from Updater import settings
from Updater import rsa_signing
class MessageType(enum.IntEnum):
VERSION_UPDATE = 1 # Announces a new version - Can be sent by official update server only!
SERVER_UPDATE = 2 # Announces a new server information - Can be sent by official update server only!
REQUEST_VERSION = 3 # Request specific version from a client / server
REQUEST_UPDATE = 4 # Request the most updated version from a client / server
GENERIC_MESSAGE = construct.FixedSized(settings.MESSAGE_SIZE,
construct.Struct(
"type" / construct.Enum(construct.Byte, MessageType),
"signature" / construct.BytesInteger(settings.SIGNATURE_SIZE),
"data" / construct.Bytes(settings.MESSAGE_SIZE - settings.SIGNATURE_SIZE - construct.Byte.sizeof())
))
VERSION_UPDATE_MESSAGE = construct.FixedSized(settings.MESSAGE_SIZE,
construct.Struct(
"type" / construct.Const(MessageType.VERSION_UPDATE.value, construct.Byte),
"header_signature" / construct.BytesInteger(settings.SIGNATURE_SIZE),
"major" / construct.Int16ub,
"minor" / construct.Int16ub,
"size" / construct.Int32ub,
"update_signature" / construct.BytesInteger(settings.SIGNATURE_SIZE),
"spread" / construct.Flag
))
SERVER_UPDATE_MESSAGE = construct.FixedSized(settings.MESSAGE_SIZE,
def handle_msg(self, msg_pmt):
msg = pmt.cdr(msg_pmt)
if not pmt.is_u8vector(msg):
print
"[ERROR] Received invalid message type. Expected u8vector"
return
packet = pmt.u8vector_elements(msg)
if self.input_manual_automatic == 1:
self.now = datetime.utcnow()
if self.length_of_submillisecond_cds >= 2:
self.length_of_submillisecond_cds = 1
if self.number_of_subsecond_ccs >= 4:
self.length_of_susecond_ccs = 3
else:
self.now = datetime(self.year, self.month, self.day, self.hour,
self.minute, self.second, self.microsecond)
finalHeader = []
if self.time_format == 0: #CUC
basic_time = 1 + self.basic_time_num_octets_cuc
fractional_time = self.fractional_time_num_octets_cuc
if self.pfield == 1: #If it exists
finalHeader.extend(
array.array(
'B',
space_packet.PFieldCUC.build(
dict(pfield_extension=self.pfield_extension,
time_code_identification=self.
time_code_identification_cuc,
number_of_basic_time_unit_octets=self.
basic_time_num_octets_cuc,
number_of_fractional_time_unit_octets=self.
fractional_time_num_octets_cuc))).tolist())
if self.pfield_extension == 1: #If it is extended
basic_time += self.additional_octets_basic_time_cuc
fractional_time += self.additional_octets_fractional_time_cuc
finalHeader.extend(
array.array(
'B',
space_packet.PFieldCUCExtension.build(
dict(
pfieldextension=self.
pfield_extension_extended,
number_of_additional_basic_time_unit_octets
=self.additional_octets_basic_time_cuc,
number_of_additional_fractional_time_unit_octets
=self.
additional_octets_fractional_time_cuc,
reserved_for_mission_definition=self.
rsvd_cuc))).tolist())
temp_diff = self.now - self.epoch_cuc
total_basic = int(temp_diff.total_seconds())
total_frac = int((temp_diff.total_seconds() - total_basic) *
(256**fractional_time))
finalHeader.extend(
array.array(
'B',
construct.BytesInteger(basic_time).build(
total_basic)).tolist())
finalHeader.extend(
array.array(
'B',
construct.BytesInteger(fractional_time).build(
total_frac)).tolist())
elif self.time_format == 1: #CDS
if self.pfield == 1:
finalHeader.extend(
array.array(
'B',
space_packet.PFieldCDS.build(
dict(pfield_extension=self.pfield_extension,
time_code_identification=self.
time_code_identification_cds,
epoch_identification=self.
epoch_identification_cds,
length_of_day_segment=self.length_of_day_cds,
length_of_submillisecond_segment=self.
