diff options
Diffstat (limited to 'src/kernel/ao_companion.h')
| -rw-r--r-- | src/kernel/ao_companion.h | 55 |
1 files changed, 55 insertions, 0 deletions
diff --git a/src/kernel/ao_companion.h b/src/kernel/ao_companion.h new file mode 100644 index 00000000..035325a3 --- /dev/null +++ b/src/kernel/ao_companion.h @@ -0,0 +1,55 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * 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; version 2 of the License. + * + * 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, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_COMPANION_H_ +#define _AO_COMPANION_H_ + +/* ao_companion.c */ + +#define AO_COMPANION_SETUP 1 +#define AO_COMPANION_FETCH 2 +#define AO_COMPANION_NOTIFY 3 + +struct ao_companion_command { + uint8_t command; + uint8_t flight_state; + uint16_t tick; + uint16_t serial; + uint16_t flight; + int16_t accel; + int16_t speed; + int16_t height; + int16_t motor_number; +}; + +struct ao_companion_setup { + uint16_t board_id; + uint16_t board_id_inverse; + uint8_t update_period; + uint8_t channels; +}; + +extern __pdata uint8_t ao_companion_running; +extern __xdata uint8_t ao_companion_mutex; +extern __xdata struct ao_companion_command ao_companion_command; +extern __xdata struct ao_companion_setup ao_companion_setup; +extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; + +void +ao_companion_init(void); + +#endif /* _AO_COMPANION_H_ */ |