text: /****************************************************************************
   *
   *   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.
   *
   ****************************************************************************/
  
  /**
   * @file registers.c
   *
   * Implementation of the PX4IO register space.
   */
  
  #include <nuttx/config.h>
  
  #include <stdbool.h>
  #include <stdlib.h>
  #include <string.h>
  
  #include <drivers/drv_hrt.h>
  #include <drivers/drv_pwm_output.h>
  #include <systemlib/systemlib.h>
  #include <stm32_pwr.h>
  
  #include "px4io.h"
  #include "protocol.h"
  
  static int	registers_set_one(uint8_t page, uint8_t offset, uint16_t value);
  static void	pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate);
  
  /**
   * PAGE 0
   *
   * Static configuration parameters.
   */
  static const uint16_t	r_page_config[] = {
  	[PX4IO_P_CONFIG_PROTOCOL_VERSION]	= PX4IO_PROTOCOL_VERSION,
  #ifdef CONFIG_ARCH_BOARD_PX4IO_V2
  	[PX4IO_P_CONFIG_HARDWARE_VERSION]	= 2,
  #else
  	[PX4IO_P_CONFIG_HARDWARE_VERSION]	= 1,
  #endif
  	[PX4IO_P_CONFIG_BOOTLOADER_VERSION]	= 3,	/* XXX hardcoded magic number */
  	[PX4IO_P_CONFIG_MAX_TRANSFER]		= 64,	/* XXX hardcoded magic number */
  	[PX4IO_P_CONFIG_CONTROL_COUNT]		= PX4IO_CONTROL_CHANNELS,
  	[PX4IO_P_CONFIG_ACTUATOR_COUNT]		= PX4IO_SERVO_COUNT,
  	[PX4IO_P_CONFIG_RC_INPUT_COUNT]		= PX4IO_RC_INPUT_CHANNELS,
  	[PX4IO_P_CONFIG_ADC_INPUT_COUNT]	= PX4IO_ADC_CHANNEL_COUNT,
  	[PX4IO_P_CONFIG_RELAY_COUNT]		= PX4IO_RELAY_CHANNELS,
  };
  
  /**
   * PAGE 1
   *
   * Status values.
   */
  uint16_t		r_page_status[] = {
  	[PX4IO_P_STATUS_FREEMEM]		= 0,
  	[PX4IO_P_STATUS_CPULOAD]		= 0,
  	[PX4IO_P_STATUS_FLAGS]			= 0,
  	[PX4IO_P_STATUS_ALARMS]			= 0,
  	[PX4IO_P_STATUS_VBATT]			= 0,
  	[PX4IO_P_STATUS_IBATT]			= 0,
  	[PX4IO_P_STATUS_VSERVO]			= 0,
  	[PX4IO_P_STATUS_VRSSI]			= 0,
  	[PX4IO_P_STATUS_PRSSI]			= 0,
  	[PX4IO_P_STATUS_MIXER]			= 0,
  };
  
  /**
   * PAGE 2
   *
   * Post-mixed actuator values.
   */
  uint16_t 		r_page_actuators[PX4IO_SERVO_COUNT];
  
  /**
   * PAGE 3
   *
   * Servo PWM values
   */
  uint16_t		r_page_servos[PX4IO_SERVO_COUNT];
  
  /**
   * PAGE 4
   *
   * Raw RC input
   */
  uint16_t		r_page_raw_rc_input[] =
  {
  	[PX4IO_P_RAW_RC_COUNT]			= 0,
  	[PX4IO_P_RAW_RC_FLAGS]			= 0,
  	[PX4IO_P_RAW_RC_NRSSI]			= 0,
  	[PX4IO_P_RAW_RC_DATA]			= 0,
  	[PX4IO_P_RAW_FRAME_COUNT]		= 0,
  	[PX4IO_P_RAW_LOST_FRAME_COUNT]		= 0,
  	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
  };
  
  /**
   * PAGE 5
   *
   * Scaled/routed RC input
   */
  uint16_t		r_page_rc_input[] = {
  	[PX4IO_P_RC_VALID]			= 0,
  	[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_RC_MAPPED_CONTROL_CHANNELS)] = 0
  };
  
