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proto: split protocol contract, shared layout and POSIX PAL header - #9
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🟡 Changes recommended
Version mismatch detection relies on mailboxes whose offsets can differ between the incompatible layouts being detected.
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What changed in this PR
Introduces the shared M7/M4 split-protocol contract and SRAM4 layout.
Changes:
- Extends rate, arming, and core-status protobuf messages.
- Adds protocol constants, layout hashing, and transport registration.
- Adds POSIX declarations and layout tests.
| File | Description |
|---|---|
CMakeLists.txt |
Builds split-layout sources and test library. |
CubePilotFW/SplitLayout.cpp |
Registers per-core shared-memory groups. |
CubePilotFW/SplitLayout.h |
Defines slots, sizing, and layout hash. |
CubePilotFW/SplitProtocol.h |
Defines protocol constants and version. |
CubePilotFW/pal/Posix.h |
Declares POSIX shared-memory interface. |
proto/Common.proto |
Extends status and arming contracts. |
proto/Rc.proto |
Extends rate commands. |
tests/CMakeLists.txt |
Registers the layout test. |
tests/split_layout_test.cpp |
Tests layout invariants and transport direction. |
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| ARMING_FLAG_FAILSAFE = 4; // Failsafe active | ||
| ARMING_FLAG_FAILSAFE_STAGE1 = 4; // M4: RateCommand stale > stage-1 threshold | ||
| ARMING_FLAG_FAILSAFE_STAGE2 = 8; // M4: latched descend | ||
| ARMING_FLAG_VERSION_MISMATCH = 16; // Peer protocol_version differs |
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bugobliterator
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(cherry picked from commit 90f24f9)
CoreInfo, ArmingState and RateCommand sizes come from their field options. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01KqxcxgduRYDCp2rs1XqK5M
The previous asserts compared each envelope against the message it contains, which nanopb guarantees. Check each envelope plus frame header against its slot size, each slot against the layout end, and the layout end against the receiver region. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01KqxcxgduRYDCp2rs1XqK5M
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01KqxcxgduRYDCp2rs1XqK5M
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01KqxcxgduRYDCp2rs1XqK5M
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| assert(m7.send(kRc.groupId, payload, sizeof(payload)) == 0); | ||
| uint8_t out[64]; | ||
| size_t len = 0; | ||
| assert(m4.receive(kRc.groupId, out, sizeof(out), &len) == 0); | ||
| assert(len == 4 && out[3] == 4); |
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Reverse duplex coverage (M4-TX/M7-RX mappings) is added at the top of this stack in #18, to avoid re-cascading the whole chain for a test-only change.
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RateCommand/ArmingState fields for the split, CubePilotFW/SplitLayout.h (shared SRAM4 layout, kLayoutHash 0xED77D04D), SplitProtocol.h constants and the POSIX PAL header.