length_of_submillisecond_cds))).tolist())
days_len = 2 if self.length_of_day_cds == 0 else 3
finalHeader.extend(
array.array(
'B',
construct.BytesInteger(days_len).build(
(self.now - self.epoch_cds).days)).tolist())
finalHeader.extend(
array.array(
'B', construct.Int32ub.build(self.now.microsecond /
1000)).tolist())
if self.length_of_submillisecond_cds == 1:
finalHeader.extend(
array.array(
'B',
construct.Int16ub.build(self.now.microsecond %
1000)).tolist())
elif self.length_of_submillisecond_cds == 2:
finalHeader.extend(
array.array('B', construct.Int32ub.build(
self.picosecond)).tolist())
elif self.time_format == 2: #CCS
if self.pfield == 1:
finalHeader.extend(
array.array(
'B',
space_packet.PFieldCCS.build(
dict(pfield_extension=self.pfield_extension,
time_code_identification=self.
time_code_identification_ccs,
calendar_variation_flag=self.
calendar_variation_ccs,
resolution=self.number_of_subsecond_ccs))).
tolist())
finalHeader.extend(
array.array('B',
construct.Int16ub.build(self.now.year)).tolist())
if self.calendar_variation_ccs == 0:
finalHeader.extend(
array.array('B', construct.Int8ub.build(
self.now.month)).tolist())
finalHeader.extend(
array.array('B',
construct.Int8ub.build(self.now.day)).tolist())
else:
finalHeader.extend(
array.array(
'B',
construct.Int16ub.build(
self.now.timetuple().tm_yday)).tolist())
finalHeader.extend(
array.array('B',
construct.Int8ub.build(self.now.hour)).tolist())
finalHeader.extend(
array.array('B',
construct.Int8ub.build(self.now.minute)).tolist())
finalHeader.extend(
array.array('B',
construct.Int8ub.build(self.now.second)).tolist())
if self.number_of_subsecond_ccs >= 1:
finalHeader.extend(
array.array(
'B',
construct.Int8ub.build(self.now.microsecond /
10**4)).tolist())
if self.number_of_subsecond_ccs >= 2:
finalHeader.extend(
array.array(
'B',
construct.Int8ub.build(
(self.now.microsecond / 10**2) % 10**2)).tolist())
if self.number_of_subsecond_ccs >= 3:
finalHeader.extend(
array.array(
'B',
construct.Int8ub.build(self.now.microsecond %
10**2)).tolist())
if self.number_of_subsecond_ccs >= 4:
finalHeader.extend(
array.array(
'B',
construct.Int8ub.build(
(self.picosecond % 10**6) / 10**4)).tolist())
if self.number_of_subsecond_ccs >= 5:
finalHeader.extend(
array.array(
'B',
construct.Int8ub.build(
(self.picosecond % 10**4) / 10**2)).tolist())
if self.number_of_subsecond_ccs >= 6:
finalHeader.extend(
array.array(
'B', construct.Int8ub.build(self.picosecond %
10**2)).tolist())
elif self.time_format == 3 or self.time_format == 4:
if (self.ascii_dec_num < 0 or self.ascii_dec_num > 6):
print "Decimals of ASCII in Time Stamp Adder block should be between 0 and 6. The number was automatically set to 1."
