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https://github.com/odriverobotics/ODrive.git
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Samuel Sadok
d52686cd41
add back support for legacy protocol on UART add defines in commands.h for easy selection of protocols new protocol: use semaphores for sending and drop response after 10ms minor typing fixes
38 lines
1.2 KiB
C
38 lines
1.2 KiB
C
#ifndef LEGACY_COMMANDS_H
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#define LEGACY_COMMANDS_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "low_level.h"
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/* Exported types ------------------------------------------------------------*/
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typedef enum {
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SERIAL_PRINTF_IS_NONE,
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SERIAL_PRINTF_IS_USB,
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SERIAL_PRINTF_IS_UART,
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} SerialPrintf_t;
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/* Exported constants --------------------------------------------------------*/
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/* Exported variables --------------------------------------------------------*/
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extern SerialPrintf_t serial_printf_select;
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// Exposed comms table during refactor transition
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extern float* exposed_floats[];
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extern int* exposed_ints[];
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extern bool* exposed_bools[];
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extern uint16_t* exposed_uint16[];
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/* Exported macro ------------------------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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void legacy_parse_cmd(const uint8_t* buffer, size_t len, size_t buffer_length, SerialPrintf_t response_interface);
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void legacy_parse_stream(const uint8_t* buffer, size_t len);
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#ifdef __cplusplus
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}
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#endif
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#endif /* LEGACY_COMMANDS_H */
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