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/*
* 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; either version 2 of the License, or
* (at your option) any later version.
*
* 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 uint8_t ao_companion_running;
extern uint8_t ao_companion_mutex;
extern struct ao_companion_command ao_companion_command;
extern struct ao_companion_setup ao_companion_setup;
extern uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
void
ao_companion_init(void);
#endif /* _AO_COMPANION_H_ */
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