mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.5 KiB
C
84 lines
2.5 KiB
C
|
/*
|
||
|
|
Copyright (C) 2021 Kraus Hamdani Aerospace Inc. All rights reserved.
|
||
|
|
|
||
|
|
This program is free software: you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation, either version 3 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
|
||
|
|
|
||
|
|
Author: GDL90/UCP protocol by uAvionix, 2021.
|
||
|
|
Implemented by: Tom Pittenger
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _GDL90_H_
|
||
|
|
#define _GDL90_H_
|
||
|
|
|
||
|
|
#include <stdint.h>
|
||
|
|
|
||
|
|
#define GDL90_QUEUE_LENGTH (2)
|
||
|
|
|
||
|
|
#define GDL90_FLAG_BYTE (0x7E)
|
||
|
|
#define GDL90_CONTROL_ESCAPE_BYTE (0x7D)
|
||
|
|
#define GDL90_STUFF_BYTE (0x20)
|
||
|
|
#define GDL90_OVERHEAD_LENGTH (3) // Not counting framing bytes
|
||
|
|
|
||
|
|
|
||
|
|
// Transmit message sizes
|
||
|
|
#define GDL90_TX_MAX_PAYLOAD_LENGTH (552)
|
||
|
|
#define GDL90_TX_MAX_PACKET_LENGTH (GDL90_TX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH)
|
||
|
|
#define GDL90_TX_MAX_FRAME_LENGTH (2 + ((15 * GDL90_TX_MAX_PACKET_LENGTH) / 10)) // IF every other byte was stuffed
|
||
|
|
|
||
|
|
// Receive message sizes
|
||
|
|
#define GDL90_RX_MAX_PAYLOAD_LENGTH (128)
|
||
|
|
#define GDL90_RX_MAX_PACKET_LENGTH (GDL90_RX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH)
|
||
|
|
|
||
|
|
typedef union __attribute__((__packed__))
|
||
|
|
{
|
||
|
|
struct __attribute__((__packed__))
|
||
|
|
{
|
||
|
|
GDL90_MESSAGE_ID messageId;
|
||
|
|
uint8_t payload[GDL90_TX_MAX_PAYLOAD_LENGTH];
|
||
|
|
uint16_t crc; // Actually CRC location varies. This is a placeholder
|
||
|
|
};
|
||
|
|
uint8_t raw[GDL90_TX_MAX_PACKET_LENGTH];
|
||
|
|
} GDL90_TX_MESSAGE;
|
||
|
|
|
||
|
|
typedef union __attribute__((__packed__))
|
||
|
|
{
|
||
|
|
struct __attribute__((__packed__))
|
||
|
|
{
|
||
|
|
GDL90_MESSAGE_ID messageId;
|
||
|
|
uint8_t payload[GDL90_RX_MAX_PAYLOAD_LENGTH];
|
||
|
|
uint16_t crc; // Actually CRC location varies. This is a placeholder
|
||
|
|
};
|
||
|
|
uint8_t raw[GDL90_RX_MAX_PACKET_LENGTH];
|
||
|
|
} GDL90_RX_MESSAGE;
|
||
|
|
|
||
|
|
typedef enum
|
||
|
|
{
|
||
|
|
GDL90_RX_IDLE,
|
||
|
|
GDL90_RX_IN_PACKET,
|
||
|
|
GDL90_RX_UNSTUFF,
|
||
|
|
//GDL90_RX_END,
|
||
|
|
} GDL90_RX_STATE;
|
||
|
|
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
GDL90_RX_STATE state;
|
||
|
|
uint16_t length;
|
||
|
|
//uint32_t overflow;
|
||
|
|
//uint32_t complete;
|
||
|
|
uint8_t prev_data;
|
||
|
|
} GDL90_RX_STATUS;
|
||
|
|
|
||
|
|
#endif
|