Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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abi_common.h
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1 /*
2  * Copyright (C) 2011 ENAC - Gautier Hattenberger
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, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
28 #ifndef ABI_COMMON_H
29 #define ABI_COMMON_H
30 
31 /* Include pprz math library */
32 #include "std.h"
33 #include "math/pprz_algebra_int.h"
34 #include "math/pprz_algebra_float.h"
35 #include "subsystems/gps.h"
36 /* Include here headers with structure definition you may want to use with ABI
37  * Ex: '#include "subsystems/gps.h"' in order to use the GpsState structure
38  */
39 
40 #include "subsystems/abi_sender_ids.h"
41 
42 /* Some magic to avoid to compile C code, only headers */
43 #ifdef ABI_C
44 #define ABI_EXTERN
45 #else
46 #define ABI_EXTERN extern
47 #endif
48 
50 typedef void (*abi_callback)(void);
51 
56 #define ABI_BROADCAST 255
57 
62 #define ABI_DISABLE 0
63 
65 struct abi_struct {
66  uint8_t id;
67  abi_callback cb;
68  struct abi_struct *next;
69 };
70 typedef struct abi_struct abi_event;
71 
73 #define ABI_FOREACH(head,el) for(el=head; el; el=el->next)
74 #define ABI_PREPEND(head,add) { (add)->next = head; head = add; }
75 
76 #endif /* ABI_COMMON_H */
77 
abi_struct
Event structure to store callbacks in a linked list.
Definition: abi_common.h:65
pprz_algebra_float.h
Paparazzi floating point algebra.
pprz_algebra_int.h
Paparazzi fixed point algebra.
abi_callback
void(* abi_callback)(void)
Generic callback definition.
Definition: abi_common.h:50
abi_struct::next
struct abi_struct * next
Definition: abi_common.h:68
abi_sender_ids.h
std.h
gps.h
Device independent GPS code (interface)
abi_struct::id
uint8_t id
Definition: abi_common.h:66
uint8_t
unsigned char uint8_t
Definition: types.h:14
abi_struct::cb
abi_callback cb
Definition: abi_common.h:67