|
|
/****************************************************************************
*
* 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.
*/
#pragma once
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 4
#pragma pack(push, 1)
/**
* Periodic command from FMU to IO.
*/
struct px4io_command {
uint16_t f2i_magic;
#define F2I_MAGIC 0x636d
uint16_t servo_rate;
uint16_t output_control[PX4IO_CONTROL_CHANNELS]; /**< PWM output rate in Hz */
bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */
bool arm_ok; /**< FMU allows full arming */
bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */
bool manual_override_ok; /**< if true, IO performs a direct manual override */
};
/**
* Periodic 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;
uint16_t battery_mv;
uint16_t adc_in;
uint8_t overcurrent;
};
/**
* As-needed config message from FMU to IO
*/
struct px4io_config {
uint16_t f2i_config_magic;
#define F2I_CONFIG_MAGIC 0x6366
uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */
uint16_t rc_min[4]; /**< min value for each channel */
uint16_t rc_trim[4]; /**< trim value for each channel */
uint16_t rc_max[4]; /**< max value for each channel */
int8_t rc_rev[4]; /**< rev value for each channel */
uint16_t rc_dz[4]; /**< dz value for each channel */
};
/**
* As-needed mixer data upload.
*
* This message adds text to the mixer text buffer; the text
* buffer is drained as the definitions are consumed.
*/
struct px4io_mixdata {
uint16_t f2i_mixer_magic;
#define F2I_MIXER_MAGIC 0x6d74
uint8_t action;
#define F2I_MIXER_ACTION_RESET 0
#define F2I_MIXER_ACTION_APPEND 1
char text[0]; /* actual text size may vary */
};
/* maximum size is limited by the HX frame size */
#define F2I_MIXER_MAX_TEXT (HX_STREAM_MAX_FRAME - sizeof(struct px4io_mixdata))
#pragma pack(pop)
|
