protocol.h

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/****************************************************************************
 *
 *   Copyright (c) 2012-2014 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
 *    the documentation and/or other materials provided with the
 *    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
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#pragma once

#define __STDC_FORMAT_MACROS
#include "std.h"

/* Per C, this is safe for all 2's complement systems */
#define REG_TO_SIGNED(_reg) ((int16_t)(_reg))
#define SIGNED_TO_REG(_signed)  ((uint16_t)(_signed))

#define REG_TO_FLOAT(_reg)  ((float)REG_TO_SIGNED(_reg) / 10000.0f)
#define FLOAT_TO_REG(_float)  SIGNED_TO_REG((int16_t)((_float) * 10000.0f))

#define PX4IO_PROTOCOL_VERSION    4

/* maximum allowable sizes on this protocol version */
#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT  8 
/* static configuration page */
#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_P_CONFIG_RELAY_COUNT    8 /* hardcoded # of relay outputs */
#define PX4IO_P_CONFIG_CONTROL_GROUP_COUNT  8 
/* dynamic status page */
#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_OVERRIDE   (1 << 1) /* in manual override */
#define PX4IO_P_STATUS_FLAGS_RC_OK    (1 << 2) /* RC input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_PPM   (1 << 3) /* PPM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_DSM   (1 << 4) /* DSM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_SBUS    (1 << 5) /* SBUS input is valid */
#define PX4IO_P_STATUS_FLAGS_FMU_OK   (1 << 6) /* controls from FMU are valid */
#define PX4IO_P_STATUS_FLAGS_RAW_PWM    (1 << 7) /* raw PWM from FMU is bypassing the mixer */
#define PX4IO_P_STATUS_FLAGS_MIXER_OK   (1 << 8) /* mixer is OK */
#define PX4IO_P_STATUS_FLAGS_ARM_SYNC   (1 << 9) /* the arming state between IO and FMU is in sync */
#define PX4IO_P_STATUS_FLAGS_INIT_OK    (1 << 10) /* initialisation of the IO completed without error */
#define PX4IO_P_STATUS_FLAGS_FAILSAFE   (1 << 11) /* failsafe is active */
#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF   (1 << 12) /* safety is off */
#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED  (1 << 13) /* FMU was initialized and OK once */
#define PX4IO_P_STATUS_FLAGS_RC_ST24    (1 << 14) /* ST24 input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_SUMD    (1 << 15) /* SUMD input is valid */

#define PX4IO_P_STATUS_ALARMS     3  /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW   (1 << 0) /* [1] VBatt is very close to regulator dropout */
#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */
#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_FMU_LOST    (1 << 4) /* timed out waiting for controls from FMU */
#define PX4IO_P_STATUS_ALARMS_RC_LOST   (1 << 5) /* timed out waiting for RC input */
#define PX4IO_P_STATUS_ALARMS_PWM_ERROR   (1 << 6) /* PWM configuration or output was bad */
#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT  (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */

#define PX4IO_P_STATUS_VBATT      4 /* [1] battery voltage in mV */
#define PX4IO_P_STATUS_IBATT      5 /* [1] battery current (raw ADC) */
#define PX4IO_P_STATUS_VSERVO     6 /* [2] servo rail voltage in mV */
#define PX4IO_P_STATUS_VRSSI      7 /* [2] RSSI voltage */
#define PX4IO_P_STATUS_PRSSI      8 /* [2] RSSI PWM value */

#define PX4IO_P_STATUS_MIXER      9  /* mixer actuator limit flags */
#define PX4IO_P_STATUS_MIXER_LOWER_LIMIT    (1 << 0) 
#define PX4IO_P_STATUS_MIXER_UPPER_LIMIT    (1 << 1) 
#define PX4IO_P_STATUS_MIXER_YAW_LIMIT      (1 << 2) 
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS    2   /* 0..CONFIG_ACTUATOR_COUNT-1 */

/* array of PWM servo output values, microseconds */
#define PX4IO_PAGE_SERVOS   3   /* 0..CONFIG_ACTUATOR_COUNT-1 */

/* array of raw RC input values, microseconds */
#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 */

/* array of scaled RC input values, -10000..10000 */
#define PX4IO_PAGE_RC_INPUT   5
#define PX4IO_P_RC_VALID      0 /* bitmask of valid controls */
#define PX4IO_P_RC_BASE       1 /* CONFIG_RC_INPUT_COUNT controls from here */

/* array of raw ADC values */
#define PX4IO_PAGE_RAW_ADC_INPUT  6   /* 0..CONFIG_ADC_INPUT_COUNT-1 */

/* PWM servo information */
#define PX4IO_PAGE_PWM_INFO   7
#define PX4IO_RATE_MAP_BASE     0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */

/* setup page */
#define PX4IO_PAGE_SETUP    50
#define PX4IO_P_SETUP_FEATURES      0
#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT  (1 << 0) 
#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT  (1 << 1) 
#define PX4IO_P_SETUP_FEATURES_PWM_RSSI   (1 << 2) 
#define PX4IO_P_SETUP_FEATURES_ADC_RSSI   (1 << 3) 
#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_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM  (1 << 3) /* use custom failsafe values, not 0 values of mixer */
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE  (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */
#define PX4IO_P_SETUP_ARMING_LOCKDOWN   (1 << 7) /* If set, the system operates normally, but won't actuate any servos */
#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 10) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */

#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 */

#if defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
#define PX4IO_P_SETUP_RELAYS      5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_RELAYS_POWER1   (1<<0)  /* hardware rev [1] power relay 1 */
#define PX4IO_P_SETUP_RELAYS_POWER2   (1<<1)  /* hardware rev [1] power relay 2 */
#define PX4IO_P_SETUP_RELAYS_ACC1   (1<<2)  /* hardware rev [1] accessory power 1 */
#define PX4IO_P_SETUP_RELAYS_ACC2   (1<<3)  /* hardware rev [1] accessory power 2 */
#else
#define PX4IO_P_SETUP_RELAYS_PAD    5
#endif

#define PX4IO_P_SETUP_VBATT_SCALE   6 /* hardware rev [1] battery voltage correction factor (float) */
#define PX4IO_P_SETUP_VSERVO_SCALE    6 /* hardware rev [2] servo voltage correction factor (float) */
#define PX4IO_P_SETUP_DSM     7 /* DSM bind state */
enum {              /* DSM bind states */
  dsm_bind_power_down = 0,
  dsm_bind_power_up,
  dsm_bind_set_rx_out,
  dsm_bind_send_pulses,
  dsm_bind_reinit_uart
};
/* 8 */
#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 */
/* storage space of 12 occupied by CRC */
#define PX4IO_P_SETUP_FORCE_SAFETY_OFF    12  /* force safety switch into
                                                           'armed' (PWM enabled) state - this is a non-data write and
                                                           hence index 12 can safely be used. */
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US  13  
#define PX4IO_P_SETUP_FORCE_SAFETY_ON   14  /* force safety switch into 'disarmed' (PWM disabled state) */
#define PX4IO_FORCE_SAFETY_MAGIC    22027 /* required argument for force safety (random) */

#define PX4IO_P_SETUP_PWM_REVERSE   15  
#define PX4IO_P_SETUP_TRIM_ROLL     16  
#define PX4IO_P_SETUP_TRIM_PITCH    17  
#define PX4IO_P_SETUP_TRIM_YAW      18  
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS     51  
#define PX4IO_P_CONTROLS_GROUP_0    (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0)  
#define PX4IO_P_CONTROLS_GROUP_1    (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1)  
#define PX4IO_P_CONTROLS_GROUP_2    (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2)  
#define PX4IO_P_CONTROLS_GROUP_3    (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3)  
#define PX4IO_P_CONTROLS_GROUP_VALID    64
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) 
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) 
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) 
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) 
/* raw text load to the mixer parser - ignores offset */
#define PX4IO_PAGE_MIXERLOAD      52

/* R/C channel config */
#define PX4IO_PAGE_RC_CONFIG      53    
#define PX4IO_P_RC_CONFIG_MIN     0   
#define PX4IO_P_RC_CONFIG_CENTER    1   
#define PX4IO_P_RC_CONFIG_MAX     2   
#define PX4IO_P_RC_CONFIG_DEADZONE    3   
#define PX4IO_P_RC_CONFIG_ASSIGNMENT    4   
#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100   
#define PX4IO_P_RC_CONFIG_OPTIONS   5   
#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)
#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)
#define PX4IO_P_RC_CONFIG_STRIDE    6   
/* PWM output - overrides mixer */
#define PX4IO_PAGE_DIRECT_PWM     54    
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_FAILSAFE_PWM     55    
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_SENSORS      56    
#define PX4IO_P_SENSORS_ALTITUDE    0   
/* Debug and test page - not used in normal operation */
#define PX4IO_PAGE_TEST       127
#define PX4IO_P_TEST_LED      0   
/* PWM minimum values for certain ESCs */
#define PX4IO_PAGE_CONTROL_MIN_PWM    106   
/* PWM maximum values for certain ESCs */
#define PX4IO_PAGE_CONTROL_MAX_PWM    107   
/* PWM disarmed values that are active, even when SAFETY_SAFE */
#define PX4IO_PAGE_DISARMED_PWM   108     /* 0..CONFIG_ACTUATOR_COUNT-1 */

#pragma pack(push, 1)
struct px4io_mixdata {
  uint16_t  f2i_mixer_magic;
#define F2I_MIXER_MAGIC   0x6d74

  uint8_t   action;
#define F2I_MIXER_ACTION_RESET      0
#define F2I_MIXER_ACTION_APPEND     1

  char    text[0];  /* actual text size may vary */
};
#pragma pack(pop)

#define PKT_MAX_REGS  32 // by agreement w/FMU

#pragma pack(push, 1)
struct IOPacket {
  uint8_t   count_code;
  uint8_t   crc;
  uint8_t   page;
  uint8_t   offset;
  uint16_t  regs[PKT_MAX_REGS];
};
#pragma pack(pop)

#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))))

static const uint8_t crc8_tab[256] __attribute__((unused)) = {
  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
};

static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused));
static uint8_t
crc_packet(struct IOPacket *pkt)
{
  uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]);
  uint8_t *p = (uint8_t *)pkt;
  uint8_t c = 0;

  while (p < end) {
    c = crc8_tab[c ^ * (p++)];
  }

  return c;
}