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260 lines
11 KiB
C
260 lines
11 KiB
C
/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup UAV Object Manager
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* @brief The core UAV Objects functions, most of which are wrappered by
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* autogenerated defines
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* @{
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*
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* @file uavobjectmanager.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Include files of the uavobjectlist 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 UAVOBJECTMANAGER_H
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#define UAVOBJECTMANAGER_H
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#define UAVOBJ_ALL_INSTANCES 0xFFFF
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#define UAVOBJ_MAX_INSTANCES 1000
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/*
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* Shifts and masks used to read/write metadata flags.
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*/
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#define UAVOBJ_ACCESS_SHIFT 0
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#define UAVOBJ_GCS_ACCESS_SHIFT 1
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#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
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#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
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#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
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#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
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#define UAVOBJ_LOGGING_UPDATE_MODE_SHIFT 8
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#define UAVOBJ_UPDATE_MODE_MASK 0x3
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typedef void *UAVObjHandle;
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#define MetaObjectId(id) ((id) + 1)
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/**
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* helper macro to access multi-element fields as array
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*/
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#define UAVObjectFieldToArray(type, var) \
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(*({ type *const dummy = &(var); \
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&(((type##Array *)dummy)->array); } \
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))
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// we have limited trust in our compiler
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// make sure this macro actually works on all platforms
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typedef struct __attribute__((__packed__)) {
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uint16_t element1;
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uint16_t element2;
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uint16_t element3;
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}
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__DummyUAVObjectFieldData;
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typedef struct __attribute__((__packed__)) {
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uint16_t array[3];
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}
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__DummyUAVObjectFieldDataArray;
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#define __DummyTA(var) UAVObjectFieldToArray(__DummyUAVObjectFieldData, var)
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__attribute__((unused)) static void __DummyTAtest(void)
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{
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__DummyUAVObjectFieldData t;
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PIOS_STATIC_ASSERT(sizeof(t) == sizeof(__DummyTA(t)));
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PIOS_STATIC_ASSERT(sizeof(t.element1) == sizeof(__DummyTA(t)[0]));
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PIOS_STATIC_ASSERT((void *)&t == (void *)&__DummyTA(t));
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PIOS_STATIC_ASSERT((void *)&t.element1 == (void *)&__DummyTA(t)[0]);
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PIOS_STATIC_ASSERT((void *)&t.element2 == (void *)&__DummyTA(t)[1]);
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PIOS_STATIC_ASSERT((void *)&t.element3 == (void *)&__DummyTA(t)[2]);
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}
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/**
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* Object update mode, used by multiple modules (e.g. telemetry and logger)
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*/
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typedef enum {
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UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
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UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
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UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
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UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
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} UAVObjUpdateMode;
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/**
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* Object metadata, each object has a meta object that holds its metadata. The metadata define
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* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
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*
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* The object metadata flags are packed into a single 16 bit integer.
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* The bits in the flag field are defined as:
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*
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* Bit(s) Name Meaning
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* ------ ---- -------
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* 0 access Defines the access level for the local transactions (readonly=1 and readwrite=0)
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* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=1 and readwrite=0), not used in the flight s/w
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* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
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* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
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* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
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* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
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* 8-9 loggingUpdateMode Update mode used by the logging module (UAVObjUpdateMode)
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*/
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typedef struct {
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uint16_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
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uint16_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
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uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
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uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
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} __attribute__((packed)) UAVObjMetadata;
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/**
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* Event types generated by the objects.
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*/
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typedef enum {
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EV_NONE = 0x00, /** No event */
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EV_UNPACKED = 0x01, /** Object data updated by unpacking */
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EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
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EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
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EV_UPDATED_PERIODIC = 0x08, /** Object update from periodic event */
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EV_LOGGING_MANUAL = 0x10, /** Object update event manually generated */
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EV_LOGGING_PERIODIC = 0x20, /** Object update from periodic event */
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EV_UPDATE_REQ = 0x40 /** Request to update object data */
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} UAVObjEventType;
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/**
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* Helper macros for event masks
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*/
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#define EV_MASK_ALL 0
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#define EV_MASK_ALL_UPDATES (EV_UNPACKED | EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATED_PERIODIC | EV_LOGGING_MANUAL | EV_LOGGING_PERIODIC)
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/**
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* Access types
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*/
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typedef enum {
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ACCESS_READWRITE = 0,
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ACCESS_READONLY = 1
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} UAVObjAccessType;
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/**
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* Event message, this structure is sent in the event queue each time an event is generated
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*/
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typedef struct {
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UAVObjHandle obj;
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uint16_t instId;
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UAVObjEventType event;
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bool lowPriority; /* if true prevents raising warnings */
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} UAVObjEvent;
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/**
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* Event callback, this function is called when an event is invoked. The function
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* will be executed in the event task. The ev parameter should be copied if needed
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* after the function returns.
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*/
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typedef void (*UAVObjEventCallback)(UAVObjEvent *ev);
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/**
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* Callback used to initialize the object fields to their default values.
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*/
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typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj_handle, uint16_t instId);
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/**
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* Event manager statistics
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*/
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typedef struct {
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uint32_t eventQueueErrors;
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uint32_t eventCallbackErrors;
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uint32_t lastCallbackErrorID;
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uint32_t lastQueueErrorID;
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} UAVObjStats;
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int32_t UAVObjInitialize();
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void UAVObjGetStats(UAVObjStats *statsOut);
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void UAVObjClearStats();
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UAVObjHandle UAVObjRegister(uint32_t id, bool isSingleInstance, bool isSettings, bool isPriority, uint32_t num_bytes, UAVObjInitializeCallback initCb);
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UAVObjHandle UAVObjGetByID(uint32_t id);
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uint32_t UAVObjGetID(UAVObjHandle obj);
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uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
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uint16_t UAVObjGetNumInstances(UAVObjHandle obj);
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UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj);
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uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle, UAVObjInitializeCallback initCb);
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bool UAVObjIsSingleInstance(UAVObjHandle obj);
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bool UAVObjIsMetaobject(UAVObjHandle obj);
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bool UAVObjIsSettings(UAVObjHandle obj);
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bool UAVObjIsPriority(UAVObjHandle obj);
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int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn);
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int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut);
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uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc);
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int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
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int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
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int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);
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#if defined(PIOS_INCLUDE_SDCARD)
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int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId, FILEINFO *file);
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int32_t UAVObjLoadFromFile(UAVObjHandle obj_handle, FILEINFO *file);
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#endif
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int32_t UAVObjSaveSettings();
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int32_t UAVObjLoadSettings();
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int32_t UAVObjDeleteSettings();
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int32_t UAVObjSaveMetaobjects();
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int32_t UAVObjLoadMetaobjects();
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int32_t UAVObjDeleteMetaobjects();
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int32_t UAVObjSetData(UAVObjHandle obj_handle, const void *dataIn);
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int32_t UAVObjSetDataField(UAVObjHandle obj_handle, const void *dataIn, uint32_t offset, uint32_t size);
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int32_t UAVObjGetData(UAVObjHandle obj_handle, void *dataOut);
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int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void *dataOut, uint32_t offset, uint32_t size);
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int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId, const void *dataIn);
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int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, const void *dataIn, uint32_t offset, uint32_t size);
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int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId, void *dataOut);
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int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, void *dataOut, uint32_t offset, uint32_t size);
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int32_t UAVObjSetMetadata(UAVObjHandle obj_handle, const UAVObjMetadata *dataIn);
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int32_t UAVObjGetMetadata(UAVObjHandle obj_handle, UAVObjMetadata *dataOut);
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uint8_t UAVObjGetMetadataAccess(const UAVObjMetadata *dataOut);
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UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata *dataOut);
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void UAVObjSetAccess(UAVObjMetadata *dataOut, UAVObjAccessType mode);
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UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata *dataOut);
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void UAVObjSetGcsAccess(UAVObjMetadata *dataOut, UAVObjAccessType mode);
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uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata *dataOut);
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void UAVObjSetTelemetryAcked(UAVObjMetadata *dataOut, uint8_t val);
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uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata *dataOut);
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void UAVObjSetGcsTelemetryAcked(UAVObjMetadata *dataOut, uint8_t val);
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UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata *dataOut);
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void UAVObjSetTelemetryUpdateMode(UAVObjMetadata *dataOut, UAVObjUpdateMode val);
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UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata *dataOut);
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void UAVObjSetTelemetryGcsUpdateMode(UAVObjMetadata *dataOut, UAVObjUpdateMode val);
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UAVObjUpdateMode UAVObjGetLoggingUpdateMode(const UAVObjMetadata *dataOut);
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void UAVObjSetLoggingUpdateMode(UAVObjMetadata *dataOut, UAVObjUpdateMode val);
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int8_t UAVObjReadOnly(UAVObjHandle obj);
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int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, xQueueHandle queue, uint8_t eventMask);
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int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue);
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int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb, uint8_t eventMask);
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int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb);
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void UAVObjRequestUpdate(UAVObjHandle obj);
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void UAVObjRequestInstanceUpdate(UAVObjHandle obj_handle, uint16_t instId);
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void UAVObjUpdated(UAVObjHandle obj);
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void UAVObjInstanceUpdated(UAVObjHandle obj_handle, uint16_t instId);
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void UAVObjLogging(UAVObjHandle obj);
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void UAVObjInstanceLogging(UAVObjHandle obj_handle, uint16_t instId);
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void UAVObjIterate(void (*iterator)(UAVObjHandle obj));
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void UAVObjInstanceWriteToLog(UAVObjHandle obj_handle, uint16_t instId);
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#endif // UAVOBJECTMANAGER_H
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/**
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* @}
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* @}
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*/
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