#include "std.h"

Include dependency graph for protocol.h:

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Data Structures
struct	px4io_mixdata
	As-needed mixer data upload. More...

struct	IOPacket

Macros
#define	__STDC_FORMAT_MACROS

#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

#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. More...

#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
	hardcoded # of control groups More...

#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)
	at least one actuator output has reached lower limit More...

#define	PX4IO_P_STATUS_MIXER_UPPER_LIMIT (1 << 1)
	at least one actuator output has reached upper limit More...

#define	PX4IO_P_STATUS_MIXER_YAW_LIMIT (1 << 2)
	yaw control is limited because it causes output clipping More...

#define	PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */

#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_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 */

#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 More...

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

#define	PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2)
	enable PWM RSSI parsing More...

#define	PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3)
	enable ADC RSSI parsing More...

#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 */

#define	PX4IO_P_SETUP_RELAYS_PAD 5

#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 */

#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_FORCE_SAFETY_OFF

#define	PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13
	the throttle failsafe pulse length in microseconds More...

#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
	Bitmask to reverse PWM channels 1-8. More...

#define	PX4IO_P_SETUP_TRIM_ROLL 16
	Roll trim, in actuator units. More...

#define	PX4IO_P_SETUP_TRIM_PITCH 17
	Pitch trim, in actuator units. More...

#define	PX4IO_P_SETUP_TRIM_YAW 18
	Yaw trim, in actuator units. More...

#define	PX4IO_PAGE_CONTROLS 51
	actuator control groups, one after the other, 8 wide More...

#define	PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0)
	0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 More...

#define	PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1)
	0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 More...

#define	PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2)
	0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 More...

#define	PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3)
	0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 More...

#define	PX4IO_P_CONTROLS_GROUP_VALID 64

#define	PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0)
	group 0 is valid / received More...

#define	PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1)
	group 1 is valid / received More...

#define	PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2)
	group 2 is valid / received More...

#define	PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3)
	group 3 is valid / received More...

#define	PX4IO_PAGE_MIXERLOAD 52

#define	PX4IO_PAGE_RC_CONFIG 53
	R/C input configuration. More...

#define	PX4IO_P_RC_CONFIG_MIN 0
	lowest input value More...

#define	PX4IO_P_RC_CONFIG_CENTER 1
	center input value More...

#define	PX4IO_P_RC_CONFIG_MAX 2
	highest input value More...

#define	PX4IO_P_RC_CONFIG_DEADZONE 3
	band around center that is ignored More...

#define	PX4IO_P_RC_CONFIG_ASSIGNMENT 4
	mapped input value More...

#define	PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100
	magic value for mode switch More...

#define	PX4IO_P_RC_CONFIG_OPTIONS 5
	channel options bitmask More...

#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
	spacing between channel config data More...

#define	PX4IO_PAGE_DIRECT_PWM 54
	0..CONFIG_ACTUATOR_COUNT-1 More...

#define	PX4IO_PAGE_FAILSAFE_PWM 55
	0..CONFIG_ACTUATOR_COUNT-1 More...

#define	PX4IO_PAGE_SENSORS 56
	Sensors connected to PX4IO. More...

#define	PX4IO_P_SENSORS_ALTITUDE 0
	Altitude of an external sensor (HoTT or S.BUS2) More...

#define	PX4IO_PAGE_TEST 127

#define	PX4IO_P_TEST_LED 0
	set the amber LED on/off More...

#define	PX4IO_PAGE_CONTROL_MIN_PWM 106
	0..CONFIG_ACTUATOR_COUNT-1 More...

#define	PX4IO_PAGE_CONTROL_MAX_PWM 107
	0..CONFIG_ACTUATOR_COUNT-1 More...

#define	PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */

#define	F2I_MIXER_MAGIC 0x6d74

#define	F2I_MIXER_ACTION_RESET 0

#define	F2I_MIXER_ACTION_APPEND 1

#define	PKT_MAX_REGS 32
	Serial protocol encapsulation. More...

#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, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float.

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

◆ px4io_mixdata

struct px4io_mixdata

As-needed mixer data upload.

This message adds text to the mixer text buffer; the text buffer is drained as the definitions are consumed.

Definition at line 299 of file protocol.h.

Data Fields
uint8_t	action
uint16_t	f2i_mixer_magic
char	text[0]

◆ IOPacket

struct IOPacket

Definition at line 318 of file protocol.h.

