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