mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
71efe28851
Based on work done for the ArduStationM firmware and influenced by Randall Mackay's ArduCopter BinComm code. This is a work in progress; discussion is welcome. git-svn-id: https://arducopter.googlecode.com/svn/trunk@318 f9c3cf11-9bcb-44bc-f272-b75c42450872
216 lines
3.6 KiB
Modula-2
216 lines
3.6 KiB
Modula-2
#
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# Message definitions for the ArduPilot Mega binary communications protocol.
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#
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# Process this file using:
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#
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# awk -f protogen.awk protocol.def > protocol.h
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#
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# Messages are declared with
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#
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# message <MESSAGE_ID> <MESSAGE_NAME>
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#
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# <MESSAGE_NAME> is a valid member of BinComm::MessageID.
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# <MESSAGE_ID> is the message ID byte
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#
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# Following a message declaration the fields of the message are
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# defined in the format:
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#
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# <TYPE> <NAME> [<COUNT>]
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#
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# <TYPE> is a C type corresponding to the field. The type must be a single
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# word, either an integer from <inttypes.h> or "char".
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# <NAME> is the name of the field; it should be unique within the message
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# <COUNT> is an optional array count for fields that are arrays
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# (note that currently there is only _pack support for character arrays)
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#
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#
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# Acknowledge message
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#
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message 0x00 MSG_ACKNOWLEDGE
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uint8_t msgID
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uint16_t msgSum
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#
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# System heartbeat
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#
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message 0x01 MSG_HEARTBEAT
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uint8_t flightMode
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uint16_t timeStamp
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uint16_t batteryVoltage
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uint16_t commandIndex
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#
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# Attitude report
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#
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message 0x02 MSG_ATTITUDE
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int16_t roll
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int16_t pitch
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int16_t yaw
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#
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# Location report
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#
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message 0x03 MSG_LOCATION
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int32_t latitude
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int32_t longitude
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int16_t altitude
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int16_t groundSpeed
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int16_t groundCourse
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uint16_t timeOfWeek
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#
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# Optional pressure-based location report
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#
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message 0x04 MSG_PRESSURE
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uint16_t pressureAltitude
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uint16_t airSpeed
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#
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# Text status message
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#
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message 0x05 MSG_STATUS_TEXT
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uint8_t severity
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char text 50
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#
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# Algorithm performance report
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#
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message 0x06 MSG_PERF_REPORT
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uint32_t interval
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uint16_t mainLoopCycles
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uint8_t mainLoopTime
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uint8_t gyroSaturationCount
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uint8_t adcConstraintCount
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uint16_t imuHealth
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uint16_t gcsMessageCount
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#
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# System version messages
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#
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message 0x07 MSG_VERSION_REQUEST
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uint8_t systemType
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uint8_t systemID
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message 0x08 MSG_VERSION
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uint8_t systemType
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uint8_t systemID
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uint8_t firmwareVersion 3
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#
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# Flight command operations
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#
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message 0x20 MSG_COMMAND_REQUEST
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uint16_t UNSPECIFIED
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message 0x21 MSG_COMMAND_UPLOAD
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uint8_t action
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uint16_t itemNumber
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int listLength
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uint8_t commandID
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uint8_t p1
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uint16_t p2
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uint32_t p3
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uint32_t p4
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message 0x22 MSG_COMMAND_LIST
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int itemNumber
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int listLength
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uint8_t commandID
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uint8_t p1
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uint16_t p2
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uint32_t p3
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uint32_t p4
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message 0x23 MSG_COMMAND_MODE_CHANGE
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uint16_t UNSPECIFIED
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#
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# Parameter operations
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#
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message 0x30 MSG_VALUE_REQUEST
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uint8_t valueID
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uint8_t broadcast
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message 0x31 MSG_VALUE_SET
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uint8_t valueID
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uint32_t value
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message 0x32 MSG_VALUE
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uint8_t valueID
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uint32_t value
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#
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# PID adjustments
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#
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message 0x40 MSG_PID_REQUEST
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uint8_t pidSet
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message 0x41 MSG_PID_SET
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uint8_t pidSet
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int32_t p
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int32_t i
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int32_t d
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int16_t integratorMax
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message 0x42 MSG_PID
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uint8_t pidSet
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int32_t p
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int32_t i
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int32_t d
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int16_t integratorMax
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#
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# Radio trim settings
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#
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message 0x50 MSG_TRIM_STARTUP
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uint16_t value 8
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message 0x51 MSG_TRIM_MIN
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uint16_t value 8
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message 0x52 MSG_TRIM_MAX
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uint16_t value 8
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#
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# Direct sensor access
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#
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message 0x60 MSG_SENSOR
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uint16_t UNSPECIFIED
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#
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# Simulation-related messages
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#
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message 0x70 MSG_SIM
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uint16_t UNSPECIFIED
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#
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# Direct I/O pin control
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#
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message 0x80 MSG_PIN_REQUEST
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uint16_t UNSPECIFIED
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message 0x81 MSG_PIN_SET
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uint16_t UNSPECIFIED
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#
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# Dataflash operations
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#
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message 0x90 MSG_DATAFLASH_REQUEST
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uint16_t UNSPECIFIED
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message 0x91 MSG_DATAFLASH_SET
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uint16_t UNSPECIFIED
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#
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# EEPROM operations
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#
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message 0xa0 MSG_EEPROM_REQUEST
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uint16_t UNSPECIFIED
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message 0xa1 MSG_EEPROM_SET
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uint16_t UNSPECIFIED
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