forked from Archive/PX4-Autopilot
73 lines
2.6 KiB
C
73 lines
2.6 KiB
C
/****************************************************************************
|
|
*
|
|
* 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;
|
|
};
|
|
|
|
#pragma pack(pop) |