uavcan_dsdl_defs.h
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* 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.
*
****************************************************************************/
/* This file not a typical h file, is defines the UAVCAN dsdl
* usage and may be included several times in header or source
* file
*/
/* Components */
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(CRC, lsb, 0, 8, 0, 1)
UAVCAN_DSDL_BIT_DEF(CRC, msb, 0, 8, 1, 1)
UAVCAN_DSDL_BIT_DEF(CRC, data, 0, 8, 2, 4)
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_TYPE_DEF(Path, 0, 0, 200, NA, NA,
NA, NA)
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(Path, path, 0, 8, 0,
200)
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_TYPE_DEF(SoftwareVersion, 0, 0, 15, NA, NA,
NA, NA)
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(SoftwareVersion, major, 0, 8, 0,
1)
UAVCAN_DSDL_BIT_DEF(SoftwareVersion, minor, 0, 8, 1,
1)
UAVCAN_DSDL_BIT_DEF(SoftwareVersion, optional_field_flags, 0, 8, 2,
1)
UAVCAN_DSDL_BIT_DEF(SoftwareVersion, vcs_commit, 0, 32, 3,
4)
UAVCAN_DSDL_BIT_DEF(SoftwareVersion, image_crc, 0, NA, 7,
8) // NA becuase bit mask is 64
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_TYPE_DEF(HardwareVersion, 0, 0, NA, NA, NA,
NA, NA)
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(HardwareVersion, unique_id, 0, 8, 0,
16)
UAVCAN_DSDL_BIT_DEF(HardwareVersion, certificate_of_authenticity, 0, 8, 0,
255)
END_COMPONENTS
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_MESG_DEF(Allocation, 1, 0xf258, 0, MailBox0, Fifo0,
MultiFrameTailInit, SingleFrameTailInit) /* Message */
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(Allocation, node_id, 1, 7, 0,
1)
UAVCAN_DSDL_BIT_DEF(Allocation, first_part_of_unique_id, 0, 1, 0,
1)
UAVCAN_DSDL_BIT_DEF(Allocation, unique_id, 0, 8, 1,
16)
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_MESG_DEF(NodeStatus, 341, 0xbe5f, 7, MailBox1, FifoNone,
SingleFrameTailInit, SingleFrameTailInit) /* Message */
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(NodeStatus, uptime_sec, 0, 32, 0,
4)
UAVCAN_DSDL_BIT_DEF(NodeStatus, health, 6, 2, 5,
1)
UAVCAN_DSDL_BIT_DEF(NodeStatus, mode, 3, 3, 5,
1)
UAVCAN_DSDL_BIT_DEF(NodeStatus, sub_mode, 0, 3, 5,
1)
UAVCAN_DSDL_BIT_DEF(NodeStatus, vendor_specific_status_code, 0, 16, 6,
2)
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_SREQ_DEF(GetNodeInfo, 1, 0xd9a7, 0, MailBox1, Fifo1,
SingleFrameTailInit, MultiFrameTailInit) /* Request */
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) Empty */
UAVCAN_DSDL_SRSP_DEF(GetNodeInfo, 1, 0xd9a7, 0, MailBox1, Fifo1,
SingleFrameTailInit, MultiFrameTailInit) /* Response */
UAVCAN_DSDL_BIT_DEF(GetNodeInfo, status, 0, 8, 0,
PackedSizeMsgNodeStatus)
UAVCAN_DSDL_BIT_DEF(GetNodeInfo, software_version, 0, 8, NA,
NA)
UAVCAN_DSDL_BIT_DEF(GetNodeInfo, hardware_version, 0, 8, NA,
NA)
UAVCAN_DSDL_BIT_DEF(GetNodeInfo, name, 0, 8, NA,
80)
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_SREQ_DEF(BeginFirmwareUpdate, 40, 0x729e, 0, MailBox0, Fifo0,
MultiFrameTailInit, SingleFrameTailInit) /* Request */
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(BeginFirmwareUpdate, source_node_id, 0, 8, 0,
1)
UAVCAN_DSDL_BIT_DEF(BeginFirmwareUpdate, image_file_remote_path, 0, 8, 1,
PayloadLengthPathpath)
UAVCAN_DSDL_SRSP_DEF(BeginFirmwareUpdate, 40, 0x729e, 0, MailBox0, Fifo0,
MultiFrameTailInit, SingleFrameTailInit) /* Response */
UAVCAN_DSDL_BIT_DEF(BeginFirmwareUpdate, error, 0, 8, 0,
1)
UAVCAN_DSDL_BIT_DEF(BeginFirmwareUpdate, optional_error_message, 0, 8, 1,
128)
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_SREQ_DEF(GetInfo, 45, 0x14b9, 0, MailBox0, Fifo0,
SingleFrameTailInit, MultiFrameTailInit) /* Request */
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(GetInfo, path, 0, 8, 0,
PayloadLengthPathpath)
UAVCAN_DSDL_SRSP_DEF(GetInfo, 45, 0x14b9, 0, MailBox0, Fifo0,
SingleFrameTailInit, MultiFrameTailInit) /* Response */
UAVCAN_DSDL_BIT_DEF(GetInfo, size, 0, 32, 0,
4) /* Response */
UAVCAN_DSDL_BIT_DEF(GetInfo, sizemsb, 0, 8, 4,
1)
UAVCAN_DSDL_BIT_DEF(GetInfo, error, 0, 16, 5,
2)
UAVCAN_DSDL_BIT_DEF(GetInfo, entry_type, 0, 8, 7,
1)
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_SREQ_DEF(Read, 48, 0x2f12, 0, MailBox0, Fifo0,
SingleFrameTailInit, MultiFrameTailInit) /* Request */
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(Read, offset, 0, 32, 0,
4) /* Request */
UAVCAN_DSDL_BIT_DEF(Read, msboffset, 0, 8, 4,
1)
UAVCAN_DSDL_BIT_DEF(Read, path, 0, 8, 5,
PayloadLengthPathpath)
UAVCAN_DSDL_SRSP_DEF(Read, 48, 0x2f12, 0, MailBox0, Fifo0,
SingleFrameTailInit, MultiFrameTailInit) // Responce
UAVCAN_DSDL_BIT_DEF(Read, error, 0, 16, 0,
2) /* Response */
UAVCAN_DSDL_BIT_DEF(Read, data, 0, 8, 2,
256)
/*UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packed size mailbox, fifo, inbound, outbound) */
UAVCAN_DSDL_MESG_DEF(LogMessage, 16383, 0x4570, 7, MailBox0, Fifo0,
NA, SingleFrameTailInit) /* Message */
/* UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) */
UAVCAN_DSDL_BIT_DEF(LogMessage, level, 5, 3, 0,
1)
UAVCAN_DSDL_BIT_DEF(LogMessage, source_length, 0, 5, 0,
1)
UAVCAN_DSDL_BIT_DEF(LogMessage, source, 0, 8, 1,
4) // Bootloader specific uses is 4
UAVCAN_DSDL_BIT_DEF(LogMessage, text, 0, 8, 5,
2) // Bootloader specific uses is 2