crtp.h

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/*
 * Copyright (C) 2019 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef CRTP_H
#define CRTP_H
 
#include "std.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_PPRZLINK  0x09 // Non-standard port for transmitting pprzlink 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;
    };
    struct  {…};
  };
  union  {…};
 
  uint8_t data[CRTP_MAX_DATA_SIZE];
} __attribute__((packed)) crtp_message_t;
typedef struct  {…};
 
 
typedef struct {
  float roll; // -20 to 20
  float pitch;
  float yaw; // -150 to 150
  uint16_t thrust;
} crtp_commander;
typedef struct  {…};
 
#endif