PETRONE_V2 / Protocol / Structs
Modified : 2018.02.13
Introduce data structures used to transmission.
Protocol::Header
Header
Data transmission header.
namespace Protocol
{
struct Header
{
u8 dataType; // Data Type
u8 length; // Data length
u8 from; // Transfer Device Type
u8 to; // Receiver Device Type
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| dataType | Protocol::DataType::Type | - | 1 Byte | Data Type |
| length | uint8_t | 0 ~ 255 | 1 Byte | Data length |
| from | Protocol::DeviceType::Type | - | 1 Byte | Transfer Device Type |
| to | Protocol::DeviceType::Type | - | 1 Byte | Receiver Device Type |
Protocol::Ping
Ping
Used to check the status of the connection with other devices. The relative device sends an Ack response to the ping.
namespace Protocol
{
struct Ping
{
u64 systemTime; // Ping System time
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| systemTime | uint64_t | - | 8 Byte | System time |
Protocol::Ack
Ack
If a data request is sent to drone, the corresponding data is responded. If the data is not ready, Ack is in response.
namespace Protocol
{
struct Ack
{
u64 systemTime; // System time
u8 dataType; // Received data type
u16 crc16; // Received data crc16
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| systemTime | uint64_t | - | 8 Byte | System time |
| dataType | Protocol::DataType::Type | - | 1 Byte | Received data type |
| crc16 | uint16_t | - | 2 Byte | Received data crc16 |
Protocol::Error
Error
If there is a problem with the drone, the error structure is transmitted via RF once every 600ms. errorFlagsForSensor and errorFlagsForState is combine flags corresponding to each value to indicate multiple errors occurring simultaneously. If the problem is completely eliminated, reset the error flag to zero to stop sending it after five additional deliveries.
namespace Protocol
{
struct Error
{
u64 systemTime; // Error message system time
u32 errorFlagsForSensor; // Sensor error flags
u32 errorFlagsForState; // State error flags
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| systemTime | uint64_t | - | 8 Byte | Error message system time |
| errorFlagsForSensor | ErrorFlagsForSensor::Type | - | 4 Byte | Sensor error flags |
| errorFlagsForState | ErrorFlagsForState::Type | - | 4 Byte | State error flags |
Protocol::Request
Request
Request data to drone or controller
namespace Protocol
{
struct Request
{
u8 dataType; // Request data type
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| dataType | Protocol::DataType::Type | - | 1 Byte | Request data type |
Protocol::Information
Firmware information
namespace Protocol
{
struct Information
{
u8 modeUpdate; // The progress of the update
u32 deviceType; // Device type
u32 imageVersion; // Firmware image version
u16 year; // Firmware build year
u8 month; // Firmware build month
u8 day; // Firmware build day
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| modeUpdate | Mode::Update::Type | - | 1 Byte | The progress of the update |
| deviceType | Protocol::DeviceType::Type | - | 1 Byte | Device type |
| version | Protocol::Version | - | 4 Byte | Firmware image version |
| year | uint16_t | - | 2 Byte | Firmware build year |
| month | uint8_t | - | 1 Byte | Firmware build month |
| day | uint8_t | - | 1 Byte | Firmware build day |
Protocol::Version
Firmware version
When comparing versions, the order of placement of variables in the stream was set in reverse order to compare v values.
namespace Protocol
{
union Version
{
struct
{
u16 build:14; // Build Number(0~16383)
DevelopmentStage::Type stage:2; // Development stage(0~3)
u8 minor; // Minor Number
u8 major; // Major Number
};
u32 v;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| build | uint16_t | 0 ~ 16383 | 14 bit | Build Number(0~16383) |
| stage | Protocol::DevelopmentStage::Type | - | 2 bit | Development stage(0~3) |
| minor | uint8_t | 0 ~ 255 | 1 Byte | Minor Number |
| major | uint8_t | 0 ~ 255 | 1 Byte | Major Number |
| v | uint32_t | - | 4 Byte | Uniting build, stage, minor, major |
Protocol::DevelopmentStage::Type
Firmware development stage
namespace Protocol
{
namespace DevelopmentStage
{
enum Type
{
Alpha,
Beta,
ReleaseCandidate,
Release
};
}
}
Control::Double8
Drive control
Ignore sending this command when in drone mode.
