2010-10-02 04:17:22 +02:00
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#ifndef AHRSCOMMS_H_INCLUDED
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#define AHRSCOMMS_H_INCLUDED
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#ifdef IN_AHRS //AHRS only
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#include <stdint.h>
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#include <stdbool.h>
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/** Redirect UAVObjGetData call
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*/
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#define UAVObjGetData(obj, data) AhrsGetData(obj, data)
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/** Redirect UAVObjSetData call
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*/
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#define UAVObjSetData(obj, data) AhrsSetData(obj, data)
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/** Redirect UAVObjConnectCallback call
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Note: in AHRS, mask is unused because there is only one event type
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*/
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#define UAVObjConnectCallback(obj, callback, mask) AhrsConnectCallBack(obj,callback)
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/** define our own UAVObjHandle
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*/
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typedef void *UAVObjHandle;
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#else
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#include "openpilot.h"
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#include "uavobjectmanager.h"
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#endif
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#define AHRS_NO_OBJECT 0xff
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#include "ahrs_comm_objects.h"
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/** Status of each end of the link
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*/
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typedef struct { //try to keep this short and in multiples of 4 bytes
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uint8_t kickStarts; //AHRS end only
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uint8_t crcErrors;
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uint8_t retries;
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uint8_t invalidPacket;
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} AhrsEndStatus;
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/** AHRS comms status
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*/
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typedef struct {
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uint8_t linkOk;
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AhrsEndStatus remote;
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AhrsEndStatus local;
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} AhrsCommStatus;
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/** Event callback, this function is called when an object changes.
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*/
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typedef void (*AhrsEventCallback) (AhrsObjHandle obj);
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/** Initialise comms.
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Note: this must be called before you do anything else.
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Comms will not start until the first call to AhrsPoll() or
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AhrsSendObjects()
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*/
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void AhrsInitComms(void);
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/** AHRS version of UAVObject xxxSetData.
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Returns: 0 if ok, -1 if an error
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*/
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int32_t AhrsSetData(AhrsObjHandle obj, const void *dataIn);
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/** AHRS version of UAVObject xxxGetData.
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Returns: 0 if ok, -1 if an error
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*/
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int32_t AhrsGetData(AhrsObjHandle obj, void *dataOut);
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/** Connect a callback for any changes to AHRS data.
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Returns: 0 if ok, -1 if an error
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*/
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int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb);
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/** Get the current link status.
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Returns: the status.
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Note: the remote status will only be valid if the link is up and running
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*/
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AhrsCommStatus AhrsGetStatus();
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#ifdef IN_AHRS //slave only
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/** Send the latest objects to the OP
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This also polls any pending events and kick starts the DMA
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if needed
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*/
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void AhrsPoll();
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/** Check if the link is up and we have received the first batch of updates
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Returns: True if the link is up and all objects are up to date
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*/
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bool AhrsLinkReady();
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#else //master only
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/** Send the latest objects to the AHRS
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This also polls any pending events
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*/
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void AhrsSendObjects(void);
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#endif
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#endif //#ifndef AHRSCOMMS_H_INCLUDED
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