Fresh import of the PX4 firmware sources.

1 files changed, 69 insertions, 0 deletions

diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
new file mode 100644
index 000000000..92558a61d
--- /dev/null
+++ b/apps/px4io/protocol.h
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   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.
+ */
+
+/*
+ * XXX MUST BE KEPT IN SYNC WITH THE VERSION IN PX4FMU UNTIL
+ * TREES ARE MERGED.
+ */
+
+#define PX4IO_OUTPUT_CHANNELS	8
+#define PX4IO_INPUT_CHANNELS	12
+#define PX4IO_RELAY_CHANNELS	2
+
+/* command from FMU to IO */
+struct px4io_command {
+	uint16_t	f2i_magic;
+#define F2I_MAGIC	0x636d
+
+	uint16_t	servo_command[PX4IO_OUTPUT_CHANNELS];
+	bool		relay_state[PX4IO_RELAY_CHANNELS];
+	bool		arm_ok;
+} __attribute__((packed));
+
+/* 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;
+} __attribute__((packed));