self.ascii_dec_num = 1
if self.time_format == 3: # ASCII A
arr = self.now.isoformat()
else: #ASCII B
arr = self.now.strftime("%Y-%jT%H:%M:%S.%f")
arr = arr[:-(6 - self.ascii_dec_num)]
if (self.add_z_terminator == 1):
arr += 'Z'
finalHeader = array.array('B', arr).tolist()
else:
print "Time Format Unknown"
finalPacket = numpy.append(finalHeader, packet)
finalPacket = array.array('B', finalPacket[:])
finalPacket = pmt.cons(
pmt.PMT_NIL, pmt.init_u8vector(len(finalPacket), finalPacket))
self.message_port_pub(pmt.intern('out'), finalPacket)
def __init__(self):
construct.Adapter.__init__(self, construct.BytesInteger(8,
swapped=True))
PUBLICKEYSTRUC = construct.Struct(
"type" / construct.Byte,
"version" / construct.Byte,
"reserved" / construct.Int16ul,
"algid" / windows_enums.AlgorithmID(construct.Int32ul),
)
PUBLICKEYBLOB = construct.Struct(
"publickeystruc" / PUBLICKEYSTRUC,
construct.Check(this.publickeystruc.algid == "CALG_RSA_KEYX"),
construct.Const("RSA1"),
"bitlen" / construct.Int32ul,
construct.Check((this.bitlen % 8) == 0),
"pubexponent" / construct.Int32ul,
"modulus" / construct.BytesInteger(this.bitlen / 8, swapped=True)
)
PRIVATEKEYBLOB = construct.Struct(
"publickeystruc" / PUBLICKEYSTRUC,
construct.Check(this.publickeystruc.algid == "CALG_RSA_KEYX"),
construct.Const("RSA2"),
"bitlen" / construct.Int32ul,
construct.Check((this.bitlen % 8) == 0),
"pubexponent" / construct.Int32ul,
"modulus" / construct.BytesInteger(this.bitlen / 8, swapped=True),
"P" / construct.BytesInteger(this.bitlen / 16, swapped=True),
"Q" / construct.BytesInteger(this.bitlen / 16, swapped=True),
# d % (p - 1)
"Dp" / construct.BytesInteger(this.bitlen / 16, swapped=True),
# d % (q - 1)
def __init__(self, size: int = 8):
construct.Adapter.__init__(self,
construct.BytesInteger(size, swapped=True))
"srm_vault" / PublicKeyAdapter(), "admin" / PublicKeyAdapter(),
"borrow_limits" / construct.Array(NUM_TOKENS, DecimalAdapter()),
"mint_decimals" / construct.Array(NUM_TOKENS, DecimalAdapter(1)),
"oracle_decimals" / construct.Array(NUM_MARKETS, DecimalAdapter(1)),
"padding" / construct.Array(GROUP_PADDING, construct.Padding(1)))
MARGIN_ACCOUNT = construct.Struct(
"account_flags" / MANGO_ACCOUNT_FLAGS, "mango_group" / PublicKeyAdapter(),
"owner" / PublicKeyAdapter(),
"deposits" / construct.Array(NUM_TOKENS, FloatAdapter()),
"borrows" / construct.Array(NUM_TOKENS, FloatAdapter()),
"open_orders" / construct.Array(NUM_MARKETS, PublicKeyAdapter()),
"padding" / construct.Padding(8))
MANGO_INSTRUCTION_VARIANT_FINDER = construct.Struct(
"variant" / construct.BytesInteger(4, swapped=True))
INIT_MANGO_GROUP = construct.Struct(
"variant" / construct.Const(0x0, construct.BytesInteger(4, swapped=True)),
"signer_nonce" / DecimalAdapter(),
"maint_coll_ratio" / FloatAdapter(),
"init_coll_ratio" / FloatAdapter(),
# "borrow_limits" / construct.Array(NUM_TOKENS, DecimalAdapter()) # This is inconsistently available
)
INIT_MARGIN_ACCOUNT = construct.Struct(
"variant" /
construct.Const(0x1, construct.BytesInteger(4, swapped=True)), )
DEPOSIT = construct.Struct(
"variant" / construct.Const(0x2, construct.BytesInteger(4, swapped=True)),
def run(self):
r = self.socket.recv(64)
if r[0:8] != b"ENO/GET/":
print("[*] Invalid Packet")
