mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.8 KiB
C
50 lines
1.8 KiB
C
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#define __EXPORT __attribute__ ((visibility ("default")))
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#ifndef __cplusplus
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#error "C++ should be defined!!!"
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#endif
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#include <stdint.h>
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// Functions that are called by the SLPI LINK server into AP client
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extern "C" {
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// Called by the SLPI LINK server to initialize and start AP
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int slpi_link_client_init(void) __EXPORT;
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// Called by the SLPI LINK server when there is a new message for AP
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int slpi_link_client_receive(const uint8_t *data, int data_len_in_bytes) __EXPORT;
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}
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// Functions in SLPI LINK server that are called by AP client into DSP
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extern "C" {
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// Send a message to the applications processor
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int sl_client_send_data(const uint8_t *data, int data_len_in_bytes);
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void sl_client_register_fatal_error_cb(void (*func)(void));
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// Interrupt callback registration
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int sl_client_register_interrupt_callback(int (*func)(int, void*, void*), void* arg);
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// Get DSP CPU utilization (0 - 100)
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int sl_client_get_cpu_utilization(void);
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// I2C interface API
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int sl_client_config_i2c_bus(uint8_t bus_number, uint8_t address, uint32_t frequency);
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void sl_client_set_address_i2c_bus(int fd, uint8_t address);
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int sl_client_i2c_transfer(int fd, const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len);
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// SPI interface API
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int sl_client_spi_transfer(int fd, const uint8_t *send, uint8_t *recv, const unsigned len);
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int sl_client_config_spi_bus(void);
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// UART interface API
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int sl_client_config_uart(uint8_t port_number, uint32_t speed);
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int sl_client_uart_write(int fd, const char *data, const unsigned data_len);
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int sl_client_uart_read(int fd, char *buffer, const unsigned buffer_len);
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}
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// IDs for serial ports
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#define QURT_UART_GPS 6
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#define QURT_UART_RCIN 7
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#define QURT_UART_ESC 2
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