  /**
   * Scratch page; used for registers that are constructed as-read.
   *
   * PAGE 6 Raw ADC input.
   * PAGE 7 PWM rate maps.
   */
  uint16_t		r_page_scratch[32];
  
  /**
   * PAGE 100
   *
   * Setup registers
   */
  volatile uint16_t	r_page_setup[] =
  {
  #ifdef CONFIG_ARCH_BOARD_PX4IO_V2
  	/* default to RSSI ADC functionality */
  	[PX4IO_P_SETUP_FEATURES]		= PX4IO_P_SETUP_FEATURES_ADC_RSSI,
  #else
  	[PX4IO_P_SETUP_FEATURES]		= 0,
  #endif
  	[PX4IO_P_SETUP_ARMING]			= 0,
  	[PX4IO_P_SETUP_PWM_RATES]		= 0,
  	[PX4IO_P_SETUP_PWM_DEFAULTRATE]		= 50,
  	[PX4IO_P_SETUP_PWM_ALTRATE]		= 200,
  #ifdef CONFIG_ARCH_BOARD_PX4IO_V1
  	[PX4IO_P_SETUP_RELAYS]			= 0,
  #else
  	/* this is unused, but we will pad it for readability (the compiler pads it automatically) */
  	[PX4IO_P_SETUP_RELAYS_PAD]		= 0,
  #endif
  #ifdef ADC_VSERVO
  	[PX4IO_P_SETUP_VSERVO_SCALE]		= 10000,
  #else
  	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
  #endif
  	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
  	[PX4IO_P_SETUP_REBOOT_BL]		= 0,
  	[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
  	[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0,
  };
  
  #ifdef CONFIG_ARCH_BOARD_PX4IO_V2
  #define PX4IO_P_SETUP_FEATURES_VALID	(PX4IO_P_SETUP_FEATURES_SBUS1_OUT | \
  					 PX4IO_P_SETUP_FEATURES_SBUS2_OUT | \
  					 PX4IO_P_SETUP_FEATURES_ADC_RSSI | \
  					 PX4IO_P_SETUP_FEATURES_PWM_RSSI)
  #else
  #define PX4IO_P_SETUP_FEATURES_VALID	0
  #endif
  #define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_FMU_ARMED | \
  					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
  					 PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
  					 PX4IO_P_SETUP_ARMING_IO_ARM_OK | \
  					 PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
  					 PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \
  					 PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \
  					 PX4IO_P_SETUP_ARMING_LOCKDOWN | \
  					 PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \
  					 PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE | \
  					 PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE)
  #define PX4IO_P_SETUP_RATES_VALID	((1 << PX4IO_SERVO_COUNT) - 1)
  #define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
  
  /**
   * PAGE 101
   *
   * Control values from the FMU.
   */
  volatile uint16_t	r_page_controls[PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS];
  
  /*
   * PAGE 102 does not have a buffer.
   */
  
  /**
   * PAGE 103
   *
   * R/C channel input configuration.
   */
  uint16_t		r_page_rc_input_config[PX4IO_RC_INPUT_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
  
  /* valid options */
  #define PX4IO_P_RC_CONFIG_OPTIONS_VALID	(PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
  
  /*
   * PAGE 104 uses r_page_servos.
   */
  
  /**
   * PAGE 105
   *
   * Failsafe servo PWM values
   * 
   * Disable pulses as default.
   */
  uint16_t		r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 };
  
  /**
   * PAGE 106
   *
   * minimum PWM values when armed
   *
   */
  uint16_t		r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN };
  
  /**
   * PAGE 107
   *
   * maximum PWM values when armed
   *
   */
  uint16_t		r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX };
  
  /**
   * PAGE 108
   *
   * disarmed PWM values for difficult ESCs
   *
   */
  uint16_t		r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 };
  
  int
  registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
  {
  
  	switch (page) {
  
  		/* handle bulk controls input */
  	case PX4IO_PAGE_CONTROLS:
  
  		/* copy channel data */
  		while ((offset < PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
  
  			/* XXX range-check value? */
  			r_page_controls[offset] = *values;
  
  			offset++;
  			num_values--;
  			values++;
  		}
  
  		system_state.fmu_data_received_time = hrt_absolute_time();
  		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
  		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
  		
  		break;
  
  		/* handle raw PWM input */
  	case PX4IO_PAGE_DIRECT_PWM:
  
  		/* copy channel data */
  		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
  
  			/* XXX range-check value? */
  			if (*values != PWM_IGNORE_THIS_CHANNEL) {
  				r_page_servos[offset] = *values;
  			}
  
  			offset++;
  			num_values--;
  			values++;
  		}
  
  		system_state.fmu_data_received_time = hrt_absolute_time();
  		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
  
  		break;
  
  		/* handle setup for servo failsafe values */
  	case PX4IO_PAGE_FAILSAFE_PWM:
  
  		/* copy channel data */
  		while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
  
  			if (*values == 0) {
  				/* ignore 0 */
  			} else if (*values < PWM_LOWEST_MIN) {
  				r_page_servo_failsafe[offset] = PWM_LOWEST_MIN;
  			} else if (*values > PWM_HIGHEST_MAX) {
  				r_page_servo_failsafe[offset] = PWM_HIGHEST_MAX;
  			} else {
  				r_page_servo_failsafe[offset] = *values;
  			}
  
  			/* flag the failsafe values as custom */
  			r_setup_arming |= PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM;
  
  			offset++;
  			num_values--;
  			values++;
  		}
  		break;
  
  	case PX4IO_PAGE_CONTROL_MIN_PWM:
  
  		/* copy channel data */
  		while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
  
  			if (*values == 0) {
  				/* ignore 0 */
  			} else if (*values > PWM_HIGHEST_MIN) {
  				r_page_servo_control_min[offset] = PWM_HIGHEST_MIN;
  			} else if (*values < PWM_LOWEST_MIN) {
  				r_page_servo_control_min[offset] = PWM_LOWEST_MIN;
  			} else {
  				r_page_servo_control_min[offset] = *values;
  			}
  
  			offset++;
  			num_values--;
  			values++;
  		}
  		break;
  	
  	case PX4IO_PAGE_CONTROL_MAX_PWM:
  
  		/* copy channel data */
  		while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
  
  			if (*values == 0) {
  				/* ignore 0 */
  			} else if (*values > PWM_HIGHEST_MAX) {
  				r_page_servo_control_max[offset] = PWM_HIGHEST_MAX;
  			} else if (*values < PWM_LOWEST_MAX) {
  				r_page_servo_control_max[offset] = PWM_LOWEST_MAX;
  			} else {
  				r_page_servo_control_max[offset] = *values;
  			}
  
  			offset++;
  			num_values--;
  			values++;
  		}
  		break;
  
  	case PX4IO_PAGE_DISARMED_PWM:
  		{
  			/* flag for all outputs */
  			bool all_disarmed_off = true;
  
  			/* copy channel data */
  			while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
  
  				if (*values == 0) {
  					/* 0 means disabling always PWM */
  					r_page_servo_disarmed[offset] = 0;
  				} else if (*values < PWM_LOWEST_MIN) {
  					r_page_servo_disarmed[offset] = PWM_LOWEST_MIN;
  					all_disarmed_off = false;
  				} else if (*values > PWM_HIGHEST_MAX) {
  					r_page_servo_disarmed[offset] = PWM_HIGHEST_MAX;
  					all_disarmed_off = false;
  				} else {
  					r_page_servo_disarmed[offset] = *values;
  					all_disarmed_off = false;
  				}
  
  				offset++;
  				num_values--;
  				values++;
  			}
  
  			if (all_disarmed_off) {
  				/* disable PWM output if disarmed */
  				r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE);
  			} else {
  				/* enable PWM output always */
  				r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE;
  			}
  		}
  		break;
  
  		/* handle text going to the mixer parser */
  	case PX4IO_PAGE_MIXERLOAD:
  		/* do not change the mixer if FMU is armed and IO's safety is off
  		 * this state defines an active system. This check is done in the
  		 * text handling function.
  		 */
  		return mixer_handle_text(values, num_values * sizeof(*values));
  
  	default:
  		/* avoid offset wrap */
  		if ((offset + num_values) > 255)
  			num_values = 255 - offset;
  
