PETRONE / BLE / Protocol / Structs
Modified : 2017.10.18
데이터 송수신 시에 사용하는 구조체들을 소개합니다.
Protocol::Ack
Data that PETRONE sends in a response when it receives data. Returns the internal time of PETRONE and the type of data received. Replies most commands except Ack and Control.
namespace Protocol
{
struct Ack
{
u32 systemTime; // receive time
u8 dataType; // receive datatype
};
}
- dataType : Protocol::DataType::Type
Protocol::Request
Used to request data to PETRONE.
namespace Protocol
{
struct Request
{
u8 dataType; // request datatype
};
}
- dataType : Protocol::DataType::Type
Protocol::Control
Used to control data to PETRONE.
namespace Protocol
{
struct Control
{
s8 roll; // Roll
s8 pitch; // Pitch
s8 yaw; // Yaw
s8 throttle; // Throttle
};
}
Control input values are in the range :
- Drive mode used only throttle(Forward-Backward) and roll(Left-Right)
| Name | Type | Range | Direction | Minus(-) | Plus(+) |
|---|---|---|---|---|---|
| roll | s8 | -100 ~ 100 | Left-Right | Left | Right |
| pitch | s8 | -100 ~ 100 | Forward-Backward | Backward | Forward |
| yaw | s8 | -100 ~ 100 | Turn Left-Right | Counterclockwise | Clockwise |
| throttle | s8 | -100 ~ 100 | Up-Down | Down | Up |
Protocol::Command
Send one command
namespace Protocol
{
struct Command
{
CommandBase command;
};
}
- command : Protocol::CommandBase
Protocol::Command2
Send two command
namespace Protocol
{
struct Command2
{
CommandBase command1;
CommandBase command2;
};
}
- command1, command2 : Protocol::CommandBase
Protocol::Command3
Send three command
namespace Protocol
{
struct Command3
{
CommandBase command1;
CommandBase command2;
CommandBase command3;
};
}
- command1, command2, command3 : Protocol::CommandBase
Protocol::Address
Return BLE address
namespace Protocol
{
struct Address
{
u8 address[6];
};
}
Protocol::State
Return PETRONE state
namespace Protocol
{
struct State
{
u8 modeVehicle; // Vehicle mode
u8 modeSystem; // System mode
u8 modeFlight; // Flight mode
u8 modeDrive; // Drive mode
u8 sensorOrientation; // Sensor Orientation
u8 coordinate; // Headless mode
u8 battery; // Drone battery(0 ~ 100)
};
}
- modeVehicle : System::ModeVehicle::Type
- modeSystem : System::ModeSystem::Type
- modeFlight : System::ModeFlight::Type
- modeDrive : System::ModeDrive::Type
- sensorOrientation : System::SensorOrientation::Type
- coordinate : System::Coordinate::Type
Protocol::Attitude
Drone Attitude
namespace Protocol
{
struct Attitude
{
s16 roll; // Roll
s16 pitch; // Pitch
s16 yaw; // Yaw
};
}
The drones's attitude range of use is as follows :
| Name | Type | Range | Description |
|---|---|---|---|
| roll | s16 | -180 ~ 180 | Angle of left-right |
| pitch | s16 | -180 ~ 180 | Angle of forward-backward |
| yaw | s16 | 0 ~ 360 | Angle of gravity rotated axis |
Sensor data value range is follows :
| Name | Type | Range |
|---|---|---|
| roll | s16 | -32768 ~ 32767 |
| pitch | s16 | -32768 ~ 32767 |
| yaw | s16 | -32768 ~ 32767 |
Protocol::GyroBias
Retruns gyro bias value.
namespace Protocol
{
struct GyroBias
{
s16 roll; // Roll
s16 pitch; // Pitch
s16 yaw; // Yaw
};
}
Protocol::TrimFlight
Flight mode trim setting protocol.
namespace Protocol
{
struct TrimFlight
{
s16 roll; // Roll
s16 pitch; // Pitch
s16 yaw; // Yaw
s16 throttle; // Throttle
};
}
Protocol::TrimDrive
Drive mode trim setting protocol.
namespace Protocol
{
struct TrimDrive
{
s16 wheel; // Wheel
};
}
Protocol::TrimAll
All trim setting once.
