Files
file	uavtalk.h
	Include file of the UAVTalk library.

file	uavtalk_priv.h
	Private include file of the UAVTalk library.

file	uavtalk.c
	UAVTalk library, implements to telemetry protocol. See the wiki for more details.

Data Structures
struct	UAVTalkStats
	Tracking statistics for a UAVTalk connection. More...

struct	uavtalk_min_header
	Minimal UAVTalk header without an instance field. More...

struct	uavtalk_max_header
	Full UAVTalk header with an instance field. More...

struct	filereq_data

struct	fileresp_data

struct	UAVTalkInputProcessor
	State information for the UAVTalk parser. More...

struct	UAVTalkConnectionData
	Information for the physical link. More...

Macros
#define	UAVTALK_MIN_HEADER_LENGTH sizeof(uavtalk_min_header)

#define	UAVTALK_MAX_HEADER_LENGTH sizeof(uavtalk_max_header)

#define	UAVTALK_CHECKSUM_LENGTH sizeof(uavtalk_checksum)

#define	UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)

#define	UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH

#define	UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH

#define	UAVTALK_CANARI 0xCA

#define	UAVTALK_WAITFOREVER -1

#define	UAVTALK_NOWAIT 0

#define	UAVTALK_SYNC_VAL 0x3C

#define	UAVTALK_TYPE_MASK 0x70

#define	UAVTALK_TYPE_VER 0x20

#define	UAVTALK_TIMESTAMPED 0x80

#define	UAVTALK_TYPE_OBJ (UAVTALK_TYPE_VER \| 0x00)

#define	UAVTALK_TYPE_OBJ_REQ (UAVTALK_TYPE_VER \| 0x01)

#define	UAVTALK_TYPE_OBJ_ACK (UAVTALK_TYPE_VER \| 0x02)

#define	UAVTALK_TYPE_ACK (UAVTALK_TYPE_VER \| 0x03)

#define	UAVTALK_TYPE_NACK (UAVTALK_TYPE_VER \| 0x04)

#define	UAVTALK_TYPE_FILEREQ (UAVTALK_TYPE_VER \| 0x08)

#define	UAVTALK_TYPE_FILEDATA (UAVTALK_TYPE_VER \| 0x09)

#define	UAVTALK_TYPE_OBJ_TS (UAVTALK_TIMESTAMPED \| UAVTALK_TYPE_OBJ)

#define	UAVTALK_FILEDATA_EOF 0x01

#define	UAVTALK_FILEDATA_LAST 0x02

#define	CHECKCONHANDLE(handle, variable, failcommand)

Typedefs
typedef int32_t(*	UAVTalkOutputCb )(void ctx, uint8_t data, int32_t length)

typedef void(*	UAVTalkAckCb )(void *ctx, uint32_t obj_id, uint16_t inst_id)

typedef void(*	UAVTalkReqCb )(void *ctx, uint32_t obj_id, uint16_t inst_id)

typedef int32_t(*	UAVTalkFileCb )(void ctx, uint8_t buf, uint32_t file_id, uint32_t offset, uint32_t len)

typedef void *	UAVTalkConnection

typedef uint8_t	uavtalk_checksum

Enumerations
enum	UAVTalkRxState { UAVTALK_STATE_ERROR = 0, UAVTALK_STATE_SYNC, UAVTALK_STATE_TYPE, UAVTALK_STATE_SIZE, UAVTALK_STATE_OBJID, UAVTALK_STATE_INSTID, UAVTALK_STATE_DATA, UAVTALK_STATE_CS, UAVTALK_STATE_COMPLETE }

Functions
UAVTalkConnection	UAVTalkInitialize (void *ctx, UAVTalkOutputCb outputStream, UAVTalkAckCb ackCallback, UAVTalkReqCb reqCallback, UAVTalkFileCb fileCallback)

int32_t	UAVTalkSendObject (UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked)

int32_t	UAVTalkSendObjectTimestamped (UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId)

int32_t	UAVTalkSendNack (UAVTalkConnection connectionHandle, uint32_t objId, uint16_t instId)

void	UAVTalkProcessInputStream (UAVTalkConnection connectionHandle, uint8_t *rxbytes, int numbytes)