Data Fields
uint8_t	count_code
uint8_t	crc
uint8_t	offset
uint8_t	page
uint16_t	regs[PKT_MAX_REGS]

Macro Definition Documentation

◆ __STDC_FORMAT_MACROS

#define __STDC_FORMAT_MACROS

Definition at line 36 of file protocol.h.

◆ F2I_MIXER_ACTION_APPEND

#define F2I_MIXER_ACTION_APPEND 1

Definition at line 305 of file protocol.h.

◆ F2I_MIXER_ACTION_RESET

#define F2I_MIXER_ACTION_RESET 0

Definition at line 304 of file protocol.h.

◆ F2I_MIXER_MAGIC

#define F2I_MIXER_MAGIC 0x6d74

Definition at line 301 of file protocol.h.

◆ FLOAT_TO_REG

#define FLOAT_TO_REG ( _float ) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))

Definition at line 78 of file protocol.h.

◆ PKT_CODE

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

Definition at line 337 of file protocol.h.

◆ PKT_CODE_CORRUPT

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

Definition at line 330 of file protocol.h.

◆ PKT_CODE_ERROR

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

Definition at line 331 of file protocol.h.

◆ PKT_CODE_MASK

#define PKT_CODE_MASK 0xc0

Definition at line 333 of file protocol.h.

◆ PKT_CODE_READ

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

Definition at line 327 of file protocol.h.

◆ PKT_CODE_SUCCESS

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

Definition at line 329 of file protocol.h.

◆ PKT_CODE_WRITE

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

Definition at line 328 of file protocol.h.

◆ PKT_COUNT

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

Definition at line 336 of file protocol.h.

◆ PKT_COUNT_MASK

#define PKT_COUNT_MASK 0x3f

Definition at line 334 of file protocol.h.

◆ PKT_MAX_REGS

#define PKT_MAX_REGS 32

Serial protocol encapsulation.

Definition at line 315 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 338 of file protocol.h.

◆ PX4IO_FORCE_SAFETY_MAGIC

#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */

Definition at line 233 of file protocol.h.

◆ PX4IO_P_CONFIG_ACTUATOR_COUNT

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

Definition at line 92 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 94 of file protocol.h.

◆ PX4IO_P_CONFIG_BOOTLOADER_VERSION

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

Definition at line 89 of file protocol.h.

◆ PX4IO_P_CONFIG_CONTROL_COUNT

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

Definition at line 91 of file protocol.h.

◆ PX4IO_P_CONFIG_CONTROL_GROUP_COUNT

#define PX4IO_P_CONFIG_CONTROL_GROUP_COUNT 8

hardcoded # of control groups

Definition at line 96 of file protocol.h.

◆ PX4IO_P_CONFIG_HARDWARE_VERSION

#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */

Definition at line 88 of file protocol.h.

◆ PX4IO_P_CONFIG_MAX_TRANSFER

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

Definition at line 90 of file protocol.h.

◆ PX4IO_P_CONFIG_PROTOCOL_VERSION

#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */

Definition at line 87 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 93 of file protocol.h.

◆ PX4IO_P_CONFIG_RELAY_COUNT

#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */

Definition at line 95 of file protocol.h.

◆ PX4IO_P_CONTROLS_GROUP_0

#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0)

0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1

Definition at line 242 of file protocol.h.

◆ PX4IO_P_CONTROLS_GROUP_1

#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1)

0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1

Definition at line 243 of file protocol.h.

◆ PX4IO_P_CONTROLS_GROUP_2

#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2)

0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1

Definition at line 244 of file protocol.h.

◆ PX4IO_P_CONTROLS_GROUP_3

#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3)

0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1

Definition at line 245 of file protocol.h.

◆ PX4IO_P_CONTROLS_GROUP_VALID

#define PX4IO_P_CONTROLS_GROUP_VALID 64

Definition at line 247 of file protocol.h.

◆ PX4IO_P_CONTROLS_GROUP_VALID_GROUP0

#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0)

group 0 is valid / received

Definition at line 248 of file protocol.h.

◆ PX4IO_P_CONTROLS_GROUP_VALID_GROUP1

#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1)

group 1 is valid / received

Definition at line 249 of file protocol.h.

◆ PX4IO_P_CONTROLS_GROUP_VALID_GROUP2

#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2)

group 2 is valid / received

Definition at line 250 of file protocol.h.

