mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
785a7ccd88
The uavtalk layer was previously implementing a poor version of packet fragmentation based on a hard-coded max packet size. Since this was hard-coded, there was no guarantee that it would match the underlying devices. Now that the COM layer sending routines support fragmentation, remove fragmentation and use the COM layer directly. This will support future buffer size reductions in the COM layer.
63 lines
2.4 KiB
C
63 lines
2.4 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 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_H
|
|
#define UAVTALK_H
|
|
|
|
// Public types
|
|
typedef int32_t (*UAVTalkOutputStream)(uint8_t* data, int32_t length);
|
|
|
|
typedef struct {
|
|
uint32_t txBytes;
|
|
uint32_t rxBytes;
|
|
uint32_t txObjectBytes;
|
|
uint32_t rxObjectBytes;
|
|
uint32_t rxObjects;
|
|
uint32_t txObjects;
|
|
uint32_t txErrors;
|
|
uint32_t rxErrors;
|
|
} UAVTalkStats;
|
|
|
|
typedef void* UAVTalkConnection;
|
|
|
|
// Public functions
|
|
UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream);
|
|
int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream outputStream);
|
|
UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
|
|
int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
|
|
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
|
|
int32_t UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
|
|
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
|
|
void UAVTalkResetStats(UAVTalkConnection connection);
|
|
|
|
#endif // UAVTALK_H
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|