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https://bitbucket.org/librepilot/librepilot.git
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70 lines
3.0 KiB
C
70 lines
3.0 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotLibraries OpenPilot System Libraries
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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_H
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#define UAVTALK_H
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// Public types
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typedef int32_t (*UAVTalkOutputStream)(uint8_t* data, int32_t length);
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typedef struct {
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uint32_t txBytes;
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uint32_t rxBytes;
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uint32_t txObjectBytes;
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uint32_t rxObjectBytes;
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uint32_t rxObjects;
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uint32_t txObjects;
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uint32_t txErrors;
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uint32_t rxErrors;
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} UAVTalkStats;
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typedef void* UAVTalkConnection;
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typedef enum {UAVTALK_STATE_ERROR=0, UAVTALK_STATE_SYNC, UAVTALK_STATE_TYPE, UAVTALK_STATE_SIZE, UAVTALK_STATE_OBJID, UAVTALK_STATE_INSTID, UAVTALK_STATE_TIMESTAMP, UAVTALK_STATE_DATA, UAVTALK_STATE_CS, UAVTALK_STATE_COMPLETE} UAVTalkRxState;
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// Public functions
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UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream);
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int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream outputStream);
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UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
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int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
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int32_t UAVTalkSendObjectTimestamped(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
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int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
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int32_t UAVTalkSendAck(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId);
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int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId);
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UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
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UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
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void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
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void UAVTalkResetStats(UAVTalkConnection connection);
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void UAVTalkGetLastTimestamp(UAVTalkConnection connection, uint16_t *timestamp);
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#endif // UAVTALK_H
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/**
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* @}
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* @}
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*/
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