p_dny = b"ENO/DNY/\x00\x10/" + b'\x00' * 32 + b'/' + b'\x00' * 17
self.socket.send(p_dny)
return
if b"dbg=1" in r:
info = b"""
=========================================================================
MAGIC DRAGON MASTER AUTHORITY
Cert Level 1: Strong Prime Number for Certificate self-signing
Authentication: None
Cert Level 2: Privileged Certificate for Border Authorities
Authentication: Challenge Response Protocol
System Details: 64 Round 48-Bit 4-XOR Arbiter PUF
=========================================================================
"""
self.socket.send(info)
elif b"cert_level=1" in r:
p = number.getPrime(64)
print(p)
self.socket.send(struct.pack(">Q", p))
print("[*] CERT LVL 1 OK")
elif b"cert_level=2" in r:
try:
with open('weights.txt', 'rb') as f:
weights = np.load(f)
except:
weights = LTFArray.normal_weights(n=48, k=4)
with open('weights.txt', 'wb') as f:
np.save(f, weights, allow_pickle=False)
# print(weights)
instance = LTFArray(
weight_array=weights,
transform=LTFArray.transform_atf,
combiner=LTFArray.combiner_xor,
)
challenges = []
c_string = b""
for n in range(0, 64):
c = np.zeros(48, dtype=np.int8)
for i in range(0, 48):
c[i] = random.choice([-1, 1])
challenges.append(c)
# prepare message
c = np.copy(c)
c[c == 1] = 0
c[c == -1] = 1
cm = b""
for b in c:
cm += str(b).encode()
c_string += cm + b'\n'
print("[*] Challenges prepared")
challenges = np.array(challenges)
correct_response = instance.eval(challenges)
self.socket.send(c_string)
print("[*] Expect Response")
r = self.socket.recv(64)
if len(r) != 64:
print("[*] Invalid Response")
else:
given_response = np.zeros(64, dtype=np.int8)
for i in range(0, 64):
given_response[i] = np.int8(r[i])
correct_response[correct_response == 1] = 0
correct_response[correct_response == -1] = 1
print(correct_response)
if (given_response == correct_response).all():
print("[*] ACCEPT")
x = 12074235067132104677358030448740169086211171545373284647579234906840326968311237601092259613113724502049948022317426840853777753513486274652991559584610574
self.socket.send(construct.BytesInteger(64).build(x))
else:
print("[*] REJECT")
cm = b""
for b in correct_response:
cm += str(b).encode()
self.socket.send(cm)
self.socket.close()
class Message:
MSP_MSG_IDENT = 100
MSP_MSG_STATUS = 101
MSP_MSG_RAW_IMU = 102
MSP_MSG_SERVO = 103
MSP_MSG_MOTOR = 104
MSP_MSG_RC = 105
MSP_MSG_RAW_GPS = 106
MSP_MSG_COMP_GPS = 107
MSP_MSG_ATTITUDE = 108
MSP_MSG_ALTITUDE = 109
MSP_MSG_ANALOG = 110
MSP_MSG_RC_TUNING = 111
MSP_MSG_PID = 112
MSP_MSG_BOX = 113
MSP_MSG_MISC = 114
MSP_MSG_MOTOR_PINS = 115
MSP_MSG_BOXNAMES = 116
MSP_MSG_PIDNAMES = 117
MSP_MSG_WP = 118
MSP_MSG_BOXIDS = 119
MSP_MSG_SERVO_CONF = 120
MSP_MSG_SET_RAW_RC = 200
MSP_MSG_SET_RAW_GPS = 201
MSP_MSG_SET_PID = 202
MSP_MSG_SET_BOX = 203
MSP_MSG_SET_RC_TUNING = 204
MSP_MSG_ACC_CALIBRATION = 205
MSP_MSG_MAG_CALIBRATION = 206
MSP_MSG_SET_MISC = 207
MSP_MSG_RESET_CONF = 208
MSP_MSG_SET_WP = 209
MSP_MSG_SELECT_SETTING = 210
MSP_MSG_SET_HEAD = 211
MSP_MSG_SET_SERVO_CONF = 212
MSP_MSG_SET_MOTOR = 214
MSP_MSG_BIND = 240
MSP_MSG_EEPROM_WRITE = 250
struct = construct.Struct(
"0" / construct.Const(b"$"), "1" / construct.Const(b"X"),
"direction" / construct.Const(b"<"), "flag" / construct.Const(b"\0"),