UAVTalkRxState	UAVTalkProcessInputStreamQuiet (UAVTalkConnection connection, uint8_t rxbyte)

int32_t	UAVTalkRelayPacket (UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle)

int32_t	UAVTalkReceiveObject (UAVTalkConnection connectionHandle)

void	UAVTalkGetStats (UAVTalkConnection connection, UAVTalkStats *stats)

uint32_t	UAVTalkGetPacketObjId (UAVTalkConnection connection)

uint32_t	UAVTalkGetPacketInstId (UAVTalkConnection connection)

struct filereq_data	__attribute__ ((packed))

static int32_t	objectTransaction (UAVTalkConnectionData *connection, UAVObjHandle objectId, uint16_t instId, uint8_t type)

static int32_t	sendObject (UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type)

static int32_t	sendSingleObject (UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type)

static int32_t	receiveObject (UAVTalkConnectionData *connection)

static int32_t	sendNack (UAVTalkConnectionData *connection, uint32_t objId, uint16_t instId)

static void	handleFileReq (UAVTalkConnectionData *connection)

Variables
typedef	__attribute__

Detailed Description

Macro Definition Documentation

#define CHECKCONHANDLE	(	handle,
		variable,
		failcommand
	)

Value:

variable = (UAVTalkConnectionData*) handle; \
	if (variable == NULL || variable->canari != UAVTALK_CANARI) { \
                failcommand; \
        }

Definition at line 126 of file uavtalk_priv.h.

#define UAVTALK_CANARI 0xCA

Definition at line 106 of file uavtalk_priv.h.

#define UAVTALK_CHECKSUM_LENGTH sizeof(uavtalk_checksum)

Definition at line 69 of file uavtalk_priv.h.

#define UAVTALK_FILEDATA_EOF 0x01

Definition at line 122 of file uavtalk_priv.h.

#define UAVTALK_FILEDATA_LAST 0x02

Definition at line 123 of file uavtalk_priv.h.

#define UAVTALK_MAX_HEADER_LENGTH sizeof(uavtalk_max_header)

Definition at line 56 of file uavtalk_priv.h.

#define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH

Definition at line 72 of file uavtalk_priv.h.

#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)

Definition at line 70 of file uavtalk_priv.h.

#define UAVTALK_MIN_HEADER_LENGTH sizeof(uavtalk_min_header)

Definition at line 46 of file uavtalk_priv.h.

#define UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH

Definition at line 71 of file uavtalk_priv.h.

#define UAVTALK_NOWAIT 0

Definition at line 108 of file uavtalk_priv.h.

#define UAVTALK_SYNC_VAL 0x3C

Definition at line 109 of file uavtalk_priv.h.

#define UAVTALK_TIMESTAMPED 0x80

Definition at line 112 of file uavtalk_priv.h.

#define UAVTALK_TYPE_ACK (UAVTALK_TYPE_VER | 0x03)

Definition at line 116 of file uavtalk_priv.h.

#define UAVTALK_TYPE_FILEDATA (UAVTALK_TYPE_VER | 0x09)

Definition at line 119 of file uavtalk_priv.h.

#define UAVTALK_TYPE_FILEREQ (UAVTALK_TYPE_VER | 0x08)

Definition at line 118 of file uavtalk_priv.h.

#define UAVTALK_TYPE_MASK 0x70

Definition at line 110 of file uavtalk_priv.h.

#define UAVTALK_TYPE_NACK (UAVTALK_TYPE_VER | 0x04)

Definition at line 117 of file uavtalk_priv.h.

#define UAVTALK_TYPE_OBJ (UAVTALK_TYPE_VER | 0x00)

Definition at line 113 of file uavtalk_priv.h.

#define UAVTALK_TYPE_OBJ_ACK (UAVTALK_TYPE_VER | 0x02)

Definition at line 115 of file uavtalk_priv.h.

#define UAVTALK_TYPE_OBJ_REQ (UAVTALK_TYPE_VER | 0x01)

Definition at line 114 of file uavtalk_priv.h.

#define UAVTALK_TYPE_OBJ_TS (UAVTALK_TIMESTAMPED | UAVTALK_TYPE_OBJ)

Definition at line 120 of file uavtalk_priv.h.

#define UAVTALK_TYPE_VER 0x20

Definition at line 111 of file uavtalk_priv.h.

#define UAVTALK_WAITFOREVER -1

Definition at line 107 of file uavtalk_priv.h.

