flight/uavtalk/inc/uavtalk.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotSystem OpenPilot System
   4  * @{
   5  * @addtogroup OpenPilotLibraries OpenPilot System Libraries
   6  * @{
   7  * @file       uavtalk.h
   8  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   9  * @brief      Include file of the UAVTalk library
  10  * @see        The GNU Public License (GPL) Version 3
  11  *
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #ifndef UAVTALK_H
  30 #define UAVTALK_H
  31
  32 // Public types
  33 typedef int32_t (*UAVTalkOutputStream)(uint8_t *data, int32_t length);
  34
  35 typedef struct {
  36     uint32_t txBytes;
  37     uint32_t txObjectBytes;
  38     uint32_t txObjects;
  39     uint32_t txErrors;
  40
  41     uint32_t rxBytes;
  42     uint32_t rxObjectBytes;
  43     uint32_t rxObjects;
  44     uint32_t rxErrors;
  45     uint32_t rxSyncErrors;
  46     uint32_t rxCrcErrors;
  47 } UAVTalkStats;
  48
  49 typedef void *UAVTalkConnection;
  50
  51 typedef enum { UAVTALK_STATE_ERROR = 0, UAVTALK_STATE_SYNC, UAVTALK_STATE_TYPE, UAVTALK_STATE_SIZE, UAVTALK_STATE_OBJID, UAVTALK_STATE_INSTID, UAVTALK_STATE_TIMESTAMP, UAVTALK_STATE_DATA, UAVTALK_STATE_CS, UAVTALK_STATE_COMPLETE } UAVTalkRxState;
  52
  53 // Public functions
  54 UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream);
  55 int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream outputStream);
  56 UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
  57 int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
  58 int32_t UAVTalkSendObjectTimestamped(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
  59 int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
  60 UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t *rxbuffer, uint8_t length);
  61 UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle, uint8_t *rxbuffer, uint8_t length, uint8_t *position);
  62 int32_t UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle);
  63 int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle);
  64 void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
  65 void UAVTalkAddStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
  66 void UAVTalkResetStats(UAVTalkConnection connection);
  67 void UAVTalkGetLastTimestamp(UAVTalkConnection connection, uint16_t *timestamp);
  68 uint32_t UAVTalkGetPacketObjId(UAVTalkConnection connection);
  69
  70 #endif // UAVTALK_H
  71 /**
  72  * @}
  73  * @}
  74  */