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Diffstat (limited to 'apps/px4/px4io/protocol.h')
-rw-r--r-- | apps/px4/px4io/protocol.h | 73 |
1 files changed, 73 insertions, 0 deletions
diff --git a/apps/px4/px4io/protocol.h b/apps/px4/px4io/protocol.h new file mode 100644 index 000000000..c186c5b86 --- /dev/null +++ b/apps/px4/px4io/protocol.h @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * 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 + +#pragma pack(push,1) + +/* 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; +}; + +/* 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)); + +#pragma pack(pop) |