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LibrePilot/flight/uavtalk/inc/uavtalk_priv.h

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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file uavtalk.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Private include file of the UAVTalk library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVTALK_PRIV_H
#define UAVTALK_PRIV_H
#include "uavobjectsinit.h"
// Private types and constants
// min header : sync(1), type (1), size(2), object ID(4), instance ID(2)
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#define UAVTALK_MIN_HEADER_LENGTH 10
// max header : sync(1), type (1), size(2), object ID(4), instance ID(2), timestamp(2)
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#define UAVTALK_MAX_HEADER_LENGTH 12
#define UAVTALK_CHECKSUM_LENGTH 1
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#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)
#define UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH
#define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH
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typedef struct {
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uint8_t type;
uint16_t packet_size;
uint32_t objId;
uint16_t instId;
uint32_t length;
uint8_t timestampLength;
uint8_t cs;
uint16_t timestamp;
uint32_t rxCount;
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UAVTalkRxState state;
uint16_t rxPacketLength;
} UAVTalkInputProcessor;
typedef struct {
uint8_t canari;
UAVTalkOutputStream outStream;
xSemaphoreHandle lock;
xSemaphoreHandle transLock;
xSemaphoreHandle respSema;
uint8_t respType;
uint32_t respObjId;
uint16_t respInstId;
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UAVTalkStats stats;
UAVTalkInputProcessor iproc;
uint8_t *rxBuffer;
uint8_t *txBuffer;
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} UAVTalkConnectionData;
#define UAVTALK_CANARI 0xCA
#define UAVTALK_SYNC_VAL 0x3C
#define UAVTALK_TYPE_MASK 0x78
#define UAVTALK_TYPE_VER 0x20
#define UAVTALK_TIMESTAMPED 0x80
#define UAVTALK_TYPE_OBJ (UAVTALK_TYPE_VER | 0x00)
#define UAVTALK_TYPE_OBJ_REQ (UAVTALK_TYPE_VER | 0x01)
#define UAVTALK_TYPE_OBJ_ACK (UAVTALK_TYPE_VER | 0x02)
#define UAVTALK_TYPE_ACK (UAVTALK_TYPE_VER | 0x03)
#define UAVTALK_TYPE_NACK (UAVTALK_TYPE_VER | 0x04)
#define UAVTALK_TYPE_OBJ_TS (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ)
#define UAVTALK_TYPE_OBJ_ACK_TS (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ_ACK)
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// macros
#define CHECKCONHANDLE(handle, variable, failcommand) \
variable = (UAVTalkConnectionData *)handle; \
if (variable == NULL || variable->canari != UAVTALK_CANARI) { \
failcommand; \
}
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#endif // UAVTALK__PRIV_H
/**
* @}
* @}
*/