move crazyflie syslink to board directory

2026-06-01 19:07:45 +08:00 · 2018-12-01 12:42:48 -05:00
parent d4e06e517a
commit 9c29e9d4c9
13 changed files with 39 additions and 2 deletions
@@ -0,0 +1,141 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <stdint.h>
+
+
+extern const char *syslink_magic;
+
+#define SYSLINK_GROUP	0xF0
+
+#define SYSLINK_RADIO	0x00
+#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	0x10
+#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	0x20
+#define SYSLINK_OW_SCAN	0x20
+#define SYSLINK_OW_GETINFO	0x21
+#define SYSLINK_OW_READ	0x22
+#define SYSLINK_OW_WRITE	0x23
+
+// Limited by the CRTP packet which is limited by the ESB protocol used by the NRF
+#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];
+} __attribute__((packed)) syslink_message_t;
+
+
+#define OW_SIZE 112
+#define OW_READ_BLOCK 29
+#define OW_WRITE_BLOCK 26 // TODO: Use even, but can be up to 27
+
+typedef struct {
+	uint8_t nmems;
+} __attribute__((packed)) syslink_ow_scan_t;
+
+typedef struct {
+	uint8_t family; // Should by 0x0D for most chips
+	uint8_t sn[6];
+	uint8_t crc;
+} __attribute__((packed)) syslink_ow_id_t;
+
+typedef struct {
+	uint8_t idx;
+	uint8_t id[8];
+} __attribute__((packed)) syslink_ow_getinfo_t;
+
+typedef struct {
+	uint8_t idx;
+	uint16_t addr;
+	uint8_t data[OW_READ_BLOCK];
+} __attribute__((packed)) syslink_ow_read_t;
+
+typedef struct {
+	uint8_t idx;
+	uint16_t addr;
+	uint16_t length;
+	uint8_t data[OW_WRITE_BLOCK];
+} __attribute__((packed)) syslink_ow_write_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