src/main/target/CRAZYFLIE2/syslink.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 syslink protocol, a UART-based
  25  * protocol for communication between the NRF51 MCU and the STM32 MCU on
  26  * the Crazyflie flight controller board.
  27  *
  28  * For more details, see https://wiki.bitcraze.io/doc:crazyflie:syslink:index
  29  */
  30
  31 #define SYSLINK_MTU 32
  32
  33 #define SYSLINK_START_BYTE1 0xBC
  34 #define SYSLINK_START_BYTE2 0xCF
  35
  36 #define SYSLINK_RADIO_GROUP         0x00
  37 #define SYSLINK_RADIO_RAW           0x00
  38 #define SYSLINK_RADIO_CHANNEL       0x01
  39 #define SYSLINK_RADIO_DATARATE      0x02
  40 #define SYSLINK_RADIO_CONTWAVE      0x03
  41 #define SYSLINK_RADIO_RSSI          0x04
  42 #define SYSLINK_RADIO_ADDRESS       0x05
  43 #define SYSLINK_RADIO_RAW_BROADCAST 0x06
  44
  45 #define SYSLINK_PM_GROUP              0x10
  46 #define SYSLINK_PM_SOURCE             0x10
  47 #define SYSLINK_PM_ONOFF_SWITCHOFF    0x11
  48 #define SYSLINK_PM_BATTERY_VOLTAGE    0x12
  49 #define SYSLINK_PM_BATTERY_STATE      0x13
  50 #define SYSLINK_PM_BATTERY_AUTOUPDATE 0x14
  51
  52 #define SYSLINK_OW_GROUP    0x20
  53 #define SYSLINK_OW_SCAN     0x20
  54 #define SYSLINK_OW_GETINFO  0x21
  55 #define SYSLINK_OW_READ     0x22
  56 #define SYSLINK_OW_WRITE    0x23
  57
  58 typedef struct syslinkPacket_s
  59 {
  60   uint8_t type;
  61   uint8_t length;
  62   char data[SYSLINK_MTU];
  63 } __attribute__((packed)) syslinkPacket_t;
  64
  65 // State machine states for receiving syslink packets
  66 typedef enum
  67 {
  68   waitForFirstStart,
  69   waitForSecondStart,
  70   waitForType,
  71   waitForLength,
  72   waitForData,
  73   waitForChksum1,
  74   waitForChksum2
  75 } syslinkRxState_e;