◆ PX4IO_P_CONTROLS_GROUP_VALID_GROUP3

#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3)

group 3 is valid / received

Definition at line 251 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 160 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 161 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 162 of file protocol.h.

◆ PX4IO_P_RAW_RC_COUNT

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

Definition at line 150 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 159 of file protocol.h.

◆ PX4IO_P_RAW_RC_FLAGS

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

Definition at line 151 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 153 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 152 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 155 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 154 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 156 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 158 of file protocol.h.

◆ PX4IO_P_RC_BASE

#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */

Definition at line 167 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_ASSIGNMENT

#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4

mapped input value

Definition at line 262 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH

#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100

magic value for mode switch

Definition at line 263 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_CENTER

#define PX4IO_P_RC_CONFIG_CENTER 1

center input value

Definition at line 259 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_DEADZONE

#define PX4IO_P_RC_CONFIG_DEADZONE 3

band around center that is ignored

Definition at line 261 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_MAX

#define PX4IO_P_RC_CONFIG_MAX 2

highest input value

Definition at line 260 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_MIN

#define PX4IO_P_RC_CONFIG_MIN 0

lowest input value

Definition at line 258 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_OPTIONS

#define PX4IO_P_RC_CONFIG_OPTIONS 5

channel options bitmask

Definition at line 264 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_OPTIONS_ENABLED

#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)

Definition at line 265 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_OPTIONS_REVERSE

#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)

Definition at line 266 of file protocol.h.

◆ PX4IO_P_RC_CONFIG_STRIDE

#define PX4IO_P_RC_CONFIG_STRIDE 6

spacing between channel config data

Definition at line 267 of file protocol.h.

◆ PX4IO_P_RC_VALID

#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */

Definition at line 166 of file protocol.h.

◆ PX4IO_P_SENSORS_ALTITUDE

#define PX4IO_P_SENSORS_ALTITUDE 0

Altitude of an external sensor (HoTT or S.BUS2)

Definition at line 277 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING

#define PX4IO_P_SETUP_ARMING 1 /* arming controls */

Definition at line 184 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE

#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 */

Definition at line 190 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM

#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */

Definition at line 188 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 186 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE

#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */

Definition at line 193 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK

#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */

Definition at line 189 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 185 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_LOCKDOWN

#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */

Definition at line 192 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK

#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */

Definition at line 187 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE

#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 */

Definition at line 195 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED

#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */

Definition at line 191 of file protocol.h.

◆ PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE

#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. */

Definition at line 194 of file protocol.h.

◆ PX4IO_P_SETUP_CRC

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

Definition at line 227 of file protocol.h.

◆ PX4IO_P_SETUP_DSM

#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */

Definition at line 213 of file protocol.h.

◆ PX4IO_P_SETUP_FEATURES

#define PX4IO_P_SETUP_FEATURES 0

Definition at line 178 of file protocol.h.

◆ PX4IO_P_SETUP_FEATURES_ADC_RSSI

#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3)

enable ADC RSSI parsing

Definition at line 182 of file protocol.h.

◆ PX4IO_P_SETUP_FEATURES_PWM_RSSI

#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2)

enable PWM RSSI parsing

Definition at line 181 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 179 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 180 of file protocol.h.

◆ PX4IO_P_SETUP_FORCE_SAFETY_OFF

#define PX4IO_P_SETUP_FORCE_SAFETY_OFF

Value:

                                                           12  /* force safety switch into
                                                           'armed' (PWM enabled) state - this is a non-data write and
                                                           hence index 12 can safely be used. */

Definition at line 229 of file protocol.h.

◆ PX4IO_P_SETUP_FORCE_SAFETY_ON

#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */

Definition at line 232 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 199 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 198 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 197 of file protocol.h.

◆ PX4IO_P_SETUP_PWM_REVERSE

#define PX4IO_P_SETUP_PWM_REVERSE 15

Bitmask to reverse PWM channels 1-8.

Definition at line 235 of file protocol.h.

◆ PX4IO_P_SETUP_RC_THR_FAILSAFE_US

#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13

the throttle failsafe pulse length in microseconds

Definition at line 230 of file protocol.h.

◆ PX4IO_P_SETUP_REBOOT_BL

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

Definition at line 224 of file protocol.h.

