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104 lines
3.3 KiB
C
104 lines
3.3 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 Private 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_PRIV_H
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#define UAVTALK_PRIV_H
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#include "uavobjectsinit.h"
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// Private types and constants
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// min header : sync(1), type (1), size(2), object ID(4), instance ID(2)
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#define UAVTALK_MIN_HEADER_LENGTH 10
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// 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
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#define UAVTALK_CHECKSUM_LENGTH 1
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#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)
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#define UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH
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#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;
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uint16_t packet_size;
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uint32_t objId;
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uint16_t instId;
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uint32_t length;
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uint8_t timestampLength;
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uint8_t cs;
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uint16_t timestamp;
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uint32_t rxCount;
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UAVTalkRxState state;
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uint16_t rxPacketLength;
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} UAVTalkInputProcessor;
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typedef struct {
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uint8_t canari;
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UAVTalkOutputStream outStream;
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xSemaphoreHandle lock;
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xSemaphoreHandle transLock;
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xSemaphoreHandle respSema;
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uint8_t respType;
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uint32_t respObjId;
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uint16_t respInstId;
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UAVTalkStats stats;
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UAVTalkInputProcessor iproc;
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uint8_t *rxBuffer;
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uint8_t *txBuffer;
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} UAVTalkConnectionData;
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#define UAVTALK_CANARI 0xCA
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#define UAVTALK_SYNC_VAL 0x3C
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#define UAVTALK_TYPE_MASK 0x78
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#define UAVTALK_TYPE_VER 0x20
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#define UAVTALK_TIMESTAMPED 0x80
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#define UAVTALK_TYPE_OBJ (UAVTALK_TYPE_VER | 0x00)
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#define UAVTALK_TYPE_OBJ_REQ (UAVTALK_TYPE_VER | 0x01)
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#define UAVTALK_TYPE_OBJ_ACK (UAVTALK_TYPE_VER | 0x02)
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#define UAVTALK_TYPE_ACK (UAVTALK_TYPE_VER | 0x03)
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#define UAVTALK_TYPE_NACK (UAVTALK_TYPE_VER | 0x04)
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#define UAVTALK_TYPE_OBJ_TS (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ)
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#define UAVTALK_TYPE_OBJ_ACK_TS (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ_ACK)
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// macros
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#define CHECKCONHANDLE(handle, variable, failcommand) \
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variable = (UAVTalkConnectionData *)handle; \
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if (variable == NULL || variable->canari != UAVTALK_CANARI) { \
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failcommand; \
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}
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#endif // UAVTALK__PRIV_H
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/**
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* @}
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* @}
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*/
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