Paparazzi UAS  v6.1.0_stable
Paparazzi is a free software Unmanned Aircraft System.
syslink.h
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1 /*
2  * Copyright (C) 2019 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
29 #ifndef SYSLINK_H
30 #define SYSLINK_H
31 
32 #include <stdint.h>
33 #include <stdbool.h>
34 
35 #define SYSLINK_GROUP 0xF0
36 
37 #define SYSLINK_RADIO 0x00
38 #define SYSLINK_RADIO_RAW 0x00
39 #define SYSLINK_RADIO_CHANNEL 0x01
40 #define SYSLINK_RADIO_DATARATE 0x02
41 #define SYSLINK_RADIO_CONTWAVE 0x03
42 #define SYSLINK_RADIO_RSSI 0x04
43 #define SYSLINK_RADIO_ADDRESS 0x05
44 
45 #define SYSLINK_PM 0x10
46 #define SYSLINK_PM_SOURCE 0x10
47 #define SYSLINK_PM_ONOFF_SWITCHOFF 0x11
48 #define SYSLINK_PM_BATTERY_VOLTAGE 0x12
49 #define SYSLINK_PM_BATTERY_STATE 0x13
50 #define SYSLINK_PM_BATTERY_AUTOUPDATE 0x14
51 
52 #define SYSLINK_OW 0x20
53 #define SYSLINK_OW_SCAN 0x20
54 #define SYSLINK_OW_GETINFO 0x21
55 #define SYSLINK_OW_READ 0x22
56 #define SYSLINK_OW_WRITE 0x23
57 
58 // Limited by the CRTP packet which is limited by the ESB protocol used by the NRF
59 #define SYSLINK_MAX_DATA_LEN 32
60 
61 #define SYSLINK_RADIO_RATE_250K 0
62 #define SYSLINK_RADIO_RATE_1M 1
63 #define SYSLINK_RADIO_RATE_2M 2
64 
65 
66 typedef struct {
67  uint8_t type;
68  uint8_t length;
69  uint8_t data[SYSLINK_MAX_DATA_LEN];
70  uint8_t cksum[2];
71 } __attribute__((packed)) syslink_message_t;
72 
73 
74 typedef enum {
75  SYSLINK_STATE_START = 0,
76  SYSLINK_STATE_TYPE,
77  SYSLINK_STATE_LENGTH,
78  SYSLINK_STATE_DATA,
79  SYSLINK_STATE_CKSUM
80 } syslink_state_t;
81 
82 typedef struct {
83  syslink_state_t state;
84  int index;
85 } syslink_parse_state;
86 
87 extern const char *syslink_stx;
88 
89 #ifdef __cplusplus
90 extern "C" {
91 #endif
92 
97  extern void syslink_parse_init(syslink_parse_state *state);
98 
106  extern bool syslink_parse_char(syslink_parse_state *state, uint8_t c, syslink_message_t *msg);
107 
112  extern void syslink_compute_cksum(syslink_message_t *msg);
113 
114 #ifdef __cplusplus
115 }
116 #endif
117 
118 #endif
119 
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
msg
uint8_t msg[10]
Buffer used for general comunication over SPI (out buffer)
Definition: high_speed_logger_direct_memory.c:134
syslink_message_t
Definition: syslink.h:66
syslink_parse_state
Definition: syslink.h:82
state
struct State state
Definition: state.c:36