telemetry_common.h

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/*
 * Copyright (C) 2013 Gautier Hattenberger
 *
 * This file is part of paparazzi.
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
 
#ifndef TELEMETRY_COMMON_H
#define TELEMETRY_COMMON_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <inttypes.h>
#include "std.h"
#include "pprzlink/pprzlink_device.h"
#include "pprzlink/pprzlink_transport.h"
#include "pprzlink/messages.h"
 
typedef void (*telemetry_cb)(struct transport_tx *trans, struct link_device *dev);
 
typedef const char telemetry_msg[64];
 
#define TELEMETRY_NB_CBS 4
 
struct telemetry_cb_slots {
  uint8_t id;  
  telemetry_cb slots[TELEMETRY_NB_CBS];
};
 
struct periodic_telemetry {
  uint8_t nb;                     
  struct telemetry_cb_slots *cbs; 
};
 
extern void telemetry_reporting_task(void);
 
#if PERIODIC_TELEMETRY
extern int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb);
#else
static inline int8_t register_periodic_telemetry(struct periodic_telemetry *_pt __attribute__((unused)),
    uint8_t _id __attribute__((unused)), telemetry_cb _cb __attribute__((unused))) { return -1; }
#endif
 
#if USE_PERIODIC_TELEMETRY_REPORT
extern void periodic_telemetry_err_report(uint8_t _process, uint8_t _mode, uint8_t _id);
#endif
 
#ifdef __cplusplus
}
#endif
 
#endif /* TELEMETRY_COMMON_H */