crtp.h
2.73 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
/****************************************************************************
*
* 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;