diff options
author | px4dev <px4@purgatory.org> | 2012-08-18 22:56:04 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-18 22:56:04 -0700 |
commit | 84777544114d3d185a2fee0d30e3187c7f6ab27e (patch) | |
tree | 13e58186732ca45040b928a6c535ad83e3c3de4b /apps/px4 | |
parent | fcad5b52c52484470c897cdde745e62008c61e7d (diff) | |
download | px4-firmware-84777544114d3d185a2fee0d30e3187c7f6ab27e.tar.gz px4-firmware-84777544114d3d185a2fee0d30e3187c7f6ab27e.tar.bz2 px4-firmware-84777544114d3d185a2fee0d30e3187c7f6ab27e.zip |
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.
Diffstat (limited to 'apps/px4')
-rw-r--r-- | apps/px4/px4io/driver/px4io.cpp | 2 | ||||
-rw-r--r-- | apps/px4/px4io/protocol.h | 73 |
2 files changed, 1 insertions, 74 deletions
diff --git a/apps/px4/px4io/driver/px4io.cpp b/apps/px4/px4io/driver/px4io.cpp index fafec77f9..a5def874d 100644 --- a/apps/px4/px4io/driver/px4io.cpp +++ b/apps/px4/px4io/driver/px4io.cpp @@ -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; diff --git a/apps/px4/px4io/protocol.h b/apps/px4/px4io/protocol.h deleted file mode 100644 index c186c5b86..000000000 --- a/apps/px4/px4io/protocol.h +++ /dev/null @@ -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) |