fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 10:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

IO firmware: Convert magic numbers to defines

Browse Source 
This is necessary to allow more and better unit testing.
This commit is contained in:
Lorenz Meier
2017-01-03 20:32:33 -05:00
committed by Daniel Agar
parent e395c1f3d7
commit d401252c9e
5 changed files with 55 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/protocol.h
+8 -3
View File
@@ -82,16 +82,17 @@
#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 */
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
#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_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_RELAY_COUNT 8 /* hardcoded # of relay outputs */
#define PX4IO_MAX_TRANSFER_LEN 64
/* dynamic status page */
#define PX4IO_PAGE_STATUS 1
@@ -338,6 +339,10 @@ struct IOPacket {
};
#pragma pack(pop)
#if (PX4IO_MAX_TRANSFER_LEN > PKT_MAX_REGS * 2)
#error The max transfer length of the IO protocol must not be larger than the IO packet size
#endif
#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 */