namespace Control
{
struct Double8
{
s8 wheel; // wheel
s8 accel; // accel
};
}
Control::Double8 The range of the input values is as follows
| Variable Name | Type | Range | Size | Description | Minus(-) | Plus(+) |
|---|---|---|---|---|---|---|
| wheel | int8_t | -100 ~ 100 | 1 Byte | Left-Right | Left | Right |
| accel | int8_t | -100 ~ 100 | 1 Byte | Forward-Backward | Forward | Backward |
Control::Quad8
Used to control PETRONE.
- Drive mode used only throttle(Forward-Backward) and roll(Left-Right)
namespace Control
{
struct Quad8
{
s8 roll; // roll
s8 pitch; // pitch
s8 yaw; // yaw
s8 throttle; // throttle
};
}
| Variable Name | Type | Range | Size | Description | Minus(-) | Plus(+) |
|---|---|---|---|---|---|---|
| roll | int8_t | -100 ~ 100 | 1 Byte | Left-Right | Left | Right |
| pitch | int8_t | -100 ~ 100 | 1 Byte | Forward-Backward | Backward | Forward |
| yaw | int8_t | -100 ~ 100 | 1 Byte | Turn Left-Right | Counterclockwise | Clockwise |
| throttle | int8_t | -100 ~ 100 | 1 Byte | Up-Down | 하Down강 | Up |
Protocol::Command
Send one command
namespace Protocol
{
struct Command
{
u8 commandType; // Command type
u8 option; // Command options
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| commandType | Protocol::CommandType::Type | - | 1 Byte | Command Type |
| option | Mode::Vehicle::Type | - | 1 Byte | Option |
| System::FlightEvent::Type | - | |||
| System::DriveEvent::Type | - | |||
| Coordinate::Type | - | |||
| System::Trim::Type | - | |||
| uint8_t | - |
Protocol::Address
Device Address
namespace Protocol
{
struct Address
{
u8 address[16];
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| address | uint8_t Array | - | 16 Byte | Device Address |
Protocol::State
Current 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; // vehicle coordinates
u8 battery; // Battery(0 ~ 100%)
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| modeVehicle | Mode::Vehicle::Type | - | 1 Byte | Vehicle operating mode |
| modeSystem | Mode::System::Type | - | 1 Byte | System operating mode |
| modeFlight | Mode::Flight::Type | - | 1 Byte | Flight control mode |
| modeDrive | Mode::Drive::Type | - | 1 Byte | Drive control mode |
| sensorOrientation | SensorOrientation::Type | - | 1 Byte | Sensor orientation |
| coordinate | Coordinate::Type | - | 1 Byte | Coordinate setting state |
| battery | uint8_t | 0 ~ 100 | 1 Byte | Drone battery remain |
Protocol::Attitude
Vehicle attitude
namespace Protocol
{
struct Attitude
{
s16 roll; // Roll
s16 pitch; // Pitch
s16 yaw; // Yaw
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| roll | int16_t | -32,768 ~ 32,767 | 2 Byte | Roll |
| pitch | int16_t | -32,768 ~ 32,767 | 2 Byte | Pitch |
| yaw | int16_t | -32,768 ~ 32,767 | 2 Byte | Yaw |
When checking the position of the drones :
| Variable Name | Type | Range | Description |
|---|---|---|---|
| roll | int16_t | -90 ~ 90 | Angle of roll |
| pitch | int16_t | -90 ~ 90 | Angle of pitch |
| yaw | int16_t | -180 ~ 180 | Angle of yaw |
Protocol::AccelBias
