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137 lines
3.6 KiB
C
137 lines
3.6 KiB
C
/**
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******************************************************************************
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*
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* @file ahrs_spi_comm.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 AHRS SPI comms exposed functionality.
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*
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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 AHRS_SPI_COMM_H_INCLUDED
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#define AHRS_SPI_COMM_H_INCLUDED
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#ifdef IN_AHRS //AHRS only
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#include <stdint.h>
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#include <stdbool.h>
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/** Redirect UAVObjGetData call
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*/
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#define UAVObjGetData(obj, data) AhrsGetData(obj, data)
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/** Redirect UAVObjSetData call
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*/
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#define UAVObjSetData(obj, data) AhrsSetData(obj, data)
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/** Redirect UAVObjConnectCallback call
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Note: in AHRS, mask is unused because there is only one event type
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*/
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#define UAVObjConnectCallback(obj, callback, mask) AhrsConnectCallBack(obj,callback)
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/** define our own UAVObjHandle
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*/
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typedef void *UAVObjHandle;
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#else
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#include "openpilot.h"
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#include "uavobjectmanager.h"
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#endif
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#define AHRS_NO_OBJECT 0xff
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#include "ahrs_comm_objects.h"
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/** Status of each end of the link
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*/
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typedef struct { //try to keep this short and in multiples of 4 bytes
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uint8_t kickStarts; //AHRS end only
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uint8_t crcErrors;
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uint8_t retries;
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uint8_t invalidPacket;
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} AhrsEndStatus;
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/** AHRS comms status
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*/
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typedef struct {
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uint8_t linkOk;
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AhrsEndStatus remote;
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AhrsEndStatus local;
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} AhrsCommStatus;
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/** Event callback, this function is called when an object changes.
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*/
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typedef void (*AhrsEventCallback) (AhrsObjHandle obj);
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/** Initialise comms.
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Note: this must be called before you do anything else.
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Comms will not start until the first call to AhrsPoll() or
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AhrsSendObjects()
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*/
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void AhrsInitComms(void);
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/** Connect Comms to a specific SPI interface instance.
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*/
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void AhrsConnect(uint32_t spi_id);
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/** AHRS version of UAVObject xxxSetData.
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Returns: 0 if ok, -1 if an error
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*/
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int32_t AhrsSetData(AhrsObjHandle obj, const void *dataIn);
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/** AHRS version of UAVObject xxxGetData.
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Returns: 0 if ok, -1 if an error
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*/
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int32_t AhrsGetData(AhrsObjHandle obj, void *dataOut);
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/** Connect a callback for any changes to AHRS data.
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Returns: 0 if ok, -1 if an error
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*/
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int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb);
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/** Get the current link status.
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Returns: the status.
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Note: the remote status will only be valid if the link is up and running
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*/
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void AhrsGetStatus(AhrsCommStatus * status);
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#ifdef IN_AHRS //slave only
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/** Send the latest objects to the OP
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This also polls any pending events and kick starts the DMA
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if needed
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*/
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void AhrsPoll();
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/** Check if the link is up and we have received the first batch of updates
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Returns: True if the link is up and all objects are up to date
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*/
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bool AhrsLinkReady();
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#else //master only
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/** Send the latest objects to the AHRS
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This also polls any pending events
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*/
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void AhrsSendObjects(void);
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#endif
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#endif //#ifndef AHRS_SPI_COMM_H_INCLUDED
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