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Added 0x70, other minor changes. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@788 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-07 03:19:49 +00:00
parent bfaf2f2f9b
commit 5207844480
2 changed files with 168 additions and 173 deletions
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63
libraries/APM_BinComm/protocol/protocol.def
View File

@ -89,16 +89,16 @@ message 0x03 MSG_LOCATION
int32_t latitude
int32_t longitude
int16_t altitude
int16_t groundSpeed
int16_t groundCourse
uint16_t timeOfWeek
uint16_t groundSpeed
uint16_t groundCourse
uint32_t timeOfWeek
#
# Optional pressure-based location report
#
message 0x04 MSG_PRESSURE
uint16_t pressureAltitude
uint16_t airSpeed
int16_t pressureAltitude
int16_t airSpeed
#
# Text status message
@ -143,22 +143,23 @@ message 0x20 MSG_COMMAND_REQUEST
message 0x21 MSG_COMMAND_UPLOAD
uint8_t action
uint16_t itemNumber
int listLength
uint16_t listLength
uint8_t commandID
uint8_t p1
uint16_t p2
uint32_t p3
uint32_t p4
int16_t p2
int32_t p3
int32_t p4
message 0x22 MSG_COMMAND_LIST
int itemNumber
int listLength
uint16_t itemNumber
uint16_t listLength
uint8_t commandID
uint8_t p1
uint16_t p2
uint32_t p3
uint32_t p4
int16_t p2
int32_t p3
int32_t p4
# this message is not in the standard
message 0x23 MSG_COMMAND_MODE_CHANGE
uint16_t UNSPECIFIED
@ -202,30 +203,17 @@ message 0x42 MSG_PID
#
# Radio settings and values
#
# The trim/radio values should be unsigned, but
# currently aren't.
#
message 0x50 MSG_TRIM_STARTUP
int value 8
# uint16_t value 8
uint16_t value 8
message 0x51 MSG_TRIM_MIN
int value 8
# uint16_t value 8
uint16_t value 8
message 0x52 MSG_TRIM_MAX
int value 8
# uint16_t value 8
uint16_t value 8
message 0x53 MSG_SERVOS
int16_t ch1
int16_t ch2
int16_t ch3
int16_t ch4
int16_t ch5
int16_t ch6
int16_t ch7
int16_t ch8
message 0x53 MSG_RADIO_OUT
uint16_t value 8
#
# Direct sensor access
@ -236,8 +224,15 @@ message 0x60 MSG_SENSOR
#
# Simulation-related messages
#
message 0x70 MSG_SIM
uint16_t UNSPECIFIED
message 0x70 MSG_SERVO_OUT_PLANE
int16_t rollServo
int16_t pitchServo
uint16_t throttleServo
int16_t yawServo
int16_t aux1
int16_t aux2
int16_t aux3
int16_t aux4
#
# Direct I/O pin control

276
libraries/APM_BinComm/protocol/protocol.h
View File

@ -145,9 +145,9 @@ struct msg_location {
int32_t latitude;
int32_t longitude;
int16_t altitude;
int16_t groundSpeed;
int16_t groundCourse;
uint16_t timeOfWeek;
uint16_t groundSpeed;
uint16_t groundCourse;
uint32_t timeOfWeek;
};
/// Send a MSG_LOCATION message
@ -156,9 +156,9 @@ send_msg_location(
const int32_t latitude,
const int32_t longitude,
const int16_t altitude,
const int16_t groundSpeed,
const int16_t groundCourse,
const uint16_t timeOfWeek)
const uint16_t groundSpeed,
const uint16_t groundCourse,
const uint32_t timeOfWeek)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, latitude);
@ -167,7 +167,7 @@ send_msg_location(
_pack(__p, groundSpeed);
_pack(__p, groundCourse);
_pack(__p, timeOfWeek);
_encodeBuf.header.length = 16;
_encodeBuf.header.length = 18;
_encodeBuf.header.messageID = MSG_LOCATION;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
@ -179,9 +179,9 @@ unpack_msg_location(
int32_t &latitude,
int32_t &longitude,
int16_t &altitude,
int16_t &groundSpeed,
int16_t &groundCourse,
uint16_t &timeOfWeek)
uint16_t &groundSpeed,
uint16_t &groundCourse,
uint32_t &timeOfWeek)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, latitude);
