control.h

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/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * Copyright 2016-2017 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef _CONTROL_H_
#define _CONTROL_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define MAX_LEN_SERIAL_OUTPUT_BUF   255  // larger than the nominal 124 byte size for outgoing packets
 
typedef int8_t (writePort_t) (SensorFusionGlobals *sfg);
typedef int8_t (readCommand_t) (SensorFusionGlobals *sfg);
typedef void (injectCommand_t) (SensorFusionGlobals *sfg, uint8_t input_buffer[], uint16_t nbytes);
typedef void (streamData_t)(SensorFusionGlobals *sfg);
 
typedef struct ControlSubsystem {
    quaternion_type DefaultQuaternionPacketType;    // default quaternion transmitted at power on
    volatile quaternion_type QuaternionPacketType;  // quaternion type transmitted over UART
    volatile uint8_t AngularVelocityPacketOn;   // flag to enable angular velocity packet
    volatile uint8_t DebugPacketOn;         // flag to enable debug packet
    volatile uint8_t RPCPacketOn;           // flag to enable roll, pitch, compass packet
    volatile uint8_t AltPacketOn;           // flag to enable altitude packet
    volatile int8_t  AccelCalPacketOn;      // variable used to coordinate accelerometer calibration
    uint8_t         *serial_out_buf;        //buffer containing the output stream (data packet)
    uint16_t        bytes_to_send;          //how many bytes in output stream waiting to go out
    const void *serial_port;           //cast to Serial * and used to output to the serial port
    const void *tcp_client;            //cast to WiFiClient * and used to output to a connected TCP client
 
    writePort_t *write;  // function to write output buffer to the output(s)
    readCommand_t *readCommands;  // function to check for incoming commands and process them
    injectCommand_t *injectCommand;  // function that provides a command directly and processes it
    streamData_t *stream;  // function to create output data packets and place in buffer
} ControlSubsystem;
 
bool initializeIOSubsystem(
    ControlSubsystem *pComm, const void *serial_port,
    const void *tcp_client);  // Initialize structures, ports, etc.
 
//updates pointer to the TCP client. Call whenever new client connects or disconnects
void UpdateTCPClient(ControlSubsystem *pComm,void *tcp_client);
 
// Located in output_stream.c:
void CreateOutgoingPackets(SensorFusionGlobals *sfg);
 
void DecodeCommandBytes(SensorFusionGlobals *sfg, uint8_t input_buffer[], uint16_t nbytes);
 
void OutputBufAppendItem(uint8_t *pDest, uint16_t *pIndex, uint8_t *pSource, uint16_t iBytesToCopy);
 
#ifdef __cplusplus
}
#endif
 
 
#endif /* _CONTROL_H_ */