Accelometer bias
namespace Protocol
{
struct AccelBias
{
s16 x; // X
s16 y; // Y
s16 z; // Z
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| x | int16_t | -32,768 ~ 32,767 | 2 Byte | X |
| y | int16_t | -32,768 ~ 32,767 | 2 Byte | Y |
| z | int16_t | -32,768 ~ 32,767 | 2 Byte | Z |
Protocol::GyroBias
Gyro bias
namespace Protocol
{
struct GyroBias
{
s16 roll; // Roll
s16 pitch; // Pitch
s16 yaw; // Yaw
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| roll | int16_t | -32,768 ~ 32,767 | 2 Byte | Roll |
| pitch | int16_t | -32,768 ~ 32,767 | 2 Byte | Pitch |
| yaw | int16_t | -32,768 ~ 32,767 | 2 Byte | Yaw |
Protocol::TrimFlight
Flight Trim
namespace Protocol
{
struct TrimFlight
{
s16 roll; // Roll
s16 pitch; // Pitch
s16 yaw; // Yaw
s16 throttle; // Throttle
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| roll | int16_t | -200 ~ 200 | 2 Byte | Roll |
| pitch | int16_t | -200 ~ 200 | 2 Byte | Pitch |
| yaw | int16_t | -200 ~ 200 | 2 Byte | Yaw |
| throttle | int16_t | -200 ~ 200 | 2 Byte | Throttle |
Protocol::TrimDrive
Drive Trim
namespace Protocol
{
struct TrimDrive
{
s16 wheel; // Wheel
s16 accel; // Accel
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| wheel | int16_t | -200 ~ 200 | 2 Byte | Wheel |
| accel | int16_t | -200 ~ 200 | 2 Byte | Accel |
Protocol::TrimAll
Flight and Drive Trim
namespace Protocol
{
struct TrimAll
{
TrimFlight flight;
TrimDrive drive;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| flight | Protocol::TrimFlight | -200 ~ 200 | 2 Byte | 비행 Trim |
| drive | Protocol::TrimDrive | -200 ~ 200 | 2 Byte | 주행 Trim |
Protocol::CountFlight
count of flight log
Use to read the stored values associated with the flight mode.
namespace Protocol
{
struct CountFlight
{
u64 timeFlight; // flight time
u16 countTakeOff; // count of takeoff
u16 countLanding; // count of landing
u16 countAccident; // count of accident
};
}
| Variable Name | Type | Range | Size | Description | |:—————-:|:———-:|:———-:|:——–:|:—————–| | timeFlight | uint64_t | - | 8 Byte | flight time(ms) | | countTakeOff | uint16_t | 0 ~ 65535 | 2 Byte | count of takeoff | | countLanding | uint16_t | 0 ~ 65535 | 2 Byte | count of landing | | countAccident | uint16_t | 0 ~ 65535 | 2 Byte | count of accident |
Protocol::CountDrive
count of drive log
Use to read the stored values associated with the drive mode.
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.
namespace Protocol
{
struct CountDrive
{
u64 timeDrive; // drive time
u16 countAccident; // count of accident
};
}
| Variable Name | Type | Range | Size | Description | |:————-:|:———-:|:————-:|:——–:|:—————| | timeDrive | uint64_t | - | 8 Byte | drive time(ms) | | countAccident | uint16_t | 0 ~ 65,535 | 2 Byte | count of accident |
Protocol::IrMessage
IR Message send/recv
Data that is used to transfer IR data or sent to an external device when IR data is receive by PETRONE IR sensor is installed on the front and rear of the drone and uses the direction to distinguish data entering each direction.
