Protocol.h

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/*
BSD 2-Clause License

Copyright (c) 2019, Simranjeet Singh
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef PROTOCOL_H
#define PROTOCOL_H

#include <stdint.h>
#include <vector>
#include <eyantra_drone/Common.h>

extern int8_t inputBuffer[1024];
extern uint8_t bufferIndex;
//extern NSMutableArray* requests;

static const int MSP_FC_VERSION=3;
static const int MSP_RAW_IMU=102;
static const int MSP_RC = 105;
static const int MSP_ATTITUDE=108;
static const int MSP_ALTITUDE=109;
static const int MSP_ANALOG=110;
static const int MSP_SET_RAW_RC=200;
static const int MSP_ACC_CALIBRATION=205;
static const int MSP_MAG_CALIBRATION=206;
static const int MSP_SET_MOTOR=214;
static const int MSP_SET_ACC_TRIM=239;
static const int MSP_ACC_TRIM=240;
static const int MSP_EEPROM_WRITE = 250;
static const int MSP_SET_POS= 216;

static const int IDLE = 0, HEADER_START = 1, HEADER_M = 2, HEADER_ARROW = 3, HEADER_SIZE = 4, HEADER_CMD = 5, HEADER_ERR = 6;

extern int roll;
extern int pitch;
extern int yaw;
extern float battery;
extern int rssi;

extern float accX;
extern float accY;
extern float accZ;

extern float gyroX;
extern float gyroY;
extern float gyroZ;

extern float magX;
extern float magY;
extern float magZ;

extern float alt;

extern int FC_versionMajor;
extern int FC_versionMinor;
extern int FC_versionPatchLevel;

extern int trim_roll;
extern int trim_pitch;


extern float rcThrottle, rcRoll, rcPitch, rcYaw, rcAUX1 , rcAUX2, rcAUX3, rcAUX4 ;

class Protocol{

public:


int read8();
int read16();
int read32();

void evaluateCommand(int command);


void sendRequestMSP(std::vector<int8_t> data);
void sendMulRequestMSP(std::vector<int8_t> data, int i);

void sendRequestMSP_SET_RAW_RC(int channels[]);
void sendMulRequestMSP_SET_RAW_RC(int channels[]);

void sendRequestMSP_SET_POS(int posArray[]);


void sendRequestMSP_GET_DEBUG(std::vector<int> requests);
void sendMulRequestMSP_GET_DEBUG(std::vector<int> requests, int index);

std::vector<int8_t> createPacketMSP(int msp, std::vector<int8_t>payload);


private:


};


#endif