◆ PX4IO_P_SETUP_RELAYS_PAD

#define PX4IO_P_SETUP_RELAYS_PAD 5

Definition at line 208 of file protocol.h.

◆ PX4IO_P_SETUP_SET_DEBUG

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

Definition at line 222 of file protocol.h.

◆ PX4IO_P_SETUP_TRIM_PITCH

#define PX4IO_P_SETUP_TRIM_PITCH 17

Pitch trim, in actuator units.

Definition at line 237 of file protocol.h.

◆ PX4IO_P_SETUP_TRIM_ROLL

#define PX4IO_P_SETUP_TRIM_ROLL 16

Roll trim, in actuator units.

Definition at line 236 of file protocol.h.

◆ PX4IO_P_SETUP_TRIM_YAW

#define PX4IO_P_SETUP_TRIM_YAW 18

Yaw trim, in actuator units.

Definition at line 238 of file protocol.h.

◆ PX4IO_P_SETUP_VBATT_SCALE

#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */

Definition at line 211 of file protocol.h.

◆ PX4IO_P_SETUP_VSERVO_SCALE

#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */

Definition at line 212 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 121 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_ACC_CURRENT

#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */

Definition at line 125 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_FMU_LOST

#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */

Definition at line 126 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_PWM_ERROR

#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */

Definition at line 128 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_RC_LOST

#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */

Definition at line 127 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_SERVO_CURRENT

#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */

Definition at line 124 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_TEMPERATURE

#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */

Definition at line 123 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_VBATT_LOW

#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */

Definition at line 122 of file protocol.h.

◆ PX4IO_P_STATUS_ALARMS_VSERVO_FAULT

#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */

Definition at line 129 of file protocol.h.

◆ PX4IO_P_STATUS_CPULOAD

#define PX4IO_P_STATUS_CPULOAD 1

Definition at line 101 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS

#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */

Definition at line 103 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_ARM_SYNC

#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */

Definition at line 113 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_FAILSAFE

#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */

Definition at line 115 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED

#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */

Definition at line 117 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_FMU_OK

#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */

Definition at line 110 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_INIT_OK

#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */

Definition at line 114 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_MIXER_OK

#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */

Definition at line 112 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 104 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_OVERRIDE

#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */

Definition at line 105 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RAW_PWM

#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */

Definition at line 111 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_DSM

#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */

Definition at line 108 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_OK

#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */

Definition at line 106 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_PPM

#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */

Definition at line 107 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_SBUS

#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */

Definition at line 109 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_ST24

#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */

Definition at line 118 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_RC_SUMD

#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */

Definition at line 119 of file protocol.h.

◆ PX4IO_P_STATUS_FLAGS_SAFETY_OFF

#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */

Definition at line 116 of file protocol.h.

◆ PX4IO_P_STATUS_FREEMEM

#define PX4IO_P_STATUS_FREEMEM 0

Definition at line 100 of file protocol.h.

◆ PX4IO_P_STATUS_IBATT

#define PX4IO_P_STATUS_IBATT 5 /* [1] battery current (raw ADC) */

Definition at line 132 of file protocol.h.

◆ PX4IO_P_STATUS_MIXER

#define PX4IO_P_STATUS_MIXER 9 /* mixer actuator limit flags */

Definition at line 137 of file protocol.h.

◆ PX4IO_P_STATUS_MIXER_LOWER_LIMIT

#define PX4IO_P_STATUS_MIXER_LOWER_LIMIT (1 << 0)

at least one actuator output has reached lower limit

Definition at line 138 of file protocol.h.

◆ PX4IO_P_STATUS_MIXER_UPPER_LIMIT

#define PX4IO_P_STATUS_MIXER_UPPER_LIMIT (1 << 1)

at least one actuator output has reached upper limit

Definition at line 139 of file protocol.h.

◆ PX4IO_P_STATUS_MIXER_YAW_LIMIT

#define PX4IO_P_STATUS_MIXER_YAW_LIMIT (1 << 2)

yaw control is limited because it causes output clipping

Definition at line 140 of file protocol.h.

◆ PX4IO_P_STATUS_PRSSI

#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */

Definition at line 135 of file protocol.h.

◆ PX4IO_P_STATUS_VBATT

#define PX4IO_P_STATUS_VBATT 4 /* [1] battery voltage in mV */

Definition at line 131 of file protocol.h.

◆ PX4IO_P_STATUS_VRSSI

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

Definition at line 134 of file protocol.h.

◆ PX4IO_P_STATUS_VSERVO

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

Definition at line 133 of file protocol.h.

◆ PX4IO_P_TEST_LED

#define PX4IO_P_TEST_LED 0

set the amber LED on/off

Definition at line 281 of file protocol.h.

◆ PX4IO_PAGE_ACTUATORS

#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */

Definition at line 143 of file protocol.h.

◆ PX4IO_PAGE_CONFIG

#define PX4IO_PAGE_CONFIG 0

Definition at line 86 of file protocol.h.

◆ PX4IO_PAGE_CONTROL_MAX_PWM

#define PX4IO_PAGE_CONTROL_MAX_PWM 107

0..CONFIG_ACTUATOR_COUNT-1

Definition at line 287 of file protocol.h.

◆ PX4IO_PAGE_CONTROL_MIN_PWM

#define PX4IO_PAGE_CONTROL_MIN_PWM 106

0..CONFIG_ACTUATOR_COUNT-1

Definition at line 284 of file protocol.h.

◆ PX4IO_PAGE_CONTROLS

#define PX4IO_PAGE_CONTROLS 51

actuator control groups, one after the other, 8 wide

Definition at line 241 of file protocol.h.

◆ PX4IO_PAGE_DIRECT_PWM

#define PX4IO_PAGE_DIRECT_PWM 54

0..CONFIG_ACTUATOR_COUNT-1

Definition at line 270 of file protocol.h.

◆ PX4IO_PAGE_DISARMED_PWM

#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */

Definition at line 290 of file protocol.h.

◆ PX4IO_PAGE_FAILSAFE_PWM

#define PX4IO_PAGE_FAILSAFE_PWM 55

0..CONFIG_ACTUATOR_COUNT-1

Definition at line 273 of file protocol.h.

◆ PX4IO_PAGE_MIXERLOAD

#define PX4IO_PAGE_MIXERLOAD 52

Definition at line 254 of file protocol.h.

◆ PX4IO_PAGE_PWM_INFO

#define PX4IO_PAGE_PWM_INFO 7

Definition at line 173 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 170 of file protocol.h.

◆ PX4IO_PAGE_RAW_RC_INPUT

#define PX4IO_PAGE_RAW_RC_INPUT 4

Definition at line 149 of file protocol.h.

◆ PX4IO_PAGE_RC_CONFIG

#define PX4IO_PAGE_RC_CONFIG 53

R/C input configuration.

Definition at line 257 of file protocol.h.

◆ PX4IO_PAGE_RC_INPUT

#define PX4IO_PAGE_RC_INPUT 5

Definition at line 165 of file protocol.h.

◆ PX4IO_PAGE_SENSORS

#define PX4IO_PAGE_SENSORS 56

Sensors connected to PX4IO.

Definition at line 276 of file protocol.h.

◆ PX4IO_PAGE_SERVOS

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

Definition at line 146 of file protocol.h.

◆ PX4IO_PAGE_SETUP

#define PX4IO_PAGE_SETUP 50

Definition at line 177 of file protocol.h.

◆ PX4IO_PAGE_STATUS

#define PX4IO_PAGE_STATUS 1

Definition at line 99 of file protocol.h.

◆ PX4IO_PAGE_TEST

#define PX4IO_PAGE_TEST 127

Definition at line 280 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 83 of file protocol.h.

◆ PX4IO_PROTOCOL_VERSION

#define PX4IO_PROTOCOL_VERSION 4

Definition at line 80 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 174 of file protocol.h.

◆ PX4IO_REBOOT_BL_MAGIC

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

Definition at line 225 of file protocol.h.

◆ REG_TO_FLOAT

#define REG_TO_FLOAT ( _reg ) ((float)REG_TO_SIGNED(_reg) / 10000.0f)

Definition at line 77 of file protocol.h.

◆ REG_TO_SIGNED

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

Definition at line 74 of file protocol.h.

◆ SIGNED_TO_REG

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

Definition at line 75 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 214 of file protocol.h.

Function Documentation

◆ crc_packet()

static uint8_t crc_packet ( struct IOPacket * pkt )

static

Definition at line 377 of file protocol.h.

Referenced by px4flash_event().

