syslink.h File Reference

Syslink protocol for communication with bitcraze/crazyflie NRF mcu. More...

#include <stdint.h>
#include <stdbool.h>

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Data Structures
struct	syslink_message_t
struct	syslink_parse_state

Macros
#define	SYSLINK_GROUP   0xF0
#define	SYSLINK_RADIO   0x00
#define	SYSLINK_RADIO_RAW   0x00
#define	SYSLINK_RADIO_CHANNEL   0x01
#define	SYSLINK_RADIO_DATARATE   0x02
#define	SYSLINK_RADIO_CONTWAVE   0x03
#define	SYSLINK_RADIO_RSSI   0x04
#define	SYSLINK_RADIO_ADDRESS   0x05
#define	SYSLINK_PM   0x10
#define	SYSLINK_PM_SOURCE   0x10
#define	SYSLINK_PM_ONOFF_SWITCHOFF   0x11
#define	SYSLINK_PM_BATTERY_VOLTAGE   0x12
#define	SYSLINK_PM_BATTERY_STATE   0x13
#define	SYSLINK_PM_BATTERY_AUTOUPDATE   0x14
#define	SYSLINK_OW   0x20
#define	SYSLINK_OW_SCAN   0x20
#define	SYSLINK_OW_GETINFO   0x21
#define	SYSLINK_OW_READ   0x22
#define	SYSLINK_OW_WRITE   0x23
#define	SYSLINK_MAX_DATA_LEN   32
#define	SYSLINK_RADIO_RATE_250K   0
#define	SYSLINK_RADIO_RATE_1M   1
#define	SYSLINK_RADIO_RATE_2M   2

Enumerations
enum	syslink_state_t {   SYSLINK_STATE_START = 0, SYSLINK_STATE_TYPE, SYSLINK_STATE_LENGTH, SYSLINK_STATE_DATA,   SYSLINK_STATE_CKSUM }

Functions
void	syslink_parse_init (syslink_parse_state *state)
	Init syslink parser. More...
bool	syslink_parse_char (syslink_parse_state *state, uint8_t c, syslink_message_t *msg)
	Parse one byte. More...
void	syslink_compute_cksum (syslink_message_t *msg)
	Compute syslink checksum. More...

Variables
const char *	syslink_stx

Detailed Description

Syslink protocol for communication with bitcraze/crazyflie NRF mcu.

based on PX4 implementation

Definition in file syslink.h.

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Data Structure Documentation

struct syslink_message_t

Definition at line 66 of file syslink.h.

Data Fields
uint8_t	cksum[2]
uint8_t	data[SYSLINK_MAX_DATA_LEN]
uint8_t	length
uint8_t	type

struct syslink_parse_state

Definition at line 82 of file syslink.h.

Data Fields
int	index
syslink_state_t	state

Macro Definition Documentation

#define SYSLINK_GROUP   0xF0

Definition at line 35 of file syslink.h.

Referenced by handle_new_msg().

#define SYSLINK_MAX_DATA_LEN   32

Definition at line 59 of file syslink.h.

Referenced by syslink_parse_char().

#define SYSLINK_OW   0x20

Definition at line 52 of file syslink.h.

Referenced by handle_new_msg().

#define SYSLINK_OW_GETINFO   0x21

Definition at line 54 of file syslink.h.

#define SYSLINK_OW_READ   0x22

Definition at line 55 of file syslink.h.

#define SYSLINK_OW_SCAN   0x20

Definition at line 53 of file syslink.h.

#define SYSLINK_OW_WRITE   0x23

Definition at line 56 of file syslink.h.

#define SYSLINK_PM   0x10

Definition at line 45 of file syslink.h.

#define SYSLINK_PM_BATTERY_AUTOUPDATE   0x14

Definition at line 50 of file syslink.h.

#define SYSLINK_PM_BATTERY_STATE   0x13

Definition at line 49 of file syslink.h.

Referenced by handle_new_msg().

#define SYSLINK_PM_BATTERY_VOLTAGE   0x12

Definition at line 48 of file syslink.h.

#define SYSLINK_PM_ONOFF_SWITCHOFF   0x11

Definition at line 47 of file syslink.h.

Referenced by handle_new_msg().

#define SYSLINK_PM_SOURCE   0x10

Definition at line 46 of file syslink.h.

#define SYSLINK_RADIO   0x00

Definition at line 37 of file syslink.h.

Referenced by handle_new_msg().

#define SYSLINK_RADIO_ADDRESS   0x05

Definition at line 43 of file syslink.h.

Referenced by handle_radio().

#define SYSLINK_RADIO_CHANNEL   0x01

Definition at line 39 of file syslink.h.

Referenced by handle_radio().

#define SYSLINK_RADIO_CONTWAVE   0x03

Definition at line 41 of file syslink.h.

#define SYSLINK_RADIO_DATARATE   0x02

Definition at line 40 of file syslink.h.

Referenced by handle_radio().

#define SYSLINK_RADIO_RATE_1M   1

Definition at line 62 of file syslink.h.

#define SYSLINK_RADIO_RATE_250K   0

Definition at line 61 of file syslink.h.

#define SYSLINK_RADIO_RATE_2M   2

Definition at line 63 of file syslink.h.

#define SYSLINK_RADIO_RAW   0x00

Definition at line 38 of file syslink.h.

Referenced by handle_new_msg(), and handle_raw().

#define SYSLINK_RADIO_RSSI   0x04

Definition at line 42 of file syslink.h.

Referenced by handle_radio().

Enumeration Type Documentation

enum syslink_state_t

Enumerator
SYSLINK_STATE_START
SYSLINK_STATE_TYPE
SYSLINK_STATE_LENGTH
SYSLINK_STATE_DATA
SYSLINK_STATE_CKSUM

Definition at line 74 of file syslink.h.

Function Documentation

void syslink_compute_cksum

(

syslink_message_t *

msg

)

Compute syslink checksum.

Parameters

msg	pointer to message structure

Definition at line 112 of file syslink.c.

References syslink_message_t::cksum, and syslink_message_t::length.

Referenced by send_message(), and syslink_parse_char().

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bool syslink_parse_char	(	syslink_parse_state *	state,
		uint8_t	c,
		syslink_message_t *	msg
	)

Parse one byte.

Parameters

state	pointer to state structure
c	next byte to parse
msg	pointer to message structure

Returns

true if a full message was parsed

Definition at line 39 of file syslink.c.

References syslink_message_t::cksum, syslink_message_t::data, syslink_parse_state::index, syslink_message_t::length, syslink_parse_state::state, syslink_compute_cksum(), SYSLINK_MAX_DATA_LEN, SYSLINK_STATE_CKSUM, SYSLINK_STATE_DATA, SYSLINK_STATE_LENGTH, SYSLINK_STATE_START, SYSLINK_STATE_TYPE, syslink_stx, and syslink_message_t::type.

Referenced by syslink_dl_event().

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void syslink_parse_init

(

syslink_parse_state *

state

)

Init syslink parser.

Parameters

state

pointer to state structure

Definition at line 33 of file syslink.c.

References syslink_parse_state::index, syslink_parse_state::state, and SYSLINK_STATE_START.

Referenced by syslink_dl_init().

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Variable Documentation

const char* syslink_stx

Definition at line 31 of file syslink.c.

Referenced by send_message(), and syslink_parse_char().