flight/uavtalk/inc/uavtalk_priv.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      Private 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_PRIV_H
  30 #define UAVTALK_PRIV_H
  31
  32 #include "uavobjectsinit.h"
  33
  34 // Private types and constants
  35
  36 // min header : sync(1), type (1), size(2), object ID(4), instance ID(2)
  37 #define UAVTALK_MIN_HEADER_LENGTH  10
  38
  39 // max header : sync(1), type (1), size(2), object ID(4), instance ID(2), timestamp(2)
  40 #define UAVTALK_MAX_HEADER_LENGTH  12
  41
  42 #define UAVTALK_CHECKSUM_LENGTH    1
  43
  44 #define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)
  45
  46 #define UAVTALK_MIN_PACKET_LENGTH  UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH
  47 #define UAVTALK_MAX_PACKET_LENGTH  UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH
  48
  49 typedef struct {
  50     uint8_t  type;
  51     uint16_t packet_size;
  52     uint32_t objId;
  53     uint16_t instId;
  54     uint32_t length;
  55     uint8_t  timestampLength;
  56     uint8_t  cs;
  57     uint16_t timestamp;
  58     uint32_t rxCount;
  59     UAVTalkRxState state;
  60     uint16_t rxPacketLength;
  61 } UAVTalkInputProcessor;
  62
  63 typedef struct {
  64     uint8_t canari;
  65     UAVTalkOutputStream outStream;
  66     xSemaphoreHandle    lock;
  67     xSemaphoreHandle    transLock;
  68     xSemaphoreHandle    respSema;
  69     uint8_t      respType;
  70     uint32_t     respObjId;
  71     uint16_t     respInstId;
  72     UAVTalkStats stats;
  73     UAVTalkInputProcessor iproc;
  74     uint8_t      *rxBuffer;
  75     uint8_t      *txBuffer;
  76 } UAVTalkConnectionData;
  77
  78 #define UAVTALK_CANARI          0xCA
  79 #define UAVTALK_SYNC_VAL        0x3C
  80
  81 #define UAVTALK_TYPE_MASK       0x78
  82 #define UAVTALK_TYPE_VER        0x20
  83 #define UAVTALK_TIMESTAMPED     0x80
  84 #define UAVTALK_TYPE_OBJ        (UAVTALK_TYPE_VER | 0x00)
  85 #define UAVTALK_TYPE_OBJ_REQ    (UAVTALK_TYPE_VER | 0x01)
  86 #define UAVTALK_TYPE_OBJ_ACK    (UAVTALK_TYPE_VER | 0x02)
  87 #define UAVTALK_TYPE_ACK        (UAVTALK_TYPE_VER | 0x03)
  88 #define UAVTALK_TYPE_NACK       (UAVTALK_TYPE_VER | 0x04)
  89 #define UAVTALK_TYPE_OBJ_TS     (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ)
  90 #define UAVTALK_TYPE_OBJ_ACK_TS (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ_ACK)
  91
  92 // macros
  93 #define CHECKCONHANDLE(handle, variable, failcommand) \
  94     variable = (UAVTalkConnectionData *)handle; \
  95     if (variable == NULL || variable->canari != UAVTALK_CANARI) { \
  96         failcommand; \
  97     }
  98
  99 #endif // UAVTALK__PRIV_H
 100 /**
 101  * @}
 102  * @}
 103  */