"function" / construct.ByteSwapped(construct.BytesInteger(2)),
"payloadSize" / construct.ByteSwapped(construct.BytesInteger(2)),
"payload" / construct.Array(this.payloadSize, Int8ub),
"checksum" / Int8ub)
structRecv = construct.Struct(
"0" / construct.Const(b"$"), "1" / construct.Const(b"X"),
"direction" / construct.Const(b">"), "flag" / construct.Const(b"\0"),
"function" / construct.ByteSwapped(construct.BytesInteger(2)),
"payloadSize" / construct.ByteSwapped(construct.BytesInteger(2)),
"payload" / construct.Array(this.payloadSize, Int8ub),
"checksum" / Int8ub)
checksumFormat = construct.Struct(
"function" / construct.ByteSwapped(construct.BytesInteger(2)),
"payloadSize" / construct.ByteSwapped(construct.BytesInteger(2)),
"payload" / construct.Array(this.payloadSize, Int8ub),
)
msp_servo = construct.Struct(
"servo" /
construct.Array(8, construct.ByteSwapped(construct.BytesInteger(2))))
msp_motor = construct.Struct(
"motor" /
construct.Array(8, construct.ByteSwapped(construct.BytesInteger(2))))
msp_set_motor = construct.Struct(
"motor" /
construct.Array(8, construct.ByteSwapped(construct.BytesInteger(2))))
msp_rc = construct.Struct(
"rc_data" /
construct.Array(8, construct.ByteSwapped(construct.BytesInteger(2))))
msp_set_raw_rc = construct.Struct(
"rc_data" /
construct.Array(8, construct.ByteSwapped(construct.BytesInteger(2))))
msp_raw_gps = construct.Struct(
"fix" / construct.ByteSwapped(construct.BytesInteger(1)),
"num_sat" / construct.ByteSwapped(construct.BytesInteger(1)),
"coord_lat" / construct.ByteSwapped(Int32sb),
"coord_lon" / construct.ByteSwapped(Int32sb),
"altitude" / construct.ByteSwapped(Int16sb),
"speed" / construct.ByteSwapped(construct.BytesInteger(2)),
"ground_course" / construct.ByteSwapped(construct.BytesInteger(2)),
)
msp_set_raw_gps = construct.Struct(
"fix" / construct.ByteSwapped(construct.BytesInteger(1)),
"num_sat" / construct.ByteSwapped(construct.BytesInteger(1)),
"coord_lat" / construct.ByteSwapped(construct.BytesInteger(4)),
"coord_lon" / construct.ByteSwapped(construct.BytesInteger(4)),
"altitude" / construct.ByteSwapped(construct.BytesInteger(2)),
"speed" / construct.ByteSwapped(construct.BytesInteger(2)))
msp_comp_gps = construct.Struct(
"distance_to_home" / construct.ByteSwapped(construct.BytesInteger(2)),
"direction_to_home" / construct.ByteSwapped(construct.BytesInteger(2)),
"update" / construct.ByteSwapped(construct.BytesInteger(1)))
msp_attitude = construct.Struct(
"angx" / construct.ByteSwapped(Int16sb),
"angy" / construct.ByteSwapped(Int16sb),
"heading" / construct.ByteSwapped(construct.BytesInteger(2)),
)
msp_altitude = construct.Struct(
"alt" / construct.ByteSwapped(Int32sb),
"vario" / construct.ByteSwapped(construct.BytesInteger(2)))
msp_analog = construct.Struct(
"vbat" / construct.ByteSwapped(construct.BytesInteger(1)),
"power_meter_sum" / construct.ByteSwapped(construct.BytesInteger(2)),
"rssi" / construct.ByteSwapped(construct.BytesInteger(2)),
"amperage" / construct.ByteSwapped(construct.BytesInteger(2)))
msp_rc_tuning = construct.Struct(
"rc_rate" / construct.ByteSwapped(construct.BytesInteger(1)),
"rc_expo" / construct.ByteSwapped(construct.BytesInteger(1)),
"roll_pitch_rate" / construct.ByteSwapped(construct.BytesInteger(1)),
"yaw_rate" / construct.ByteSwapped(construct.BytesInteger(1)),
"dyn_thr_pid" / construct.ByteSwapped(construct.BytesInteger(1)),
"throttle_mid" / construct.ByteSwapped(construct.BytesInteger(1)),
"throttle_expo" / construct.ByteSwapped(construct.BytesInteger(1)))
msp_set_rc_tuning = construct.Struct(
"rc_rate" / construct.ByteSwapped(construct.BytesInteger(1)),
"rc_expo" / construct.ByteSwapped(construct.BytesInteger(1)),
"roll_pitch_rate" / construct.ByteSwapped(construct.BytesInteger(1)),
"yaw_rate" / construct.ByteSwapped(construct.BytesInteger(1)),
"dyn_thr_pid" / construct.ByteSwapped(construct.BytesInteger(1)),
"throttle_mid" / construct.ByteSwapped(construct.BytesInteger(1)),
"throttle_expo" / construct.ByteSwapped(construct.BytesInteger(1)))
_msp_pid_item = construct.Struct(
"p" / construct.ByteSwapped(construct.BytesInteger(1)),
"i" / construct.ByteSwapped(construct.BytesInteger(1)),
"d" / construct.ByteSwapped(construct.BytesInteger(1)))
msp_pid = construct.Struct(
"roll" / _msp_pid_item,
"pitch" / _msp_pid_item,
"yaw" / _msp_pid_item,
"alt" / _msp_pid_item,
"pos" / _msp_pid_item,
"posr" / _msp_pid_item,
"navr" / _msp_pid_item,
"level" / _msp_pid_item,
"mag" / _msp_pid_item,
"vel" / _msp_pid_item,
)
msp_set_pid = construct.Struct(
"roll" / _msp_pid_item, "pitch" / _msp_pid_item, "yaw" / _msp_pid_item,
"alt" / _msp_pid_item, "pos" / _msp_pid_item, "posr" / _msp_pid_item,
"navr" / _msp_pid_item, "level" / _msp_pid_item, "mag" / _msp_pid_item,
"vel" / _msp_pid_item)
msp_box = construct.Struct(
"boxitems[1]" / construct.ByteSwapped(construct.BytesInteger(2)))
msp_set_box = construct.Struct(
"boxitems[1]" / construct.ByteSwapped(construct.BytesInteger(2)))
msp_misc = construct.Struct(
"power_trigger" / construct.ByteSwapped(construct.BytesInteger(2)),
"min_throttle" / construct.ByteSwapped(construct.BytesInteger(2)),
"max_throttle" / construct.ByteSwapped(construct.BytesInteger(2)),
"min_command" / construct.ByteSwapped(construct.BytesInteger(2)),
"failsafe_throttle" / construct.ByteSwapped(construct.BytesInteger(2)),
"arm_count" / construct.ByteSwapped(construct.BytesInteger(2)),
"lifetime" / construct.ByteSwapped(construct.BytesInteger(4)),
"mag_declination" / construct.ByteSwapped(construct.BytesInteger(2)),
"vbat_scale" / construct.ByteSwapped(construct.BytesInteger(1)),
"vbat_warn1" / construct.ByteSwapped(construct.BytesInteger(1)),
"vbat_warn2" / construct.ByteSwapped(construct.BytesInteger(1)),
"vbat_crit" / construct.ByteSwapped(construct.BytesInteger(1)))
msp_set_misc = construct.Struct(
"power_trigger" / construct.ByteSwapped(construct.BytesInteger(2)),
"min_throttle" / construct.ByteSwapped(construct.BytesInteger(2)),
"max_throttle" / construct.ByteSwapped(construct.BytesInteger(2)),
"min_command" / construct.ByteSwapped(construct.BytesInteger(2)),
"failsafe_throttle" / construct.ByteSwapped(construct.BytesInteger(2)),
"arm_count" / construct.ByteSwapped(construct.BytesInteger(2)),
"lifetime" / construct.ByteSwapped(construct.BytesInteger(4)),
"mag_declination" / construct.ByteSwapped(construct.BytesInteger(2)),
"vbat_scale" / construct.ByteSwapped(construct.BytesInteger(1)),
"vbat_warn1" / construct.ByteSwapped(construct.BytesInteger(1)),
"vbat_warn2" / construct.ByteSwapped(construct.BytesInteger(1)),