Typedef Documentation

typedef uint8_t uavtalk_checksum

Definition at line 68 of file uavtalk_priv.h.

typedef void(* UAVTalkAckCb)(void *ctx, uint32_t obj_id, uint16_t inst_id)

Definition at line 35 of file uavtalk.h.

typedef void* UAVTalkConnection

Definition at line 53 of file uavtalk.h.

typedef int32_t(* UAVTalkFileCb)(void *ctx, uint8_t *buf, uint32_t file_id, uint32_t offset, uint32_t len)

Definition at line 37 of file uavtalk.h.

typedef int32_t(* UAVTalkOutputCb)(void *ctx, uint8_t *data, int32_t length)

Definition at line 34 of file uavtalk.h.

typedef void(* UAVTalkReqCb)(void *ctx, uint32_t obj_id, uint16_t inst_id)

Definition at line 36 of file uavtalk.h.

Enumeration Type Documentation

enum UAVTalkRxState

Enumerator
UAVTALK_STATE_ERROR
UAVTALK_STATE_SYNC
UAVTALK_STATE_TYPE
UAVTALK_STATE_SIZE
UAVTALK_STATE_OBJID
UAVTALK_STATE_INSTID
UAVTALK_STATE_DATA
UAVTALK_STATE_CS
UAVTALK_STATE_COMPLETE

Definition at line 55 of file uavtalk.h.

Function Documentation

struct filereq_data __attribute__ ( (packed) )

Definition at line 38 of file serial_4way.h.

static void handleFileReq ( UAVTalkConnectionData * connection )

static

Handles a request for file data.

Parameters

[in] connection The connection on which a request was just received.

Definition at line 577 of file uavtalk.c.

static int32_t objectTransaction	(	UAVTalkConnectionData *	connection,
		UAVObjHandle	obj,
		uint16_t	instId,
		uint8_t	type
	)

static

Execute the requested transaction on an object.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	obj	Object
[in]	instId	The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
[in]	type	Transaction type UAVTALK_TYPE_OBJ: send object, UAVTALK_TYPE_OBJ_REQ: request object update UAVTALK_TYPE_OBJ_ACK: send object with an ack

Returns: 0 Success; -1 Failure

Definition at line 162 of file uavtalk.c.

static int32_t receiveObject ( UAVTalkConnectionData * connection )

static

Receive an object. This function process objects received through the telemetry stream.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	type	Type of received message (UAVTALK_TYPE_OBJ, UAVTALK_TYPE_OBJ_REQ, UAVTALK_TYPE_OBJ_ACK, UAVTALK_TYPE_ACK, UAVTALK_TYPE_NACK)
[in]	objId	ID of the object to work on
[in]	instId	The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
[in]	data	Data buffer
[in]	length	Buffer length

Returns: 0 Success; -1 Failure

Definition at line 673 of file uavtalk.c.

static int32_t sendNack	(	UAVTalkConnectionData *	connection,
		uint32_t	objId,
		uint16_t	instId
	)

static

Definition at line 912 of file uavtalk.c.

static int32_t sendObject	(	UAVTalkConnectionData *	connection,
		UAVObjHandle	obj,
		uint16_t	instId,
		uint8_t	type
	)

static

Send an object through the telemetry link.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	obj	Object handle to send
[in]	instId	The instance ID or UAVOBJ_ALL_INSTANCES for all instances
[in]	type	Transaction type

Returns: 0 Success; -1 Failure

Definition at line 765 of file uavtalk.c.

static int32_t sendSingleObject	(	UAVTalkConnectionData *	connection,
		UAVObjHandle	obj,
		uint16_t	instId,
		uint8_t	type
	)

static

Send an object through the telemetry link.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	obj	Object handle to send
[in]	instId	The instance ID (can NOT be UAVOBJ_ALL_INSTANCES, use sendObject() instead)
[in]	type	Transaction type

Returns: 0 Success; -1 Failure

Definition at line 814 of file uavtalk.c.

uint32_t UAVTalkGetPacketInstId ( UAVTalkConnection connectionHandle )

Get the instance ID of the current packet.

Parameters

[in] connectionHandle UAVTalkConnection to be used

Returns: The instance ID, or 0 on error.