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Variable Documentation

◆ crc8_tab

const uint8_t crc8_tab[256]

static

Definition at line 340 of file protocol.h.

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Data Structure Documentation

◆ px4io_mixdata

◆ IOPacket

Macro Definition Documentation

◆ __STDC_FORMAT_MACROS

◆ F2I_MIXER_ACTION_APPEND

◆ F2I_MIXER_ACTION_RESET

◆ F2I_MIXER_MAGIC

◆ FLOAT_TO_REG

◆ PKT_CODE

◆ PKT_CODE_CORRUPT

◆ PKT_CODE_ERROR

◆ PKT_CODE_MASK

◆ PKT_CODE_READ

◆ PKT_CODE_SUCCESS

◆ PKT_CODE_WRITE

◆ PKT_COUNT

◆ PKT_COUNT_MASK

◆ PKT_MAX_REGS

◆ PKT_SIZE

◆ PX4IO_FORCE_SAFETY_MAGIC

◆ PX4IO_P_CONFIG_ACTUATOR_COUNT

◆ PX4IO_P_CONFIG_ADC_INPUT_COUNT

◆ PX4IO_P_CONFIG_BOOTLOADER_VERSION

◆ PX4IO_P_CONFIG_CONTROL_COUNT

◆ PX4IO_P_CONFIG_CONTROL_GROUP_COUNT

◆ PX4IO_P_CONFIG_HARDWARE_VERSION

◆ PX4IO_P_CONFIG_MAX_TRANSFER

◆ PX4IO_P_CONFIG_PROTOCOL_VERSION

◆ PX4IO_P_CONFIG_RC_INPUT_COUNT

◆ PX4IO_P_CONFIG_RELAY_COUNT

◆ PX4IO_P_CONTROLS_GROUP_0

◆ PX4IO_P_CONTROLS_GROUP_1

◆ PX4IO_P_CONTROLS_GROUP_2

◆ PX4IO_P_CONTROLS_GROUP_3

◆ PX4IO_P_CONTROLS_GROUP_VALID

◆ PX4IO_P_CONTROLS_GROUP_VALID_GROUP0

◆ PX4IO_P_CONTROLS_GROUP_VALID_GROUP1

◆ PX4IO_P_CONTROLS_GROUP_VALID_GROUP2

◆ PX4IO_P_CONTROLS_GROUP_VALID_GROUP3

◆ PX4IO_P_RAW_FRAME_COUNT

◆ PX4IO_P_RAW_LOST_FRAME_COUNT

◆ PX4IO_P_RAW_RC_BASE

◆ PX4IO_P_RAW_RC_COUNT

◆ PX4IO_P_RAW_RC_DATA

◆ PX4IO_P_RAW_RC_FLAGS

◆ PX4IO_P_RAW_RC_FLAGS_FAILSAFE

◆ PX4IO_P_RAW_RC_FLAGS_FRAME_DROP

◆ PX4IO_P_RAW_RC_FLAGS_MAPPING_OK

◆ PX4IO_P_RAW_RC_FLAGS_RC_DSM11

◆ PX4IO_P_RAW_RC_FLAGS_RC_OK

◆ PX4IO_P_RAW_RC_NRSSI

◆ PX4IO_P_RC_BASE

◆ PX4IO_P_RC_CONFIG_ASSIGNMENT

◆ PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH

◆ PX4IO_P_RC_CONFIG_CENTER

◆ PX4IO_P_RC_CONFIG_DEADZONE

◆ PX4IO_P_RC_CONFIG_MAX

◆ PX4IO_P_RC_CONFIG_MIN

◆ PX4IO_P_RC_CONFIG_OPTIONS

◆ PX4IO_P_RC_CONFIG_OPTIONS_ENABLED

◆ PX4IO_P_RC_CONFIG_OPTIONS_REVERSE

◆ PX4IO_P_RC_CONFIG_STRIDE

◆ PX4IO_P_RC_VALID

◆ PX4IO_P_SENSORS_ALTITUDE

◆ PX4IO_P_SETUP_ARMING

◆ PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE

◆ PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM

◆ PX4IO_P_SETUP_ARMING_FMU_ARMED

◆ PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE

◆ PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK

◆ PX4IO_P_SETUP_ARMING_IO_ARM_OK

◆ PX4IO_P_SETUP_ARMING_LOCKDOWN

◆ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK