dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Share the PX4IO protocol header, such as it is, between the two apps. 

Stop using systemlib in the PX4IO firmware; it has expectations that can't reasonably be met.
This commit is contained in:
px4dev 2012-08-18 22:56:04 -07:00
parent fcad5b52c5
commit 8477754411
5 changed files with 20 additions and 83 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
apps/px4/px4io/driver/px4io.cpp
View File

@ -65,7 +65,7 @@
#include <systemlib/perf_counter.h>
#include <systemlib/hx_stream.h>
#include "../protocol.h"
#include "px4io/protocol.h"
#include "uploader.h"
class PX4IO;

73
apps/px4/px4io/protocol.h
View File

@ -1,73 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 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 PX4FMU <-> PX4IO messaging protocol.
*
* This initial version of the protocol is very simple; each side transmits a
* complete update with each frame. This avoids the sending of many small
* messages and the corresponding complexity involved.
*/
/*
* XXX MUST BE KEPT IN SYNC WITH THE VERSION IN PX4FMU UNTIL
* TREES ARE MERGED.
*/
#define PX4IO_OUTPUT_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 2
#pragma pack(push,1)
/* command from FMU to IO */
struct px4io_command {
uint16_t f2i_magic;
#define F2I_MAGIC 0x636d
uint16_t servo_command[PX4IO_OUTPUT_CHANNELS];
bool relay_state[PX4IO_RELAY_CHANNELS];
bool arm_ok;
};
/* report from IO to FMU */
struct px4io_report {
uint16_t i2f_magic;
#define I2F_MAGIC 0x7570
uint16_t rc_channel[PX4IO_INPUT_CHANNELS];
bool armed;
uint8_t channel_count;
} __attribute__((packed));
#pragma pack(pop)

11
apps/px4io/Makefile
View File

@ -35,4 +35,15 @@
# Build the px4io application.
#
#
# Note that we pull a couple of specific files from the systemlib, since
# we can't support it all.
#
CSRCS = comms.c \
mixer.c \
px4io.c \
safety.c \
../systemlib/hx_stream.c \
../systemlib/perf_counter.c
include $(APPDIR)/mk/app.mk

8
apps/px4io/protocol.h
View File

@ -48,6 +48,8 @@
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 2
#pragma pack(push, 1)
/* command from FMU to IO */
struct px4io_command {
uint16_t f2i_magic;
@ -56,7 +58,7 @@ struct px4io_command {
uint16_t servo_command[PX4IO_OUTPUT_CHANNELS];
bool relay_state[PX4IO_RELAY_CHANNELS];
bool arm_ok;
} __attribute__((packed));
};
/* report from IO to FMU */
struct px4io_report {
@ -66,4 +68,6 @@ struct px4io_report {
uint16_t rc_channel[PX4IO_INPUT_CHANNELS];
bool armed;
uint8_t channel_count;
} __attribute__((packed));
};
#pragma pack(pop)

9
nuttx/configs/px4io/io/appconfig
View File

@ -1,8 +1,6 @@
############################################################################
# configs/stm3210e-eval/nsh/appconfig
#
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
# Copyright (C) 2012 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
@ -14,7 +12,7 @@
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name NuttX nor the names of its contributors may be
# 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.
#
@ -33,7 +31,4 @@
#
############################################################################
# Path to px4io app containing the user_start entry point
CONFIGURED_APPS += px4io
CONFIGURED_APPS += systemlib