Definition at line 564 of file uavtalk.c.

uint32_t UAVTalkGetPacketObjId ( UAVTalkConnection connectionHandle )

Get the object ID of the current packet.

Parameters

[in] connectionHandle UAVTalkConnection to be used

Returns: The object ID, or 0 on error.

Definition at line 550 of file uavtalk.c.

void UAVTalkGetStats	(	UAVTalkConnection	connectionHandle,
		UAVTalkStats *	statsOut
	)

Get communication statistics counters since last call (reset afterwards)

Parameters

[in]	connection	UAVTalkConnection to be used
[out]	statsOut	Statistics counters

Definition at line 93 of file uavtalk.c.

UAVTalkConnection UAVTalkInitialize	(	void *	ctx,
		UAVTalkOutputCb	outputStream,
		UAVTalkAckCb	ackCallback,
		UAVTalkReqCb	reqCallback,
		UAVTalkFileCb	fileCallback
	)

Initialize the UAVTalk library

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	outputStream	Function pointer that is called to send a data buffer
[in]	ackCallback	A function to invoke when receiving an ack ] fileCallback A function which provides file data upon demand

Returns: 0 Success; -1 Failure

Definition at line 59 of file uavtalk.c.

void UAVTalkProcessInputStream	(	UAVTalkConnection	connectionHandle,
		uint8_t *	rxbytes,
		int	numbytes
	)

Process an byte from the telemetry stream.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	rxbyte	Received byte

Returns: UAVTalkRxState

Definition at line 423 of file uavtalk.c.

UAVTalkRxState UAVTalkProcessInputStreamQuiet	(	UAVTalkConnection	connectionHandle,
		uint8_t	rxbyte
	)

Process an byte from the telemetry stream.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	rxbyte	Received byte

Returns: UAVTalkRxState

Definition at line 180 of file uavtalk.c.

int32_t UAVTalkReceiveObject ( UAVTalkConnection connectionHandle )

Complete receiving a UAVTalk packet. This will cause the packet to be unpacked, acked, etc.

Parameters

[in] connectionHandle UAVTalkConnection to be used

Returns: 0 Success; -1 Failure

Definition at line 531 of file uavtalk.c.

int32_t UAVTalkRelayPacket	(	UAVTalkConnection	inConnectionHandle,
		UAVTalkConnection	outConnectionHandle
	)

Send a parsed packet received on one connection handle out on a different connection handle. The packet must be in a complete state, meaning it is completed parsing. The packet is re-assembled from the component parts into a complete message and sent. This can be used to relay packets from one UAVTalk connection to another.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	rxbyte	Received byte

Returns: 0 Success; -1 Failure

Definition at line 451 of file uavtalk.c.

int32_t UAVTalkSendNack	(	UAVTalkConnection	connectionHandle,
		uint32_t	objId,
		uint16_t	instId
	)

Send a NACK through the telemetry link.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	objId	Object ID to send a NACK for
[in]	instId	inst ID to send a NACK for– 0 implies "all"

Returns: 0 Success; -1 Failure

Definition at line 903 of file uavtalk.c.

int32_t UAVTalkSendObject	(	UAVTalkConnection	connectionHandle,
		UAVObjHandle	obj,
		uint16_t	instId,
		uint8_t	acked
	)

Send the specified object through the telemetry link.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	obj	Object to send
[in]	instId	The instance ID or UAVOBJ_ALL_INSTANCES for all instances.
[in]	acked	True if an ack is requested

Returns: 0 Success; -1 Failure

Definition at line 120 of file uavtalk.c.

int32_t UAVTalkSendObjectTimestamped	(	UAVTalkConnection	connectionHandle,
		UAVObjHandle	obj,
		uint16_t	instId
	)

Send the specified object through the telemetry link with a timestamp.

Parameters

[in]	connection	UAVTalkConnection to be used
[in]	obj	Object to send
[in]	instId	The instance ID or UAVOBJ_ALL_INSTANCES for all instances.
[in]	acked	Selects if an ack is required (1:ack required, 0: ack not required)
[in]	timeoutMs	Time to wait for the ack, when zero it will return immediately

Returns: 0 Success; -1 Failure

Definition at line 142 of file uavtalk.c.

Variable Documentation

struct UAVOMulti __attribute__

Definition at line 43 of file serial_4way.h.

Files

Data Structures

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation