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141 lines
3.9 KiB
141 lines
3.9 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2016 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include <stdint.h> |
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extern const char *syslink_magic; |
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#define SYSLINK_GROUP 0xF0 |
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#define SYSLINK_RADIO 0x00 |
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#define SYSLINK_RADIO_RAW 0x00 |
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#define SYSLINK_RADIO_CHANNEL 0x01 |
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#define SYSLINK_RADIO_DATARATE 0x02 |
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#define SYSLINK_RADIO_CONTWAVE 0x03 |
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#define SYSLINK_RADIO_RSSI 0x04 |
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#define SYSLINK_RADIO_ADDRESS 0x05 |
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#define SYSLINK_PM 0x10 |
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#define SYSLINK_PM_SOURCE 0x10 |
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#define SYSLINK_PM_ONOFF_SWITCHOFF 0x11 |
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#define SYSLINK_PM_BATTERY_VOLTAGE 0x12 |
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#define SYSLINK_PM_BATTERY_STATE 0x13 |
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#define SYSLINK_PM_BATTERY_AUTOUPDATE 0x14 |
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#define SYSLINK_OW 0x20 |
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#define SYSLINK_OW_SCAN 0x20 |
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#define SYSLINK_OW_GETINFO 0x21 |
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#define SYSLINK_OW_READ 0x22 |
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#define SYSLINK_OW_WRITE 0x23 |
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// Limited by the CRTP packet which is limited by the ESB protocol used by the NRF |
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#define SYSLINK_MAX_DATA_LEN 32 |
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#define SYSLINK_RADIO_RATE_250K 0 |
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#define SYSLINK_RADIO_RATE_1M 1 |
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#define SYSLINK_RADIO_RATE_2M 2 |
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typedef struct { |
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uint8_t type; |
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uint8_t length; |
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uint8_t data[SYSLINK_MAX_DATA_LEN]; |
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uint8_t cksum[2]; |
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} __attribute__((packed)) syslink_message_t; |
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#define OW_SIZE 112 |
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#define OW_READ_BLOCK 29 |
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#define OW_WRITE_BLOCK 26 // TODO: Use even, but can be up to 27 |
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typedef struct { |
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uint8_t nmems; |
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} __attribute__((packed)) syslink_ow_scan_t; |
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typedef struct { |
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uint8_t family; // Should by 0x0D for most chips |
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uint8_t sn[6]; |
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uint8_t crc; |
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} __attribute__((packed)) syslink_ow_id_t; |
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typedef struct { |
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uint8_t idx; |
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uint8_t id[8]; |
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} __attribute__((packed)) syslink_ow_getinfo_t; |
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typedef struct { |
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uint8_t idx; |
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uint16_t addr; |
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uint8_t data[OW_READ_BLOCK]; |
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} __attribute__((packed)) syslink_ow_read_t; |
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typedef struct { |
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uint8_t idx; |
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uint16_t addr; |
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uint16_t length; |
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uint8_t data[OW_WRITE_BLOCK]; |
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} __attribute__((packed)) syslink_ow_write_t; |
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typedef enum { |
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SYSLINK_STATE_START = 0, |
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SYSLINK_STATE_TYPE, |
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SYSLINK_STATE_LENGTH, |
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SYSLINK_STATE_DATA, |
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SYSLINK_STATE_CKSUM |
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} SYSLINK_STATE; |
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typedef struct { |
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SYSLINK_STATE state; |
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int index; |
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} syslink_parse_state; |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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extern void syslink_parse_init(syslink_parse_state *state); |
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// Returns true if a full message was parsed |
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extern int syslink_parse_char(syslink_parse_state *state, char c, syslink_message_t *msg); |
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extern void syslink_compute_cksum(syslink_message_t *msg); |
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#ifdef __cplusplus |
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} |
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#endif
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