ardupilot/libraries/AP_Radio/telem_structure.h

104 lines
2.4 KiB
C

/*
structures for telemetry packets
This header is common to ArduPilot AP_Radio and STM8 TX code
*/
#pragma once
enum telem_type {
TELEM_STATUS= 0, // a telem_status packet
TELEM_PLAY = 1, // play a tune
TELEM_FW = 2, // update new firmware
};
// flags in telem_status structure
#define TELEM_FLAG_GPS_OK (1U<<0)
#define TELEM_FLAG_ARM_OK (1U<<1)
#define TELEM_FLAG_BATT_OK (1U<<2)
#define TELEM_FLAG_ARMED (1U<<4)
#define TELEM_FLAG_POS_OK (1U<<5)
#define TELEM_FLAG_VIDEO (1U<<6)
#define TELEM_FLAG_HYBRID (1U<<7)
struct PACKED telem_status {
uint8_t pps; // packets per second received
uint8_t rssi; // lowpass rssi
uint8_t flags; // TELEM_FLAG_*
uint8_t flight_mode; // flight mode
uint8_t wifi_chan; // wifi channel number on Sonix
uint8_t tx_max; // max TX power
uint8_t note_adjust; // buzzer tone adjustment
};
// write to new firmware. This is also used to play a tune
struct PACKED telem_firmware {
uint8_t seq;
uint8_t len;
uint16_t offset;
uint8_t data[8];
};
/*
telemetry packet from RX to TX for cypress
*/
struct PACKED telem_packet_cypress {
uint8_t crc; // simple CRC
enum telem_type type;
union {
uint8_t pkt[14];
struct telem_status status;
struct telem_firmware fw;
} payload;
};
/*
telemetry packet from RX to TX for cc2500
*/
struct PACKED telem_packet_cc2500 {
uint8_t length;
uint8_t type;
uint8_t txid[2];
union {
uint8_t pkt[12];
struct telem_status status;
struct telem_firmware fw;
} payload;
uint8_t crc[2];
};
/*
packet type - controls data field. We have 4 bits, giving 16 possible
data field types
*/
enum packet_type {
PKTYPE_VOLTAGE = 0,
PKTYPE_YEAR = 1,
PKTYPE_MONTH = 2,
PKTYPE_DAY = 3,
PKTYPE_TELEM_RSSI = 4,
PKTYPE_TELEM_PPS = 5,
PKTYPE_BL_VERSION = 6,
PKTYPE_FW_ACK = 7,
PKTYPE_NUM_TYPES = 8 // used for modulus
};
/*
skyrocket specific packet for cc2500
*/
struct PACKED srt_packet {
uint8_t length; // required for cc2500 FIFO
uint8_t txid[2];
uint8_t version:4; // protocol version
uint8_t pkt_type:4; // packet type
uint8_t chan1;
uint8_t chan2;
uint8_t chan3;
uint8_t chan4;
uint8_t chan_high;
uint8_t data; // data according to pkt_type
uint8_t buttons; // see channels.h
uint8_t channr;
uint8_t chanskip;
uint8_t crc[2];
};