  		/* iterate individual registers, set each in turn */
  		while (num_values--) {
  			if (registers_set_one(page, offset, *values))
  				return -1;
  			offset++;
  			values++;
  		}
  		break;
  	}
  	return 0;
  }
  
  static int
  registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
  {
  	switch (page) {
  
  	case PX4IO_PAGE_STATUS:
  		switch (offset) {
  		case PX4IO_P_STATUS_ALARMS:
  			/* clear bits being written */
  			r_status_alarms &= ~value;
  			break;
  
  		case PX4IO_P_STATUS_FLAGS:
  			/* 
  			 * Allow FMU override of arming state (to allow in-air restores),
  			 * but only if the arming state is not in sync on the IO side.
  			 */
  			if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
  				r_status_flags = value;
  			}
  			break;
  
  		default:
  			/* just ignore writes to other registers in this page */
  			break;
  		}
  		break;
  
  	case PX4IO_PAGE_SETUP:
  		switch (offset) {
  		case PX4IO_P_SETUP_FEATURES:
  
  			value &= PX4IO_P_SETUP_FEATURES_VALID;
  
  			/* some of the options conflict - give S.BUS out precedence, then ADC RSSI, then PWM RSSI */
  
  			/* switch S.Bus output pin as needed */
  			#ifdef ENABLE_SBUS_OUT
  			ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT));
  
  			/* disable the conflicting options with SBUS 1 */
  			if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) {
  				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
  					PX4IO_P_SETUP_FEATURES_ADC_RSSI |
  					PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
  			}
  
  			/* disable the conflicting options with SBUS 2 */
  			if (value & (PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) {
  				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
  					PX4IO_P_SETUP_FEATURES_ADC_RSSI |
  					PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
  			}
  			#endif
  
  			/* disable the conflicting options with ADC RSSI */
  			if (value & (PX4IO_P_SETUP_FEATURES_ADC_RSSI)) {
  				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
  					PX4IO_P_SETUP_FEATURES_SBUS1_OUT |
  					PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
  			}
  
  			/* disable the conflicting options with PWM RSSI (without effect here, but for completeness) */
  			if (value & (PX4IO_P_SETUP_FEATURES_PWM_RSSI)) {
  				value &= ~(PX4IO_P_SETUP_FEATURES_ADC_RSSI |
  					PX4IO_P_SETUP_FEATURES_SBUS1_OUT |
  					PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
  			}
  
  			/* apply changes */
  			r_setup_features = value;
  
  			break;
  
  		case PX4IO_P_SETUP_ARMING:
  
  			value &= PX4IO_P_SETUP_ARMING_VALID;
  
  			/*
  			 * Update arming state - disarm if no longer OK.
  			 * This builds on the requirement that the FMU driver
  			 * asks about the FMU arming state on initialization,
  			 * so that an in-air reset of FMU can not lead to a
  			 * lockup of the IO arming state.
  			 */
  
  			if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) {
  				r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
  			}
  
  			/*
  			 * If the failsafe termination flag is set, do not allow the autopilot to unset it
  			 */
  			value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
  
  			/*
  			 * If failsafe termination is enabled and force failsafe bit is set, do not allow
  			 * the autopilot to clear it.
  			 */
  			if (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) {
  				value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
  			}
  
  			r_setup_arming = value;
  
  			break;
  
  		case PX4IO_P_SETUP_PWM_RATES:
  			value &= PX4IO_P_SETUP_RATES_VALID;
  			pwm_configure_rates(value, r_setup_pwm_defaultrate, r_setup_pwm_altrate);
  			break;
  
  		case PX4IO_P_SETUP_PWM_DEFAULTRATE:
  			if (value < 25) {
  				value = 25;
  			}
  			if (value > 400) {
  				value = 400;
  			}
  			pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate);
  			break;
  
  		case PX4IO_P_SETUP_PWM_ALTRATE:
  			if (value < 25) {
  				value = 25;
  			}
  			if (value > 400) {
  				value = 400;
  			}
  			pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
  			break;
  
