src/main/target/CRAZYFLIE2/crtp.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 /*
  24  * This file contains definitions for the CRTP protocol, the data transport
  25  * protocol used for OTA communication to the crazyflie (via either Nordic ESB or
  26  * Bluetooth LE) and transmitted from the NRF51 to the STM32 via the syslink protocol
  27  *
  28  * For more details, see https://wiki.bitcraze.io/projects:crazyflie:crtp
  29  */
  30
  31 #define CRTP_MAX_DATA_SIZE 30
  32
  33 typedef enum {
  34   CRTP_PORT_CONSOLE          = 0x00,
  35   CRTP_PORT_PARAM            = 0x02,
  36   CRTP_PORT_SETPOINT         = 0x03,
  37   CRTP_PORT_MEM              = 0x04,
  38   CRTP_PORT_LOG              = 0x05,
  39   CRTP_PORT_LOCALIZATION     = 0x06,
  40   CRTP_PORT_SETPOINT_GENERIC = 0x07,
  41   CRTP_PORT_PLATFORM         = 0x0D,
  42   CRTP_PORT_LINK             = 0x0F,
  43 } crtpPort_e;
  44
  45 typedef struct crtpPacket_s
  46 {
  47     struct{
  48         uint8_t chan : 2;
  49         uint8_t link : 2;
  50         uint8_t port : 4;
  51     } header;
  52     uint8_t data[CRTP_MAX_DATA_SIZE];
  53 } __attribute__((packed)) crtpPacket_t;
  54
  55 typedef enum {
  56   stopType          = 0,
  57   velocityWorldType = 1,
  58   zDistanceType     = 2,
  59   cppmEmuType       = 3,
  60 } crtpCommanderPacketType_e;
  61
  62 // Legacy RPYT data type for supporting existing clients
  63 // See https://wiki.bitcraze.io/projects:crazyflie:crtp:commander
  64 typedef struct crtpCommanderRPYT_s
  65 {
  66     float roll;       // deg
  67     float pitch;      // deg
  68     float yaw;        // deg
  69     uint16_t thrust;
  70 } __attribute__((packed)) crtpCommanderRPYT_t;
  71
  72 // Commander packet type for emulating CPPM-style setpoints
  73 // Corresponds to crtpCommanderPacketType_e::cppmEmuType
  74 #define CRTP_CPPM_EMU_MAX_AUX_CHANNELS 10
  75 typedef struct crtpCommanderCPPMEmuPacket_s
  76 {
  77     struct {
  78         uint8_t numAuxChannels : 4;   // Set to 0 through CRTP_CPPM_EMU_MAX_AUX_CHANNELS
  79         uint8_t reserved : 4;
  80     } hdr;
  81     uint16_t channelRoll;
  82     uint16_t channelPitch;
  83     uint16_t channelYaw;
  84     uint16_t channelThrust;
  85     uint16_t channelAux[CRTP_CPPM_EMU_MAX_AUX_CHANNELS];
  86 } __attribute__((packed)) crtpCommanderCPPMEmuPacket_t;
  87
  88 //typedef struct crtpCommander_s
  89 //{
  90 //    struct{
  91 //        uint8_t chan : 2;
  92 //        uint8_t link : 2;
  93 //        uint8_t port : 4;
  94 //    }hdr;
  95 //    uint8_t type;
  96 //    uint8_t numChannels;
  97 //    uint16_t channels[14];
  98 //
  99 //} __attribute__((packed)) crtpCommander_t;