@ -199,15 +199,15 @@ unpack_msg_location(
/// Structure describing the payload section of the MSG_PRESSURE message
struct msg_pressure {
uint16_t pressureAltitude;
uint16_t airSpeed;
int16_t pressureAltitude;
int16_t airSpeed;
};
/// Send a MSG_PRESSURE message
inline void
send_msg_pressure(
const uint16_t pressureAltitude,
const uint16_t airSpeed)
const int16_t pressureAltitude,
const int16_t airSpeed)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, pressureAltitude);
@ -221,8 +221,8 @@ send_msg_pressure(
/// Unpack a MSG_PRESSURE message
inline void
unpack_msg_pressure(
uint16_t &pressureAltitude,
uint16_t &airSpeed)
int16_t &pressureAltitude,
int16_t &airSpeed)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, pressureAltitude);
@ -463,12 +463,12 @@ unpack_msg_command_request(
struct msg_command_upload {
uint8_t action;
uint16_t itemNumber;
int listLength;
uint16_t listLength;
uint8_t commandID;
uint8_t p1;
uint16_t p2;
uint32_t p3;
uint32_t p4;
int16_t p2;
int32_t p3;
int32_t p4;
};
/// Send a MSG_COMMAND_UPLOAD message
@ -476,12 +476,12 @@ inline void
send_msg_command_upload(
const uint8_t action,
const uint16_t itemNumber,
const int listLength,
const uint16_t listLength,
const uint8_t commandID,
const uint8_t p1,
const uint16_t p2,
const uint32_t p3,
const uint32_t p4)
const int16_t p2,
const int32_t p3,
const int32_t p4)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, action);
@ -492,7 +492,7 @@ send_msg_command_upload(
_pack(__p, p2);
_pack(__p, p3);
_pack(__p, p4);
_encodeBuf.header.length = 16;
_encodeBuf.header.length = 17;
_encodeBuf.header.messageID = MSG_COMMAND_UPLOAD;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
@ -503,12 +503,12 @@ inline void
unpack_msg_command_upload(
uint8_t &action,
uint16_t &itemNumber,
int &listLength,
uint16_t &listLength,
uint8_t &commandID,
uint8_t &p1,
uint16_t &p2,
uint32_t &p3,
uint32_t &p4)
int16_t &p2,
int32_t &p3,
int32_t &p4)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, action);
@ -528,25 +528,25 @@ unpack_msg_command_upload(
/// Structure describing the payload section of the MSG_COMMAND_LIST message
struct msg_command_list {
int itemNumber;
int listLength;
uint16_t itemNumber;
uint16_t listLength;
uint8_t commandID;
uint8_t p1;
uint16_t p2;
uint32_t p3;
uint32_t p4;
int16_t p2;
int32_t p3;
int32_t p4;
};
/// Send a MSG_COMMAND_LIST message
inline void
send_msg_command_list(
const int itemNumber,
const int listLength,
const uint16_t itemNumber,
const uint16_t listLength,
const uint8_t commandID,
const uint8_t p1,
const uint16_t p2,
const uint32_t p3,
const uint32_t p4)
const int16_t p2,
const int32_t p3,
const int32_t p4)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, itemNumber);
@ -556,7 +556,7 @@ send_msg_command_list(
_pack(__p, p2);
_pack(__p, p3);
_pack(__p, p4);
_encodeBuf.header.length = 14;
_encodeBuf.header.length = 16;
_encodeBuf.header.messageID = MSG_COMMAND_LIST;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
@ -565,13 +565,13 @@ send_msg_command_list(
/// Unpack a MSG_COMMAND_LIST message
inline void
unpack_msg_command_list(
int &itemNumber,
int &listLength,
uint16_t &itemNumber,
uint16_t &listLength,
uint8_t &commandID,
uint8_t &p1,
uint16_t &p2,
uint32_t &p3,
uint32_t &p4)
int16_t &p2,
int32_t &p3,
int32_t &p4)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, itemNumber);
@ -869,17 +869,17 @@ unpack_msg_pid(
