mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 10:20:34 +08:00
Dennis Shtatnov
102 lines
3.0 KiB
C
102 lines
3.0 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
|
|
#include <stdint.h>
|
|
|
|
|
|
extern const char *syslink_magic;
|
|
|
|
|
|
#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_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_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
|
|
|
|
|
|
typedef struct {
|
|
uint8_t type;
|
|
uint8_t length;
|
|
uint8_t data[SYSLINK_MAX_DATA_LEN];
|
|
uint8_t cksum[2];
|
|
} syslink_message_t;
|
|
|
|
typedef enum {
|
|
SYSLINK_STATE_START = 0,
|
|
SYSLINK_STATE_TYPE,
|
|
SYSLINK_STATE_LENGTH,
|
|
SYSLINK_STATE_DATA,
|
|
SYSLINK_STATE_CKSUM
|
|
} SYSLINK_STATE;
|
|
|
|
typedef struct {
|
|
SYSLINK_STATE state;
|
|
int index;
|
|
|
|
} syslink_parse_state;
|
|
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
extern void syslink_parse_init(syslink_parse_state *state);
|
|
|
|
// Returns true if a full message was parsed
|
|
extern int syslink_parse_char(syslink_parse_state *state, char c, syslink_message_t *msg);
|
|
|
|
extern void syslink_compute_cksum(syslink_message_t *msg);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|