mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
117 lines
3.6 KiB
C
117 lines
3.6 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 Private 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_PRIV_H
|
|
#define UAVTALK_PRIV_H
|
|
|
|
#include "uavobjectsinit.h"
|
|
|
|
// Private types and constants
|
|
typedef struct {
|
|
uint8_t sync;
|
|
uint8_t type;
|
|
uint16_t size;
|
|
uint32_t objId;
|
|
} uavtalk_min_header;
|
|
#define UAVTALK_MIN_HEADER_LENGTH sizeof(uavtalk_min_header)
|
|
|
|
typedef struct {
|
|
uint8_t sync;
|
|
uint8_t type;
|
|
uint16_t size;
|
|
uint32_t objId;
|
|
uint16_t instId;
|
|
uint16_t timestamp;
|
|
} uavtalk_max_header;
|
|
#define UAVTALK_MAX_HEADER_LENGTH sizeof(uavtalk_max_header)
|
|
|
|
typedef uint8_t uavtalk_checksum;
|
|
#define UAVTALK_CHECKSUM_LENGTH sizeof(uavtalk_checksum)
|
|
#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)
|
|
#define UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH
|
|
#define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH
|
|
|
|
typedef struct {
|
|
UAVObjHandle obj;
|
|
uint8_t type;
|
|
uint16_t packet_size;
|
|
uint32_t objId;
|
|
uint16_t instId;
|
|
uint32_t length;
|
|
uint8_t instanceLength;
|
|
uint8_t timestampLength;
|
|
uint8_t cs;
|
|
uint16_t timestamp;
|
|
uint32_t rxCount;
|
|
UAVTalkRxState state;
|
|
uint16_t rxPacketLength;
|
|
} UAVTalkInputProcessor;
|
|
|
|
typedef struct {
|
|
uint8_t canari;
|
|
UAVTalkOutputStream outStream;
|
|
xSemaphoreHandle lock;
|
|
xSemaphoreHandle transLock;
|
|
xSemaphoreHandle respSema;
|
|
UAVObjHandle respObj;
|
|
uint16_t respInstId;
|
|
UAVTalkStats stats;
|
|
UAVTalkInputProcessor iproc;
|
|
uint8_t *rxBuffer;
|
|
uint32_t txSize;
|
|
uint8_t *txBuffer;
|
|
} UAVTalkConnectionData;
|
|
|
|
#define UAVTALK_CANARI 0xCA
|
|
#define UAVTALK_WAITFOREVER -1
|
|
#define UAVTALK_NOWAIT 0
|
|
#define UAVTALK_SYNC_VAL 0x3C
|
|
#define UAVTALK_TYPE_MASK 0x78
|
|
#define UAVTALK_TYPE_VER 0x20
|
|
#define UAVTALK_TIMESTAMPED 0x80
|
|
#define UAVTALK_TYPE_OBJ (UAVTALK_TYPE_VER | 0x00)
|
|
#define UAVTALK_TYPE_OBJ_REQ (UAVTALK_TYPE_VER | 0x01)
|
|
#define UAVTALK_TYPE_OBJ_ACK (UAVTALK_TYPE_VER | 0x02)
|
|
#define UAVTALK_TYPE_ACK (UAVTALK_TYPE_VER | 0x03)
|
|
#define UAVTALK_TYPE_NACK (UAVTALK_TYPE_VER | 0x04)
|
|
#define UAVTALK_TYPE_OBJ_TS (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ)
|
|
#define UAVTALK_TYPE_OBJ_ACK_TS (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ_ACK)
|
|
|
|
//macros
|
|
#define CHECKCONHANDLE(handle,variable,failcommand) \
|
|
variable = (UAVTalkConnectionData*) handle; \
|
|
if (variable == NULL || variable->canari != UAVTALK_CANARI) { \
|
|
failcommand; \
|
|
}
|
|
|
|
#endif // UAVTALK__PRIV_H
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|