/// Structure describing the payload section of the MSG_TRIM_STARTUP message
struct msg_trim_startup {
int value[8];
uint16_t value[8];
};
/// Send a MSG_TRIM_STARTUP message
inline void
send_msg_trim_startup(
const int (&value)[8])
const uint16_t (&value)[8])
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, value, 8);
_encodeBuf.header.length = 8;
_encodeBuf.header.length = 16;
_encodeBuf.header.messageID = MSG_TRIM_STARTUP;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
@ -888,7 +888,7 @@ send_msg_trim_startup(
/// Unpack a MSG_TRIM_STARTUP message
inline void
unpack_msg_trim_startup(
int (&value)[8])
uint16_t (&value)[8])
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, value, 8);
@ -901,17 +901,17 @@ unpack_msg_trim_startup(
/// Structure describing the payload section of the MSG_TRIM_MIN message
struct msg_trim_min {
int value[8];
uint16_t value[8];
};
/// Send a MSG_TRIM_MIN message
inline void
send_msg_trim_min(
const int (&value)[8])
const uint16_t (&value)[8])
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, value, 8);
_encodeBuf.header.length = 8;
_encodeBuf.header.length = 16;
_encodeBuf.header.messageID = MSG_TRIM_MIN;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
@ -920,7 +920,7 @@ send_msg_trim_min(
/// Unpack a MSG_TRIM_MIN message
inline void
unpack_msg_trim_min(
int (&value)[8])
uint16_t (&value)[8])
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, value, 8);
@ -933,17 +933,17 @@ unpack_msg_trim_min(
/// Structure describing the payload section of the MSG_TRIM_MAX message
struct msg_trim_max {
int value[8];
uint16_t value[8];
};
/// Send a MSG_TRIM_MAX message
inline void
send_msg_trim_max(
const int (&value)[8])
const uint16_t (&value)[8])
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, value, 8);
_encodeBuf.header.length = 8;
_encodeBuf.header.length = 16;
_encodeBuf.header.messageID = MSG_TRIM_MAX;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
@ -952,7 +952,7 @@ send_msg_trim_max(
/// Unpack a MSG_TRIM_MAX message
inline void
unpack_msg_trim_max(
int (&value)[8])
uint16_t (&value)[8])
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, value, 8);
@ -960,69 +960,34 @@ unpack_msg_trim_max(
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_SERVOS
/// @name MSG_RADIO_OUT
//@{
/// Structure describing the payload section of the MSG_SERVOS message
struct msg_servos {
int16_t ch1;
int16_t ch2;
int16_t ch3;
int16_t ch4;
int16_t ch5;
int16_t ch6;
int16_t ch7;
int16_t ch8;
/// Structure describing the payload section of the MSG_RADIO_OUT message
struct msg_radio_out {
uint16_t value[8];
};
/// Send a MSG_SERVOS message
/// Send a MSG_RADIO_OUT message
inline void
send_msg_servos(
const int16_t ch1,
const int16_t ch2,
const int16_t ch3,
const int16_t ch4,
const int16_t ch5,
const int16_t ch6,
const int16_t ch7,
const int16_t ch8)
send_msg_radio_out(
const uint16_t (&value)[8])
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, ch1);
_pack(__p, ch2);
_pack(__p, ch3);
_pack(__p, ch4);
_pack(__p, ch5);
_pack(__p, ch6);
_pack(__p, ch7);
_pack(__p, ch8);
_pack(__p, value, 8);
_encodeBuf.header.length = 16;
_encodeBuf.header.messageID = MSG_SERVOS;
_encodeBuf.header.messageID = MSG_RADIO_OUT;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_SERVOS message
/// Unpack a MSG_RADIO_OUT message
inline void
unpack_msg_servos(
int16_t &ch1,
int16_t &ch2,
int16_t &ch3,
int16_t &ch4,
int16_t &ch5,
int16_t &ch6,
