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116 lines
3.9 KiB
116 lines
3.9 KiB
/**************************************************************************** |
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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 servo_rate; |
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uint16_t output_control[PX4IO_CONTROL_CHANNELS]; /**< PWM output rate in Hz */ |
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bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */ |
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bool arm_ok; /**< FMU allows full arming */ |
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bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */ |
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bool manual_override_ok; /**< if true, IO performs a direct manual override */ |
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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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uint16_t battery_mv; |
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uint16_t adc_in; |
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uint8_t overcurrent; |
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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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uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */ |
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uint16_t rc_min[4]; /**< min value for each channel */ |
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uint16_t rc_trim[4]; /**< trim value for each channel */ |
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uint16_t rc_max[4]; /**< max value for each channel */ |
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int8_t rc_rev[4]; /**< rev value for each channel */ |
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uint16_t rc_dz[4]; /**< dz value for each channel */ |
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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 (HX_STREAM_MAX_FRAME - sizeof(struct px4io_mixdata)) |
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#pragma pack(pop) |