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LibrePilot/flight/UAVTalk/inc/uavtalk.h

63 lines
2.4 KiB
C

/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file uavtalk.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief 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_H
#define UAVTALK_H
// Public types
typedef int32_t (*UAVTalkOutputStream)(uint8_t* data, int32_t length);
typedef struct {
uint32_t txBytes;
uint32_t rxBytes;
uint32_t txObjectBytes;
uint32_t rxObjectBytes;
uint32_t rxObjects;
uint32_t txObjects;
uint32_t txErrors;
uint32_t rxErrors;
} UAVTalkStats;
typedef void* UAVTalkConnection;
// Public functions
UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream, uint32_t maxPacketSize);
int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream outputStream);
UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
int32_t UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
void UAVTalkResetStats(UAVTalkConnection connection);
#endif // UAVTALK_H
/**
* @}
* @}
*/