int16_t &ch7,
int16_t &ch8)
unpack_msg_radio_out(
uint16_t (&value)[8])
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, ch1);
_unpack(__p, ch2);
_unpack(__p, ch3);
_unpack(__p, ch4);
_unpack(__p, ch5);
_unpack(__p, ch6);
_unpack(__p, ch7);
_unpack(__p, ch8);
_unpack(__p, value, 8);
};
//@}
@ -1059,34 +1024,69 @@ unpack_msg_sensor(
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_SIM
/// @name MSG_SERVO_OUT_PLANE
//@{
/// Structure describing the payload section of the MSG_SIM message
struct msg_sim {
uint16_t UNSPECIFIED;
/// Structure describing the payload section of the MSG_SERVO_OUT_PLANE message
struct msg_servo_out_plane {
int16_t rollServo;
int16_t pitchServo;
uint16_t throttleServo;
int16_t yawServo;
int16_t aux1;
int16_t aux2;
int16_t aux3;
int16_t aux4;
};
/// Send a MSG_SIM message
/// Send a MSG_SERVO_OUT_PLANE message
inline void
send_msg_sim(
const uint16_t UNSPECIFIED)
send_msg_servo_out_plane(
const int16_t rollServo,
const int16_t pitchServo,
const uint16_t throttleServo,
const int16_t yawServo,
const int16_t aux1,
const int16_t aux2,
const int16_t aux3,
const int16_t aux4)
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, UNSPECIFIED);
_encodeBuf.header.length = 2;
_encodeBuf.header.messageID = MSG_SIM;
_pack(__p, rollServo);
_pack(__p, pitchServo);
_pack(__p, throttleServo);
_pack(__p, yawServo);
_pack(__p, aux1);
_pack(__p, aux2);
_pack(__p, aux3);
_pack(__p, aux4);
_encodeBuf.header.length = 16;
_encodeBuf.header.messageID = MSG_SERVO_OUT_PLANE;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_SIM message
/// Unpack a MSG_SERVO_OUT_PLANE message
inline void
unpack_msg_sim(
uint16_t &UNSPECIFIED)
unpack_msg_servo_out_plane(
int16_t &rollServo,
int16_t &pitchServo,
uint16_t &throttleServo,
int16_t &yawServo,
int16_t &aux1,
int16_t &aux2,
int16_t &aux3,
int16_t &aux4)
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, UNSPECIFIED);
_unpack(__p, rollServo);
_unpack(__p, pitchServo);
_unpack(__p, throttleServo);
_unpack(__p, yawServo);
_unpack(__p, aux1);
_unpack(__p, aux2);
_unpack(__p, aux3);
_unpack(__p, aux4);
};
//@}
@ -1285,37 +1285,37 @@ unpack_msg_eeprom_set(
//////////////////////////////////////////////////////////////////////
/// Message ID values
enum MessageID {
MSG_PID = 0x42,
MSG_DATAFLASH_REQUEST = 0x90,
MSG_DATAFLASH_SET = 0x91,
MSG_SENSOR = 0x60,
MSG_VALUE_REQUEST = 0x30,
MSG_VALUE_SET = 0x31,
MSG_VALUE = 0x32,
MSG_PIN_REQUEST = 0x80,
MSG_PIN_SET = 0x81,
MSG_ACKNOWLEDGE = 0x0,
MSG_HEARTBEAT = 0x1,
MSG_ATTITUDE = 0x2,
MSG_LOCATION = 0x3,
MSG_PRESSURE = 0x4,
MSG_TRIM_STARTUP = 0x50,
MSG_STATUS_TEXT = 0x5,
MSG_TRIM_MIN = 0x51,
MSG_PERF_REPORT = 0x6,
MSG_TRIM_MAX = 0x52,
MSG_VERSION_REQUEST = 0x7,
MSG_SERVOS = 0x53,
MSG_VERSION = 0x8,
MSG_COMMAND_REQUEST = 0x20,
MSG_PERF_REPORT = 0x6,
MSG_COMMAND_UPLOAD = 0x21,
MSG_VERSION_REQUEST = 0x7,
MSG_COMMAND_LIST = 0x22,
MSG_VERSION = 0x8,
MSG_VALUE_REQUEST = 0x30,
MSG_COMMAND_MODE_CHANGE = 0x23,
MSG_SIM = 0x70,
MSG_EEPROM_REQUEST = 0xa0,
MSG_EEPROM_SET = 0xa1,
MSG_VALUE_SET = 0x31,
MSG_VALUE = 0x32,
MSG_PID_REQUEST = 0x40,
MSG_PID_SET = 0x41,
MSG_PID = 0x42,
MSG_TRIM_STARTUP = 0x50,
MSG_TRIM_MIN = 0x51,
MSG_TRIM_MAX = 0x52,
MSG_SENSOR = 0x60,
MSG_RADIO_OUT = 0x53,
MSG_EEPROM_REQUEST = 0xa0,
MSG_EEPROM_SET = 0xa1,
MSG_SERVO_OUT_PLANE = 0x70,
MSG_PIN_REQUEST = 0x80,
MSG_PIN_SET = 0x81,
MSG_DATAFLASH_REQUEST = 0x90,
MSG_DATAFLASH_SET = 0x91,
MSG_ANY = 0xfe,
MSG_NULL = 0xff
};