50 lines
714 B
C++
50 lines
714 B
C++
#pragma once
|
|
|
|
namespace Protocol {
|
|
|
|
enum class Code : uint8_t {
|
|
Heartbeat = 'h',
|
|
Ping = 'p',
|
|
Pong = 'P',
|
|
Inputs = 'i',
|
|
};
|
|
|
|
struct Generic {
|
|
};
|
|
|
|
struct Heartbeat {
|
|
Code code;
|
|
uint8_t version;
|
|
uint8_t device_id;
|
|
uint8_t ticks;
|
|
uint8_t state;
|
|
};
|
|
|
|
struct Ping {
|
|
Code code;
|
|
};
|
|
|
|
struct Pong {
|
|
Code code;
|
|
};
|
|
|
|
struct Inputs {
|
|
static const uint8_t Missing = 0;
|
|
|
|
Code code;
|
|
uint8_t channels[6];
|
|
};
|
|
|
|
struct Servo {
|
|
static const uint16_t NotControlled = 1;
|
|
static const uint16_t Minimum = 10000;
|
|
static const uint16_t Mid = 15000;
|
|
static const uint16_t Maximum = 20000;
|
|
|
|
Code code;
|
|
int8_t channel[6];
|
|
bool armed;
|
|
};
|
|
|
|
} // namespace Protocol
|