namespace Protocol
{
struct IrMessage
{
u8 direction; // Data recv direction
u32 irData; // IR Message
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| direction | System::Direction::Type | - | 1 Byte | IR recieve direction |
| irData | uint32_t | 0x00000000 ~ 0xFFFFFFFF | 4 Byte | data |
Protocol::Imu
IMU sensor data and drone attitude
namespace Protocol
{
struct Imu
{
s16 accX;
s16 accY;
s16 accZ;
s16 gyroRoll;
s16 gyroPitch;
s16 gyroYaw;
s16 angleRoll;
s16 anglePitch;
s16 angleYaw;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| accelX | Int16 | -32,768 ~ 32,767 | 2 Byte | accelometer X |
| accelY | Int16 | -32,768 ~ 32,767 | 2 Byte | accelometer Y |
| accelZ | Int16 | -32,768 ~ 32,767 | 2 Byte | accelometer Z |
| gyroRoll | Int16 | -32,768 ~ 32,767 | 2 Byte | gyro Roll |
| gyroPitch | Int16 | -32,768 ~ 32,767 | 2 Byte | gyro Pitch |
| gyroYaw | Int16 | -32,768 ~ 32,767 | 2 Byte | gyro Yaw |
| angleRoll | Int16 | -32,768 ~ 32,767 | 2 Byte | angle of Roll |
| anglePitch | Int16 | -32,768 ~ 32,767 | 2 Byte | angle of Pitch |
| angleYaw | Int16 | -32,768 ~ 32,767 | 2 Byte | angle of Yaw |
Protocol::Battery
Battery
namespace Protocol
{
struct Battery
{
f32 gradient;
f32 yIntercept;
f32 adjustGradient;
f32 adjustYIntercept;
u8 flagBatteryCalibration;
s16 batteryRaw;
f32 batteryPercent;
f32 voltage;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| gradient | float | - | 4 Byte | gradient |
| yIntercept | float | - | 4 Byte | Y Intercept |
| adjustGradient | float | - | 4 Byte | adjust Gradient |
| adjustYIntercept | float | - | 4 Byte | adjust Y Intercept |
| flagBatteryCalibration | uint8_t | 0 / 1 | 1 Byte | flag of Battery calibration complete |
| batteryRaw | uint16_t | 0 ~ 4095 | 2 Byte | battery ADC Raw value |
| batteryPercent | float | 0 ~ 100.0 | 4 Byte | battery % value |
| voltage | float | 0 ~ 4.5 | 4 Byte | battery power to voltage conversion value |
Protocol::Pressure
Pressure sensor
namespace Protocol
{
struct Pressure
{
f32 temperature;
f32 pressure;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| temperature | float | - | 4 Byte | temperature(℃) |
| pressure | float | - | 4 Byte | The conversion of pressure to sea level(m) |
Protocol::ImageFlow
ImageFlow
Image optical flow calcurated axis position
namespace Protocol
{
struct ImageFlow
{
f32 positionX;
f32 positionY;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| positionX | float | - | 4 Byte | X axis(m) |
| positionY | float | - | 4 Byte | Y axis(m) |
Protocol::Range
Range sensor
If an additional sensor module is not installed, only the bottom values are output. The maximum measure range for distance is 0.04m to 2.0m
namespace Protocol
{
struct Range
{
f32 left;
f32 front;
f32 right;
f32 rear;
f32 top;
f32 bottom;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| left | Float32 | - | 4 Byte | left(m) |
| front | Float32 | - | 4 Byte | front(m) |
| right | Float32 | - | 4 Byte | right(m) |
| rear | Float32 | - | 4 Byte | rear(m) |
| top | Float32 | - | 4 Byte | top(m) |
| bottom | Float32 | - | 4 Byte | bottom(m) |
Protocol::Motor
Motor
Motor control and check current value
namespace Protocol
{
struct Motor
{
u8 rotation;
s16 value;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| rotation | Rotation::Type | - | 1 Byte | rotate direction |
| value | uint16_t | 0 ~ 4095 | 2 Byte | rotate speed |
Protocol::MotorSingle
Single motor control
Used to operate one motor or check current inputs to the motor.
namespace Protocol
{
struct MotorSingle
{
u8 target;
u8 rotation;
s16 value;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| target | Motor::Part::Type | 0 ~ 3 | 1 Byte | target motor part |
| rotation | Rotation::Type | - | 1 Byte | rotate direction |
| value | uint16_t | 0 ~ 4095 | 2 Byte | rotate speed |
Protocol::Button
Button
namespace Protocol
{
struct Button
{
u16 button;
u8 event;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| button | uint16_t | - | 2 Byte | Button input |
| event | Button::Event::Type | - | 1 Byte | Button event |
Protocol::JoystickBlock
Joystick input value of one axis.
