mirror of https://github.com/ArduPilot/ardupilot
280 lines
5.6 KiB
Modula-2
280 lines
5.6 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 to generate protocol.h, 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 unique name by which the message will
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# be known.
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#
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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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#
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# Each message causes the definition of several items in the APM_BinComm
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# class. Note that <MESSAGE_NAME> is uppercase, and <message_name> is
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# lowercase.
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#
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# BinComm::<MESSAGE_NAME>
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#
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# An enumeration with the value <MESSAGE_ID>
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#
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# BinComm::<message_name>
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#
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# A structure which corresponds to the layout of the message payload.
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# In a message reception callout function the messageData pointer can
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# be cast to this type to directly access specific elements of the
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# message. Do not modify fields in the structure in this case.
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#
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# BinComm::send_<message_name>(<TYPE> <NAME>[, <TYPE> <NAME>...])
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#
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# A function which takes arguments as listed in the message definition
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# and which constructs and sends the message.
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# The send_<message_name> functions queue data for transmission but
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# do not wait for the message to be completed before returning, as long
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# as there is space in the Stream buffer for the message.
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# These functions are not re-entrant, and must not be called from an
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# interrupt handler.
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#
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# BinComm::unpack_<message_name>(<TYPE> &<NAME>[, <TYPE> &<NAME>...])
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#
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# A function which unpacks the message. Use this instead of casting
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# to the structure when you intend to use most of the values from the
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# message. Must only be called inside the message reception callout
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# function, as it references the message receive buffer directly.
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#
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#
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# Acknowledge message
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# Required by protocol, don't change
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message 0x00 MSG_ACKNOWLEDGE
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uint8_t msgID
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uint8_t sum1
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uint8_t sum2
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#
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# Text status message
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# Required by protocol, don't change
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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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# 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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uint16_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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int32_t altitude
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uint16_t groundSpeed
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uint16_t groundCourse
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uint32_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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int32_t pressureAltitude
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int16_t airSpeed
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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 mainLoopCycleTime
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uint8_t gyroSaturationCount
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uint8_t adcConstraintCount
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uint8_t renormSqrtCount
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uint8_t renormBlowupCount
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uint8_t gpsFixCount
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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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uint16_t listLength
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uint8_t commandID
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uint8_t p1
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int32_t p2
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int32_t p3
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int32_t p4
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message 0x22 MSG_COMMAND_LIST
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uint16_t itemNumber
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uint16_t listLength
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uint8_t commandID
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uint8_t p1
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int32_t p2
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int32_t p3
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int32_t p4
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# this message is not in the standard
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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 settings and values
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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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message 0x53 MSG_RADIO_OUT
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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_SERVO_OUT
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int16_t value 8
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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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#
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# Navigation Augmentation
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#
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message 0xb0 MSG_POSITION_CORRECT
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int16_t latError
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int16_t lonError
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int16_t altError
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int16_t groundSpeedError
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message 0xb1 MSG_ATTITUDE_CORRECT
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int16_t rollError
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int16_t pitchError
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int16_t yawError
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message 0xb2 MSG_POSITION_SET
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int32_t latitude
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int32_t longitude
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int32_t altitude
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uint16_t heading
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message 0xb3 MSG_ATTITUDE_SET
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int16_t roll
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int16_t pitch
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uint16_t yaw
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