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| author | Julian Oes <julian@oes.ch> | 2013-06-18 15:35:26 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-18 15:35:26 +0200 |
| commit | 202792294ac8a4d0db2c0e64d944be8e95608930 (patch) | |
| tree | e4c39e482d20ac53d8cf09b6df4454a617c522e5 /src/modules/px4iofirmware/protocol.h | |
| parent | 34c197c7cc77de0317112530eb60aa5f3ba5687d (diff) | |
| parent | c3a8f177b6316a9cefd814e312742f47d3049739 (diff) | |
| download | px4-firmware-202792294ac8a4d0db2c0e64d944be8e95608930.tar.gz px4-firmware-202792294ac8a4d0db2c0e64d944be8e95608930.tar.bz2 px4-firmware-202792294ac8a4d0db2c0e64d944be8e95608930.zip | |
Merge remote-tracking branch 'upstream/io_fixes' into new_state_machine
Conflicts:
src/drivers/px4io/px4io.cpp
src/modules/commander/commander.c
src/modules/commander/state_machine_helper.c
src/modules/commander/state_machine_helper.h
src/modules/px4iofirmware/mixer.cpp
src/modules/uORB/topics/actuator_controls.h
src/modules/uORB/topics/vehicle_status.h
Diffstat (limited to 'src/modules/px4iofirmware/protocol.h')
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 1c9715451..b43054197 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -75,10 +75,13 @@ #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_P_CONFIG_PROTOCOL_VERSION_MAGIC 2 +#define PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC 2 + /* static configuration page */ #define PX4IO_PAGE_CONFIG 0 -#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ -#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ +#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers */ +#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers */ #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 */ @@ -93,7 +96,7 @@ #define PX4IO_P_STATUS_CPULOAD 1 #define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ -#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */ +#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 */ @@ -105,6 +108,7 @@ #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_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ |