mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Dennis Shtatnov
78 lines
2.7 KiB
C
78 lines
2.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2016 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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#pragma once
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#include <stdint.h>
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#define CRTP_PORT_CONSOLE 0x00
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#define CRTP_PORT_PARAM 0x02
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#define CRTP_PORT_COMMANDER 0x03
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#define CRTP_PORT_MEM 0x04
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#define CRTP_PORT_LOG 0x05
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#define CRTP_PORT_MAVLINK 0x08 // Non-standard port for transmitting mavlink messages
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#define CRTP_PORT_PLATFORM 0x0D
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#define CRTP_PORT_DEBUG 0x0E
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#define CRTP_PORT_LINK 0x0F
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#define CRTP_NULL(x) (((x).header & 0xf3) == 0xf3)
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// 1 byte header + 31 bytes data = 32 (max ESB packet size)
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// With the NRF51, this could be increased to ~250, but the Crazyradio PA uses a NRF24 which can't do this
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#define CRTP_MAX_DATA_SIZE 31
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typedef struct {
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uint8_t size; // Total size of this message, including the header (placed here to overlap with syslink length field)
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union {
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uint8_t header;
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struct {
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uint8_t channel : 2;
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uint8_t link : 2;
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uint8_t port : 4;
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};
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};
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uint8_t data[CRTP_MAX_DATA_SIZE];
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} __attribute__((packed)) crtp_message_t;
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typedef struct {
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float roll; // -20 to 20
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float pitch;
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float yaw; // -150 to 150
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uint16_t thrust;
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} crtp_commander;
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