_reinit_uart

Definition at line 171 of file protocol.h.

Function Documentation

◆ crc_packet()

static uint8_t crc_packet ( struct IOPacket * pkt )

static

Definition at line 282 of file protocol.h.

References crc8_tab, foo, p, and PKT_COUNT.

Referenced by px4flash_event().

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Variable Documentation

◆ crc8_tab

const uint8_t crc8_tab[256]