  #ifdef CONFIG_ARCH_BOARD_PX4IO_V1
  		case PX4IO_P_SETUP_RELAYS:
  			value &= PX4IO_P_SETUP_RELAYS_VALID;
  			r_setup_relays = value;
  			POWER_RELAY1((value & PX4IO_P_SETUP_RELAYS_POWER1) ? 1 : 0);
  			POWER_RELAY2((value & PX4IO_P_SETUP_RELAYS_POWER2) ? 1 : 0);
  			POWER_ACC1((value & PX4IO_P_SETUP_RELAYS_ACC1) ? 1 : 0);
  			POWER_ACC2((value & PX4IO_P_SETUP_RELAYS_ACC2) ? 1 : 0);
  			break;
  #endif
  
  		case PX4IO_P_SETUP_VBATT_SCALE:
  			r_page_setup[PX4IO_P_SETUP_VBATT_SCALE] = value;
  			break;
  
  		case PX4IO_P_SETUP_SET_DEBUG:
  			r_page_setup[PX4IO_P_SETUP_SET_DEBUG] = value;
  			isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
  			break;
  
  		case PX4IO_P_SETUP_REBOOT_BL:
  			if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
  				// don't allow reboot while armed
  				break;
  			}
  
  			// check the magic value
  			if (value != PX4IO_REBOOT_BL_MAGIC) {
  				break;
  			}
  
                          // we schedule a reboot rather than rebooting
                          // immediately to allow the IO board to ACK
                          // the reboot command
                          schedule_reboot(100000);
  			break;
  
  		case PX4IO_P_SETUP_DSM:
  			dsm_bind(value & 0x0f, (value >> 4) & 0xF);
  			break;
  
  		case PX4IO_P_SETUP_FORCE_SAFETY_ON:
  			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
  				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
  			}
  			break;
  
  		case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
  			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
  				r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
  			}
  			break;
  
  		case PX4IO_P_SETUP_RC_THR_FAILSAFE_US:
  			if (value > 650 && value < 2350) {
  				r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value;
  			}
  			break;
  
  		default:
  			return -1;
  		}
  		break;
  
  	case PX4IO_PAGE_RC_CONFIG: {
  
  		/**
  		 * do not allow a RC config change while safety is off
  		 */
  		if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
  			break;
  		}
  
  		unsigned channel = offset / PX4IO_P_RC_CONFIG_STRIDE;
  		unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
  		uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
  
  		if (channel >= PX4IO_RC_INPUT_CHANNELS)
  			return -1;
  
  		/* disable the channel until we have a chance to sanity-check it */
  		conf[PX4IO_P_RC_CONFIG_OPTIONS] &= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
  
  		switch (index) {
  
  		case PX4IO_P_RC_CONFIG_MIN:
  		case PX4IO_P_RC_CONFIG_CENTER:
  		case PX4IO_P_RC_CONFIG_MAX:
  		case PX4IO_P_RC_CONFIG_DEADZONE:
  		case PX4IO_P_RC_CONFIG_ASSIGNMENT:
  			conf[index] = value;
  			break;
  
  		case PX4IO_P_RC_CONFIG_OPTIONS:
  			value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID;
  			r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
  
  			/* clear any existing RC disabled flag */
  			r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED);
  
  			/* set all options except the enabled option */
  			conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
  
  			/* should the channel be enabled? */
  			/* this option is normally set last */
  			if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
  				uint8_t count = 0;
  				bool disabled = false;
  
  				/* assert min..center..max ordering */
  				if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
  					count++;
  				}
  				if (conf[PX4IO_P_RC_CONFIG_MAX] > 2500) {
  					count++;
  				}
  				if (conf[PX4IO_P_RC_CONFIG_CENTER] < conf[PX4IO_P_RC_CONFIG_MIN]) {
  					count++;
  				}
  				if (conf[PX4IO_P_RC_CONFIG_CENTER] > conf[PX4IO_P_RC_CONFIG_MAX]) {
  					count++;
  				}
  				/* assert deadzone is sane */
  				if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
  					count++;
  				}
  
  				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
  					disabled = true;
  				} else if ((conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) &&
  					   (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] != PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH)) {
  					count++;
  				}
  
