X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=rc_proto.h;h=217bb96667c00cc1be22e429316ea38e8381d133;hp=61b104bb4ec9705e967c6d05459ccc434ea57b3f;hb=98ee473e32629463b081b01d82097a541da958b2;hpb=d6014994e06ebe952d51bef2e36a795f624c4b4d

diff --git a/rc_proto.h b/rc_proto.h
index 61b104b..217bb96 100644
--- a/rc_proto.h
+++ b/rc_proto.h
@@ -1,27 +1,56 @@
 #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;
+	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;
-};
-struct rc_proto_channel {
+	uint8_t datalen;
+	uint8_t data[];
+} __attribute__((packed));
+
+/* 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;
+	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));
 
 void rc_proto_rx_range(int power_level);