pios_can.h

Go to the documentation of this file.

/*
 * 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 3 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, see <http://www.gnu.org/licenses/>
 */

#if !defined(PIOS_CAN_H)
#define PIOS_CAN_H

#include "pios_queue.h"

enum pios_can_messages {
        PIOS_CAN_GIMBAL = 0,
        PIOS_CAN_LAST = 1
};

struct pios_can_gimbal_message {
        int8_t fc_roll;
        int8_t fc_pitch;
        uint8_t fc_yaw;
        int8_t setpoint_roll;
        int8_t setpoint_pitch;
        uint8_t setpoint_yaw;
}  __attribute__((packed));;

int32_t PIOS_CAN_TxData(uintptr_t id, enum pios_can_messages, uint8_t *data);

struct pios_queue * PIOS_CAN_RegisterMessageQueue(uintptr_t id, enum pios_can_messages msg_id);

#endif /* PIOS_CAN_H */