forked from Archive/PX4-Autopilot
104 lines
3.2 KiB
C
104 lines
3.2 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file PX4FMU <-> PX4IO messaging protocol.
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*
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* This initial version of the protocol is very simple; each side transmits a
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* complete update with each frame. This avoids the sending of many small
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* messages and the corresponding complexity involved.
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*/
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#pragma once
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#define PX4IO_CONTROL_CHANNELS 8
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#define PX4IO_INPUT_CHANNELS 12
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#define PX4IO_RELAY_CHANNELS 4
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#pragma pack(push, 1)
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/**
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* Periodic command from FMU to IO.
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*/
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struct px4io_command {
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uint16_t f2i_magic;
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#define F2I_MAGIC 0x636d
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uint16_t output_control[PX4IO_CONTROL_CHANNELS];
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bool relay_state[PX4IO_RELAY_CHANNELS];
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bool arm_ok;
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};
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/**
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* Periodic report from IO to FMU
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*/
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struct px4io_report {
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uint16_t i2f_magic;
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#define I2F_MAGIC 0x7570
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uint16_t rc_channel[PX4IO_INPUT_CHANNELS];
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bool armed;
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uint8_t channel_count;
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};
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/**
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* As-needed config message from FMU to IO
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*/
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struct px4io_config {
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uint16_t f2i_config_magic;
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#define F2I_CONFIG_MAGIC 0x6366
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/* XXX currently nothing here */
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};
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/**
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* As-needed mixer data upload.
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*
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* This message adds text to the mixer text buffer; the text
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* buffer is drained as the definitions are consumed.
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*/
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struct px4io_mixdata {
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uint16_t f2i_mixer_magic;
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#define F2I_MIXER_MAGIC 0x6d74
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uint8_t action;
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#define F2I_MIXER_ACTION_RESET 0
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#define F2I_MIXER_ACTION_APPEND 1
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char text[0]; /* actual text size may vary */
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};
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/* maximum size is limited by the HX frame size */
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#define F2I_MIXER_MAX_TEXT (sizeof(struct px4io_mixdata) - HX_STREAM_MAX_FRAME)
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#pragma pack(pop) |