namespace Protocol
{
struct JoystickBlock
{
s8 x;
s8 y;
u8 direction;
u8 event;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| x | int8_t | -100 ~ 100 | 1 Byte | X axis |
| y | int8_t | -100 ~ 100 | 1 Byte | Y aixs |
| direction | Joystick::Direction::Type | - | 1 Byte | Joystick event |
| event | Joystick::Event::Type | - | 1 Byte | Joystick event |
Protocol::Joystick
Joystick input value of the left and right.
namespace Protocol
{
struct Joystick
{
Protocol::JoystickBlock left;
Protocol::JoystickBlock right;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| left | Protocol::JoystickBlock | - | 4 Byte | left Joystick |
| right | Protocol::JoystickBlock | - | 4 Byte | right Joystick |
Protocol::Buzzer
Buzzer
Use for joystick buzzer.
namespace Protocol
{
struct Buzzer
{
u8 mode; // Buzzer mode
u16 value; // Octave scale or hz
u16 time; // Playing time(ms)
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| mode | Buzzer::Mode::Type | - | 1 Byte | Buzzer mode |
| value | Buzzer::Scale::Type | - | 2 Byte | Scale |
| UInt16 | 0 ~ 8000 | Hz | ||
| time | UInt16 | 0 ~ 65,535 | 2 Byte | Playing time(ms) |
Protocol::Vibrator
Vibrator
Use for joystick vibrator
namespace Protocol
{
struct Vibrator
{
u8 mode; // vibrator mode(0 is set, 1 is reserve)
u16 on; // vibrator on time(ms)
u16 off; // vibrator off time(ms)
u16 total; // total playing time(ms)
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| mode | Vibrator::Mode::Type | - | 1 Byte | vibrator mode(0 is set, 1 is reserve) |
| on | uint16_t | 0 ~ 65,535 | 2 Byte | vibrator on time(ms) |
| off | uint16_t | 0 ~ 65,535 | 2 Byte | vibrator off time(ms) |
| total | uint16_t | 0 ~ 65,535 | 2 Byte | total playing time(ms) |
Protocol::Pairing
Pairing
Used to verify or change the pairing information for the device.
Address does not use 0x0000, Broadcasting for 0xFFFF.
namespace Protocol
{
struct Pairing
{
u16 addressLocal;
u16 addressRemote;
u8 channel;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| addressLocal | uint16_t | 0x0001 ~ 0xFFFE | 2 Byte | Device address |
| addressRemote | uint16_t | 0x0001 ~ 0xFFFE | 2 Byte | Remove device address |
| channel | uint18_t | 0 ~ 230 | 1 Byte | Channel |
Protocol::Rssi
RSSI
Received signal strength indication
http://www.metageek.com/training/resources/understanding-rssi.html
Returns the signal strength of connected device.
namespace Protocol
{
struct Rssi
{
s8 Rssi;
};
}
| Variable Name | Type | Range | Size | Description |
|---|---|---|---|---|
| rssi | int8_t | -100 ~ 0 | 1 Byte | signal strength |
Protocol::InformationAssembledForController
Information Assembled For Controller
If the controller transmits Control commands to RF on a drone to increase the renewal rate of data on the controller, this data is transmitted in response from drone to Ack.
namespace Protocol
{
struct InformationAssembledForController
{
s16 angleRoll;
s16 anglePitch;
s16 angleYaw;
float pressureTemperature;
float pressureAltitude;
float rangeGround;
};
}
Protocol::InformationAssembledForEntry
Information Assembled For Entry
namespace Protocol
{
struct InformationAssembledForEntry
{
s16 accelX;
s16 accelY;
s16 accelZ;
s16 gyroRoll;
s16 gyroPitch;
s16 gyroYaw;
s16 angleRoll;
s16 anglePitch;
s16 angleYaw;
float pressureTemperature;
float pressureAltitude;
float imageFlowPositionX;
float imageFlowPositionY;
float rangeGround;
};
}