You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
77 lines
2.7 KiB
77 lines
2.7 KiB
/**************************************************************************** |
|
* |
|
* Copyright (c) 2016 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. |
|
* |
|
****************************************************************************/ |
|
|
|
#pragma once |
|
|
|
|
|
#include <stdint.h> |
|
|
|
#define CRTP_PORT_CONSOLE 0x00 |
|
#define CRTP_PORT_PARAM 0x02 |
|
#define CRTP_PORT_COMMANDER 0x03 |
|
#define CRTP_PORT_MEM 0x04 |
|
#define CRTP_PORT_LOG 0x05 |
|
|
|
#define CRTP_PORT_MAVLINK 0x08 // Non-standard port for transmitting mavlink messages |
|
|
|
#define CRTP_PORT_PLATFORM 0x0D |
|
#define CRTP_PORT_DEBUG 0x0E |
|
#define CRTP_PORT_LINK 0x0F |
|
|
|
#define CRTP_NULL(x) (((x).header & 0xf3) == 0xf3) |
|
|
|
// 1 byte header + 31 bytes data = 32 (max ESB packet size) |
|
// With the NRF51, this could be increased to ~250, but the Crazyradio PA uses a NRF24 which can't do this |
|
#define CRTP_MAX_DATA_SIZE 31 |
|
|
|
typedef struct { |
|
uint8_t size; // Total size of this message, including the header (placed here to overlap with syslink length field) |
|
union { |
|
uint8_t header; |
|
struct { |
|
uint8_t channel : 2; |
|
uint8_t link : 2; |
|
uint8_t port : 4; |
|
}; |
|
}; |
|
|
|
uint8_t data[CRTP_MAX_DATA_SIZE]; |
|
} __attribute__((packed)) crtp_message_t; |
|
|
|
|
|
typedef struct { |
|
float roll; // -20 to 20 |
|
float pitch; |
|
float yaw; // -150 to 150 |
|
uint16_t thrust; |
|
} crtp_commander;
|
|
|