  				/* sanity checks pass, enable channel */
  				if (count) {
  					isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
  					r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
  				} else if (!disabled) {
  					conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
  				}
  			}
  			break;
  			/* inner switch: case PX4IO_P_RC_CONFIG_OPTIONS */
  
  		}
  		break;
  		/* case PX4IO_RC_PAGE_CONFIG */
  	}
  
  	case PX4IO_PAGE_TEST:
  		switch (offset) {
  		case PX4IO_P_TEST_LED:
  			LED_AMBER(value & 1);
  			break;
  		}
  		break;
  
  	default:
  		return -1;
  	}
  	return 0;
  }
  
  uint8_t last_page;
  uint8_t last_offset;
  
  int
  registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values)
  {
  #define SELECT_PAGE(_page_name)							\
  	do {									\
  		*values = (uint16_t *)&_page_name[0];				\
  		*num_values = sizeof(_page_name) / sizeof(_page_name[0]);	\
  	} while(0)
  
  	switch (page) {
  
  	/*
  	 * Handle pages that are updated dynamically at read time.
  	 */
  	case PX4IO_PAGE_STATUS:
  		/* PX4IO_P_STATUS_FREEMEM */
  		{
  			struct mallinfo minfo = mallinfo();
  			r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.fordblks;
  		}
  
  		/* XXX PX4IO_P_STATUS_CPULOAD */
  
  		/* PX4IO_P_STATUS_FLAGS maintained externally */
  
  		/* PX4IO_P_STATUS_ALARMS maintained externally */
  
  #ifdef ADC_VBATT
  		/* PX4IO_P_STATUS_VBATT */
  		{
  			/*
  			 * Coefficients here derived by measurement of the 5-16V
  			 * range on one unit, validated on sample points of another unit
  			 *
  			 * Data in Tools/tests-host/data folder.
  			 *
  			 * measured slope = 0.004585267878277 (int: 4585)
  			 * nominal theoretic slope: 0.00459340659 (int: 4593)
  			 * intercept = 0.016646394188076 (int: 16646)
  			 * nominal theoretic intercept: 0.00 (int: 0)
  			 *
  			 */
  			unsigned counts = adc_measure(ADC_VBATT);
  			if (counts != 0xffff) {
  				unsigned mV = (166460 + (counts * 45934)) / 10000;
  				unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
  
  				r_page_status[PX4IO_P_STATUS_VBATT] = corrected;
  			}
  		}
  #endif
  #ifdef ADC_IBATT
  		/* PX4IO_P_STATUS_IBATT */
  		{
  			/*
  			  note that we have no idea what sort of
  			  current sensor is attached, so we just
  			  return the raw 12 bit ADC value and let the
  			  FMU sort it out, with user selectable
  			  configuration for their sensor
  			 */
  			unsigned counts = adc_measure(ADC_IBATT);
  			if (counts != 0xffff) {
  				r_page_status[PX4IO_P_STATUS_IBATT] = counts;
  			}
  		}
  #endif
  #ifdef ADC_VSERVO
  		/* PX4IO_P_STATUS_VSERVO */
  		{
  			unsigned counts = adc_measure(ADC_VSERVO);
  			if (counts != 0xffff) {
  				// use 3:1 scaling on 3.3V ADC input
  				unsigned mV = counts * 9900 / 4096;
  				r_page_status[PX4IO_P_STATUS_VSERVO] = mV;
  			}
  		}
  #endif
  #ifdef ADC_RSSI
  		/* PX4IO_P_STATUS_VRSSI */
  		{
  			unsigned counts = adc_measure(ADC_RSSI);
  			if (counts != 0xffff) {
  				// use 1:1 scaling on 3.3V ADC input
  				unsigned mV = counts * 3300 / 4096;
  				r_page_status[PX4IO_P_STATUS_VRSSI] = mV;
  			}
  		}
  #endif
  		/* XXX PX4IO_P_STATUS_PRSSI */
  
  		SELECT_PAGE(r_page_status);
  		break;
  
  	case PX4IO_PAGE_RAW_ADC_INPUT:
  		memset(r_page_scratch, 0, sizeof(r_page_scratch));
  #ifdef ADC_VBATT
  		r_page_scratch[0] = adc_measure(ADC_VBATT);
  #endif
  #ifdef ADC_IBATT
  		r_page_scratch[1] = adc_measure(ADC_IBATT);
  #endif
  
