Rough in the new mixer path for PX4IO.

1 files changed, 37 insertions, 11 deletions

diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index c704b1201..080d33001 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -47,25 +47,21 @@
 
 #pragma pack(push, 1)
 
-/* command from FMU to IO */
+/**
+ * Periodic command from FMU to IO.
+ */
 struct px4io_command {
 	uint16_t	f2i_magic;
-#define F2I_MAGIC	0x636d
+#define F2I_MAGIC		0x636d
 
 	uint16_t	servo_command[PX4IO_OUTPUT_CHANNELS];
 	bool		relay_state[PX4IO_RELAY_CHANNELS];
 	bool		arm_ok;
 };
 
-/* config message from FMU to IO */
-struct px4io_config {
-	uint16_t f2i_config_magic;
-#define F2I_CONFIG_MAGIC 0x6366
-
-	/* XXX currently nothing here */
-};
-
-/* report from IO to FMU */
+/**
+ * Periodic report from IO to FMU 
+ */
 struct px4io_report {
 	uint16_t	i2f_magic;
 #define I2F_MAGIC		0x7570
@@ -75,4 +71,34 @@ struct px4io_report {
 	uint8_t		channel_count;
 };
 
+/**
+ * As-needed config message from FMU to IO 
+ */
+struct px4io_config {
+	uint16_t	f2i_config_magic;
+#define F2I_CONFIG_MAGIC	 0x6366
+
+	/* XXX currently nothing here */
+};
+
+/**
+ * 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	(sizeof(struct px4io_mixdata) - HX_STREAM_MAX_FRAME)
+
 #pragma pack(pop)
\ No newline at end of file