"vbat_crit" / construct.ByteSwapped(construct.BytesInteger(1)))
msp_motor_pins = construct.Struct(
"pwm_pin" /
construct.Array(8, construct.ByteSwapped(construct.BytesInteger(1))))
msp_wp = construct.Struct(
"wp_no" / construct.ByteSwapped(construct.BytesInteger(1)),
"action" / construct.ByteSwapped(construct.BytesInteger(1)),
"lat" / construct.ByteSwapped(construct.BytesInteger(4)),
"lon" / construct.ByteSwapped(construct.BytesInteger(4)),
"alt_hold" / construct.ByteSwapped(construct.BytesInteger(4)),
"p1" / construct.ByteSwapped(construct.BytesInteger(2)),
"p2" / construct.ByteSwapped(construct.BytesInteger(2)),
"p3" / construct.ByteSwapped(construct.BytesInteger(2)),
"nav_flag" / construct.ByteSwapped(construct.BytesInteger(1)))
msp_set_wp = construct.Struct(
"wp_no" / construct.ByteSwapped(construct.BytesInteger(1)),
"action" / construct.ByteSwapped(construct.BytesInteger(1)),
"lat" / construct.ByteSwapped(Int32sb),
"lon" / construct.ByteSwapped(Int32sb),
"alt_hold" / construct.ByteSwapped(construct.BytesInteger(4)),
"heading" / construct.ByteSwapped(construct.BytesInteger(2)),
"p2" / construct.ByteSwapped(construct.BytesInteger(2)),
"p3" / construct.ByteSwapped(construct.BytesInteger(2)),
"nav_flag" / construct.ByteSwapped(construct.BytesInteger(1)),
)
msp_boxids = construct.Struct(
"checkbox_items[0]" / construct.ByteSwapped(construct.BytesInteger(1)))
_msp_servo_conf_item = construct.Struct(
"min" / construct.ByteSwapped(construct.BytesInteger(2)),
"max" / construct.ByteSwapped(construct.BytesInteger(2)),
"middle" / construct.ByteSwapped(construct.BytesInteger(2)),
"rate" / construct.ByteSwapped(construct.BytesInteger(1)),
)
msp_select_setting = construct.Struct(
"current_set" / construct.ByteSwapped(construct.BytesInteger(1)))
msp_set_head = construct.Struct(
"mag_hold" / construct.ByteSwapped(construct.BytesInteger(2)))
accelerometer_data = construct.Struct("accel_x" / construct.Int16sl,
"accel_y" / construct.Int16sl,
"accel_z" / construct.Int16sl)
gyroscope_data = construct.BitStruct("gyro_roll" / construct.BitsInteger(24),
"gyro_yaw" / construct.BitsInteger(24),
"gyro_pitch" / construct.BitsInteger(24))
magnet_data = construct.Struct(construct.Padding(6))
touchscreen_coords_data = construct.BitStruct(
"touch_pad" / construct.Bit, "touch_extra" / construct.BitsInteger(3),
"touch_value" / construct.BitsInteger(12))
touchscreen_points_data = construct.Struct(
"coords" / construct.Array(2, touchscreen_coords_data))
touchscreen_data = construct.Struct(
"points" / construct.Array(10, touchscreen_points_data))
input_data = construct.Struct(
"sequence_id" / construct.Int16ub, "buttons" / construct.Int16ub,
"power_status" / construct.Int8ub, "battery_charge" / construct.Int8ub,
"left_stick_x" / construct.Int16ub, "left_stick_y" / construct.Int16ub,
"right_stick_x" / construct.Int16ub, "right_stick_y" / construct.Int16ub,
"audio_volume" / construct.Int8ub, construct.Embedded(accelerometer_data),
construct.Embedded(gyroscope_data), construct.Embedded(magnet_data),
construct.Embedded(touchscreen_data),
"unkown_0" / construct.BytesInteger(4), "extra_buttons" / construct.Int8ub,
"unknown_1" / construct.BytesInteger(46),
"fw_version_neg" / construct.Int8ub)