  #ifdef ADC_VSERVO
  		r_page_scratch[0] = adc_measure(ADC_VSERVO);
  #endif
  #ifdef ADC_RSSI
  		r_page_scratch[1] = adc_measure(ADC_RSSI);
  #endif
  		SELECT_PAGE(r_page_scratch);
  		break;
  
  	case PX4IO_PAGE_PWM_INFO:
  		memset(r_page_scratch, 0, sizeof(r_page_scratch));
  		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
  			r_page_scratch[PX4IO_RATE_MAP_BASE + i] = up_pwm_servo_get_rate_group(i);
  
  		SELECT_PAGE(r_page_scratch);
  		break;
  
  	/*
  	 * Pages that are just a straight read of the register state.
  	 */
  
  	/* status pages */
  	case PX4IO_PAGE_CONFIG:
  		SELECT_PAGE(r_page_config);
  		break;
  	case PX4IO_PAGE_ACTUATORS:
  		SELECT_PAGE(r_page_actuators);
  		break;
  	case PX4IO_PAGE_SERVOS:
  		SELECT_PAGE(r_page_servos);
  		break;
  	case PX4IO_PAGE_RAW_RC_INPUT:
  		SELECT_PAGE(r_page_raw_rc_input);
  		break;
  	case PX4IO_PAGE_RC_INPUT:
  		SELECT_PAGE(r_page_rc_input);
  		break;
  
  	/* readback of input pages */
  	case PX4IO_PAGE_SETUP:
  		SELECT_PAGE(r_page_setup);
  		break;
  	case PX4IO_PAGE_CONTROLS:
  		SELECT_PAGE(r_page_controls);
  		break;
  	case PX4IO_PAGE_RC_CONFIG:
  		SELECT_PAGE(r_page_rc_input_config);
  		break;
  	case PX4IO_PAGE_DIRECT_PWM:
  		SELECT_PAGE(r_page_servos);
  		break;
  	case PX4IO_PAGE_FAILSAFE_PWM:
  		SELECT_PAGE(r_page_servo_failsafe);
  		break;
  	case PX4IO_PAGE_CONTROL_MIN_PWM:
  		SELECT_PAGE(r_page_servo_control_min);
  		break;
  	case PX4IO_PAGE_CONTROL_MAX_PWM:
  		SELECT_PAGE(r_page_servo_control_max);
  		break;
  	case PX4IO_PAGE_DISARMED_PWM:
  		SELECT_PAGE(r_page_servo_disarmed);
  		break;
  
  	default:
  		return -1;
  	}
  
  #undef SELECT_PAGE
  #undef COPY_PAGE
  
  last_page = page;
  last_offset = offset;
  
  	/* if the offset is at or beyond the end of the page, we have no data */
  	if (offset >= *num_values)
  		return -1;
  
  	/* correct the data pointer and count for the offset */
  	*values += offset;
  	*num_values -= offset;
  
  	return 0;
  }
  
  /*
   * Helper function to handle changes to the PWM rate control registers.
   */
  static void
  pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate)
  {
  	for (unsigned pass = 0; pass < 2; pass++) {
  		for (unsigned group = 0; group < PX4IO_SERVO_COUNT; group++) {
  
  			/* get the channel mask for this rate group */
  			uint32_t mask = up_pwm_servo_get_rate_group(group);
  			if (mask == 0)
  				continue;
  
  			/* all channels in the group must be either default or alt-rate */
  			uint32_t alt = map & mask;
  
  			if (pass == 0) {
  				/* preflight */
  				if ((alt != 0) && (alt != mask)) {
  					/* not a legal map, bail with an alarm */
  					r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
  					return;
  				}
  			} else {
  				/* set it - errors here are unexpected */
  				if (alt != 0) {
  					if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_altrate) != OK)
  						r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
  				} else {
  					if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_defaultrate) != OK)
  						r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
  				}
  			}
  		}
  	}
  	r_setup_pwm_rates = map;
  	r_setup_pwm_defaultrate = defaultrate;
  	r_setup_pwm_altrate = altrate;
  }
  