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52 lines
2.1 KiB
C
52 lines
2.1 KiB
C
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/**
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******************************************************************************
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*
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* @file uavtalk.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Include file of the UAVTalk library
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef UAVTALK_C_H
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#define UAVTALK_C_H
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#include <stdint.h>
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// Public constants
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#define UAVTALK_WAITFOREVER -1
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#define UAVTALK_NOWAIT 0
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// Public types
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typedef int32_t (*UAVTalkUnpackCb)(uint32_t objId, uint8_t* data, int32_t length);
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typedef int32_t (*UAVTalkPackCb)(uint32_t objId, uint8_t* data, int32_t maxLength);
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typedef int32_t (*UAVTalkOutputStream)(uint8_t* data, int32_t length);
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// Public functions
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int32_t UAVTalkInitialize(UAVTalkOutputStream outputStream);
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int32_t UAVTalkConnectObject(uint32_t objectId, UAVTalkPackCb packCb, UAVTalkUnpackCb unpackCb, int32_t updatePeriodMs);
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int32_t UAVTalkSetUpdatePeriod(uint32_t objectId, int32_t updatePeriodMs);
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int32_t UAVTalkSetOutputStream(UAVTalkOutputStream outputStream);
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int32_t UAVTalkSendObject(uint32_t objectId, uint8_t acked, int32_t timeoutMs);
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int32_t UAVTalkSendObjectRequest(uint32_t objectId, int32_t timeoutMs);
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int32_t UAVTalkProcessInputStream(uint8_t rxbyte);
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int32_t UAVTalkProcessPeriodicUpdates(void);
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#endif // UAVTALK_C_H
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