#ifndef RC_PROTO_H
#define RC_PROTO_H
-#define AXIS_NUMBER 4
-
-#define RC_PROTO_TYPE_CHANNEL 0
-#define RC_PROTO_TYPE_RANGE 1
-
+/* generic header */
+struct rc_proto_hdr {
+ uint8_t type;
+} __attribute__((packed));
-/* TODO: Authenticate packet!! */
+/* send a hello message, no answer is expected from the peer */
+#define RC_PROTO_HELLO 0
+struct rc_proto_hello {
+ uint8_t type;
+ uint8_t datalen; /* len of data excluding header */
+ uint8_t data[];
+} __attribute__((packed));
-struct rc_proto_hdr {
+/* send an echo request, expect an echo reply from the peer */
+#define RC_PROTO_ECHO_REQ 1
+struct rc_proto_echo_req {
uint8_t type;
+ uint8_t datalen; /* len of data excluding header */
+ uint8_t data[];
} __attribute__((packed));
-struct rc_proto_channel {
+/* reply to an echo request */
+#define RC_PROTO_ECHO_ANS 2
+struct rc_proto_echo_ans {
uint8_t type;
- int16_t axis[AXIS_NUMBER];
+ uint8_t datalen; /* len of data excluding header */
+ uint8_t data[];
} __attribute__((packed));
-struct rc_proto_range {
+/* send a power level probe to the peer */
+#define RC_PROTO_POWER_PROBE 3
+struct rc_proto_power_probe {
uint8_t type;
uint8_t power_level;
} __attribute__((packed));
+/* send a servo command */
+#define RC_PROTO_SERVO 4
+struct rc_proto_servo {
+ uint8_t type;
+ uint8_t mask;
+ uint8_t seq_and_pow; /* bitfield: pow are the 3 lsb, seq the 5 msb */
+};
+
+/* acknowledge a servo command */
+#define RC_PROTO_ACK 5
+struct rc_proto_ack {
+ uint8_t type;
+ uint8_t seq;
+} __attribute__((packed));
+
+
+/* send a Hello message to a peer */
+int8_t rc_proto_send_hello(uint64_t addr, void *data, uint8_t data_len);
-void rc_proto_rx_range(int power_level);
+/* reception of a xbee message */
+int rc_proto_rx(struct xbee_recv_hdr *recvframe, unsigned len);
#endif