namespace Protocol
{
struct TrimAll
{
TrimFlight flight;
TrimDrive drive;
};
}
- flight : Protocol::TrimFlight
- drive : Protocol::TrimDrive
Protocol::CountFlight
Use to read the stored flight log.
namespace Protocol
{
struct CountFlight
{
u32 timeFlight; // Flight time
u16 countTakeOff; // count of Takeoff
u16 countLanding; // count of Landing
u16 countAccident; // count of Accident
};
}
Protocol::CountDrive
Use to read the stored drive log.
namespace Protocol
{
struct CountDrive
{
u32 timeDrive; // Drive time
u16 countAccident; // count of Accident
};
}
countAccident variable make for count of accident. But count may also increase due to the impact of uneven road surfaces during actual driving. Consider it meaningless at this time.
Protocol::IrMessage
Data that is used to transfer IR data or sent to an external device when IR data is receive by PETRONE
namespace Protocol
{
struct IrMessage
{
u8 direction; // Receive direction
u32 irData; // IR message
};
}
- direction : System::Direction::Type
Protocol::ImuRawAndAngle
Returns the value of the gyro sensor and the attitude value of the drone.
namespace Protocol
{
struct ImuRawAndAngle
{
s16 accX;
s16 accY;
s16 accZ;
s16 gyroRoll;
s16 gyroPitch;
s16 gyroYaw;
s16 angleRoll;
s16 anglePitch;
s16 angleYaw;
};
}
Protocol::Pressure
Retruns pressure sensor. d1 and d2 is output only MS5607. DPS310 use device return only 0.
namespace Protocol
{
struct Pressure
{
s32 d1;
s32 d2;
s32 temperature;
s32 pressure;
};
}
- Pressure output unit are in millimetres(mm).
Protocol::ImageFlow
Image optical flow calcurated axis position
namespace Protocol
{
struct ImageFlow
{
s32 positionX;
s32 positionY;
};
}
- positionX, positionYoutput unit are in millimetres(mm).
Protocol::Button
Drone button flag
namespace Protocol
{
struct Button
{
u8 button;
};
}
Protocol::Motor
Motor control and check current value
namespace Protocol
{
struct Motor
{
MotorBase motor[4];
};
}
- motor : Protocol::MotorBase::Type
Protocol::Range
Range sensor data If an additional sensor module is not installed, output only bottom value.
namespace Protocol
{
struct Range
{
u16 left;
u16 front;
u16 right;
u16 rear;
u16 top;
u16 bottom;
};
}
- All unit are in millimetres(mm).
Protocol::UpdateLookupTarget
Request firmware Information.
PETRONE has control MCU(Main) and communication MCU(sub).
Protocol::UpdateLookupTarget used for request target MCU's Protocol::UpdateInformation
namespace Protocol
{
struct UpdateLookupTarget
{
u32 deviceType;
};
}
- deviceType : System::DeviceType::Type
Protocol::UpdateInformation
Firmware Information
If PC or App send Protocol::UpdateLookupTarget, the device with the deviceType matches it,
response Protocol::UpdateInformation.
namespace Protocol
{
struct UpdateInformation
{
u8 modeUpdate; // The progress of the update
u32 deviceType; // Device type
u8 imageType; // Firmware image type
u16 imageVersion; // Firmware image version
u8 year; // Firmware build year
u8 month; // Firmware build month
u8 day; // Firmware build day
};
}
- modeUpdate : System::ModeUpdate::Type
- deviceType : System::DeviceType::Type
- imageType : System::ImageType::Type
Protocol::Update
Firmware update.
When updating the firmware, the file transfers data that is truncated to 16 bytes. There are no other responses during the Protocol::Update transfer. If a transfer failure occurs, drone sends Protocol::UpdateLocationCorrect. When you receive the packet, you can start sending it again from the block location you specified.
namespace Protocol
{
struct Update
{
u16 indexBlock; // Block index(16byte block index)
u8 dataArray[16]; // data block
};
}
- indexBlock : The value divided by 16 from the actual location of the file.
Protocol::UpdateLocationCorrect
Correct Firmware Update Locations.
If the firmware update encounters a block that fails to transfer, send a request to send it again from indexBlockNext.
namespace Protocol
{
struct UpdateLocationCorrect
{
u16 indexBlockNext; // indexblock number
};
}
- indexBlockNext : The value divided by 16 from the actual location of the file.