use xbee module from aversive

[protos/xbee-avr.git] / rc_proto.h

diff --git a/rc_proto.h b/rc_proto.h
index fea6c51c955da11b78e4c540f0307a6093f202f3..217bb96667c00cc1be22e429316ea38e8381d133 100644 (file)
--- a/rc_proto.h
+++ b/rc_proto.h
@@ -1,28 +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;
+       uint8_t datalen;
+       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;
+       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);